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p_graphite_digester_sdk
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zhaohe 1 year ago
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b7b0b276fd
commit
3a99dbc49d
11 changed files with 316 additions and 82 deletions
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  1. 9
      components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
  2. 22
      components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
  3. 17
      components/step_motor_ctrl_module/step_motor_ctrl_module_v2.cpp
  4. 7
      components/step_motor_ctrl_module/step_motor_ctrl_module_v2.hpp
  5. 2
      components/tmc/ic/ztmc5130.hpp
  6. 88
      components/zcancmder/zimodule_impl_v1.hpp
  7. 168
      components/zprotocols/zcancmder_v2/api/reg_index.hpp
  8. 3
      components/zprotocols/zcancmder_v2/api/zi_module.hpp
  9. 3
      components/zprotocols/zcancmder_v2/api/zi_motor.hpp
  10. 75
      components/zprotocols/zcancmder_v2/cmdid.hpp
  11. 4
      components/zprotocols/zcancmder_v2/protocol_parser.cpp

9
components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
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@ -3,8 +3,8 @@
#include <stdlib.h>
#include <string.h>
#include "sdk\components\zprotocols\zcancmder_v2\api\errorcode.hpp"
#include "sdk\components\flash\znvs.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\api\errorcode.hpp"
using namespace iflytop;
#define TAG "SMCM"
void StepMotorCtrlModule::initialize(int moduleid, IStepperMotor* stepM, ZGPIO iotable[], int nio, const char* flashmark, flash_config_t* defaultcfg) {
@ -801,4 +801,11 @@ int32_t StepMotorCtrlModule::_exec_move_to_zero_task() {
ZLOGI(TAG, "move_to_zero success");
return 0;
}
int32_t StepMotorCtrlModule::module_set_cover_reg(int32_t param_id, int32_t param_value) {
}
int32_t StepMotorCtrlModule::module_get_cover_reg(int32_t param_id, int32_t* param_value) {
}

22
components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
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@ -80,7 +80,8 @@ class StepMotorCtrlModule : public ZIModuleImplV1, public ZIMotor {
static void create_default_cfg(flash_config_t& cfg);
static uint32_t get_flash_cfg_size() { return sizeof(flash_config_t); }
virtual bool isbusy();
virtual bool isbusy();
virtual int32_t get_last_exec_status() { return m_com_reg.module_last_cmd_exec_status; };
virtual int32_t move_to_logic_point(int32_t logic_point_num, action_cb_status_t status_cb);
virtual int32_t set_logic_point(int logic_point_num, int32_t x, int32_t vel, int32_t acc, int32_t dec);
@ -113,6 +114,7 @@ class StepMotorCtrlModule : public ZIModuleImplV1, public ZIMotor {
virtual int32_t getid(int32_t* id) override;
virtual int32_t module_stop() override;
virtual int32_t module_break() override;
virtual int32_t module_get_last_exec_status(int32_t* status) override;
virtual int32_t module_get_status(int32_t* status) override;
virtual int32_t module_get_error(int32_t* iserror) override;
virtual int32_t module_clear_error() override;
@ -130,19 +132,17 @@ class StepMotorCtrlModule : public ZIModuleImplV1, public ZIMotor {
/*******************************************************************************
* Motor *
*******************************************************************************/
virtual int32_t motor_enable(int32_t enable);
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc);
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc);
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc);
virtual int32_t motor_enable(int32_t enable) override;
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
virtual int32_t motor_read_pos(int32_t* pos);
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_read_pos(int32_t* pos) override;
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_calculated_pos_by_move_to_zero() override;
virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; }
virtual int32_t motor_easy_rotate(int32_t direction) override;
virtual int32_t motor_easy_move_by(int32_t distance) override;
virtual int32_t motor_easy_move_to(int32_t position) override;
@ -173,6 +173,7 @@ class StepMotorCtrlModule : public ZIModuleImplV1, public ZIMotor {
int32_t _move_by(int32_t dx, action_cb_status_t status_cb);
void call_exec_status_cb(int32_t status, action_cb_status_t status_cb);
void set_last_exec_status(int32_t ecode, int32_t val0 = 0, int32_t val1 = 0, int32_t val2 = 0, int32_t val3 = 0, int32_t val4 = 0);
private:
int32_t _read_io();
@ -193,6 +194,7 @@ class StepMotorCtrlModule : public ZIModuleImplV1, public ZIMotor {
private:
int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val);
int32_t do_action(int32_t actioncode);
private:
/*******************************************************************************

17
components/step_motor_ctrl_module/step_motor_ctrl_module_v2.cpp
View File

@ -2,7 +2,18 @@
using namespace iflytop;
int32_t StepMotorCtrlModuleV2::module_stop() { return 0; }
void StepMotorCtrlModuleV2::initialize(int32_t moduleId, IStepperMotor* motor, ZGPIO* begin_gpio, ZGPIO* end_gpio) {
m_stepM1 = motor;
m_begin_gpio = begin_gpio;
m_end_gpio = end_gpio;
}
int32_t StepMotorCtrlModuleV2::module_stop() {
return 0;
}
int32_t StepMotorCtrlModuleV2::module_break() { return 0; }
int32_t StepMotorCtrlModuleV2::module_start() { return 0; }
@ -12,4 +23,6 @@ int32_t StepMotorCtrlModuleV2::motor_easy_move_to(int32_t position) { return 0;
int32_t StepMotorCtrlModuleV2::motor_easy_move_to_zero(int32_t direction) { return 0; }
int32_t StepMotorCtrlModuleV2::motor_easy_set_current_pos(int32_t pos) { return 0; }
int32_t StepMotorCtrlModuleV2::motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return 0; }
int32_t StepMotorCtrlModuleV2::motor_calculated_pos_by_move_to_zero() { return 0; }
int32_t StepMotorCtrlModuleV2::motor_calculated_pos_by_move_to_zero() { return 0; }
int32_t StepMotorCtrlModuleV2::module_set_cover_reg(int32_t param_id, int32_t param_value) { return 0; }
int32_t StepMotorCtrlModuleV2::module_get_cover_reg(int32_t param_id, int32_t* param_value) { return 0; }

7
components/step_motor_ctrl_module/step_motor_ctrl_module_v2.hpp
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@ -9,7 +9,12 @@ class StepMotorCtrlModuleV2 : public ZIModuleImplV2, public ZIMotor {
private:
IStepperMotor* m_stepM1;
ZGPIO* m_begin_gpio;
ZGPIO* m_end_gpio;
public:
void initialize(int32_t moduleId, IStepperMotor* motor, ZGPIO* begin_gpio, ZGPIO* end_gpio) {}
virtual int32_t module_stop();
virtual int32_t module_break();
virtual int32_t module_start();
@ -22,5 +27,7 @@ class StepMotorCtrlModuleV2 : public ZIModuleImplV2, public ZIMotor {
virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction);
virtual int32_t motor_calculated_pos_by_move_to_zero();
virtual int32_t motor_calculated_pos_by_move_to_zero_read_result(int32_t* result);
virtual int32_t module_set_cover_reg(int32_t param_id, int32_t param_value);
virtual int32_t module_get_cover_reg(int32_t param_id, int32_t* param_value);
};
} // namespace iflytop

2
components/tmc/ic/ztmc5130.hpp
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@ -88,7 +88,7 @@ class TMC5130 : public IStepperMotor {
const uint8_t *m_registerAccessTable;
const int32_t *m_defaultRegisterResetState;
int32_t m_scale = 10000;
int32_t m_scale = 51200;
int32_t m_scale_deceleration = 1;
mres_type_t m_MRES = kmres_256;

88
components/zcancmder/zimodule_impl_v1.hpp
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@ -24,19 +24,39 @@ using namespace std;
} \
} break;
#define PROCESS_ACTION() \
PROCESS_REG(kreg_module_do_action0, /* */ ACTION_NONE, do_action(val)); \
PROCESS_REG(kreg_module_action_param1, /* */ REG_GET(m_reg.module_action_param1), REG_SET(m_reg.module_action_param1)); \
PROCESS_REG(kreg_module_action_param2, /* */ REG_GET(m_reg.module_action_param2), REG_SET(m_reg.module_action_param2)); \
PROCESS_REG(kreg_module_action_param3, /* */ REG_GET(m_reg.module_action_param3), REG_SET(m_reg.module_action_param3)); \
PROCESS_REG(kreg_module_action_ack1, /* */ REG_GET(m_reg.module_action_ack1), ACTION_NONE); \
PROCESS_REG(kreg_module_action_ack2, /* */ REG_GET(m_reg.module_action_ack2), ACTION_NONE);
#define ENABLE_MODULE(name, type, version) \
const char *module_name = #name; \
int32_t module_version = version; \
int32_t module_type = type;
#define MODULE_COMMON_PROCESS_REG_CB() \
PROCESS_REG(kreg_module_version, /* */ REG_GET(module_version), ACTION_NONE); \
PROCESS_REG(kreg_module_type, /* */ REG_GET(module_type), ACTION_NONE); \
PROCESS_REG(kreg_module_status, /* */ module_get_status(&val), ACTION_NONE); \
PROCESS_REG(kreg_module_errorcode, /* */ REG_GET(m_com_reg.module_errorcode), ACTION_NONE); \
PROCESS_REG(kreg_module_initflag, /* */ module_get_inited_flag(&val), module_set_inited_flag(val)); \
PROCESS_REG(kreg_module_errorbitflag0, /* */ REG_GET(m_com_reg.module_errorbitflag0), ACTION_NONE); \
PROCESS_REG(kreg_module_enableflag, /* */ REG_GET(m_com_reg.module_enable), ACTION_NONE);
#define MODULE_COMMON_PROCESS_REG_CB() \
PROCESS_REG(kreg_module_version, /* */ REG_GET(module_version), ACTION_NONE); \
PROCESS_REG(kreg_module_type, /* */ REG_GET(module_type), ACTION_NONE); \
PROCESS_REG(kreg_module_status, /* */ module_get_status(&val), ACTION_NONE); \
PROCESS_REG(kreg_module_errorcode, /* */ REG_GET(m_com_reg.module_errorcode), ACTION_NONE); \
PROCESS_REG(kreg_module_initflag, /* */ module_get_inited_flag(&val), module_set_inited_flag(val)); \
PROCESS_REG(kreg_module_errorbitflag0, /* */ REG_GET(m_com_reg.module_errorbitflag0), ACTION_NONE); \
PROCESS_REG(kreg_module_enableflag, /* */ REG_GET(m_com_reg.module_enable), ACTION_NONE); \
PROCESS_REG(kreg_module_do_action0, /* */ ACTION_NONE, do_action(val)); \
PROCESS_REG(kreg_module_action_param1, /* */ REG_GET(m_com_reg.module_action_param1), REG_SET(m_com_reg.module_action_param1)); \
PROCESS_REG(kreg_module_action_param2, /* */ REG_GET(m_com_reg.module_action_param2), REG_SET(m_com_reg.module_action_param2)); \
PROCESS_REG(kreg_module_action_param3, /* */ REG_GET(m_com_reg.module_action_param3), REG_SET(m_com_reg.module_action_param3)); \
PROCESS_REG(kreg_module_action_ack1, /* */ REG_GET(m_com_reg.module_action_ack1), ACTION_NONE); \
PROCESS_REG(kreg_module_action_ack2, /* */ REG_GET(m_com_reg.module_action_ack2), ACTION_NONE); \
PROCESS_REG(kreg_module_last_cmd_exec_status, /* */ REG_GET(m_com_reg.module_last_cmd_exec_status), ACTION_NONE); \
PROCESS_REG(kreg_module_last_cmd_exec_val0, /* */ REG_GET(m_com_reg.module_last_cmd_exec_val0), ACTION_NONE); \
PROCESS_REG(kreg_module_last_cmd_exec_val1, /* */ REG_GET(m_com_reg.module_last_cmd_exec_val1), ACTION_NONE); \
PROCESS_REG(kreg_module_last_cmd_exec_val2, /* */ REG_GET(m_com_reg.module_last_cmd_exec_val2), ACTION_NONE); \
PROCESS_REG(kreg_module_last_cmd_exec_val3, /* */ REG_GET(m_com_reg.module_last_cmd_exec_val3), ACTION_NONE); \
PROCESS_REG(kreg_module_last_cmd_exec_val4, /* */ REG_GET(m_com_reg.module_last_cmd_exec_val4), ACTION_NONE);
typedef struct {
// int32_t module_version;
@ -44,9 +64,40 @@ typedef struct {
int32_t module_errorcode;
int32_t module_errorbitflag0;
int32_t module_enable;
int32_t module_last_cmd_exec_status;
int32_t module_last_cmd_exec_val0;
int32_t module_last_cmd_exec_val1;
int32_t module_last_cmd_exec_val2;
int32_t module_last_cmd_exec_val3;
int32_t module_last_cmd_exec_val4;
int32_t module_do_action0;
int32_t module_action_param1;
int32_t module_action_param2;
int32_t module_action_param3;
int32_t module_action_ack1;
int32_t module_action_ack2;
} module_common_reg_t;
class ZIModuleImplV1 : public ZIModule {
class ModuleCMDExecStatus {
public:
int32_t exec_status = 0;
int32_t exec_val[6] = {0};
void set_exec_status(int32_t status, int32_t val0 = 0, int32_t val1 = 0, int32_t val2 = 0, int32_t val3 = 0, int32_t val4 = 0, int32_t val5 = 0) {
exec_status = status;
exec_val[0] = val0;
exec_val[1] = val1;
exec_val[2] = val2;
exec_val[3] = val3;
exec_val[4] = val4;
exec_val[5] = val5;
}
};
class ZIModuleImplV1:public ZIModule {
int32_t m_inited_flag = 0;
protected:
@ -54,20 +105,21 @@ class ZIModuleImplV1 : public ZIModule {
public:
virtual ~ZIModuleImplV1() {}
virtual int32_t getid(int32_t *id) = 0;
virtual int32_t getid() {
int32_t id = 0;
getid(&id);
return id;
};
virtual int32_t getid(int32_t *id) = 0;
virtual int32_t module_ping() { return 0; };
virtual int32_t module_stop() { return err::koperation_not_support; }
virtual int32_t module_break() { return module_stop(); }
virtual int32_t module_start() { return err::koperation_not_support; }
virtual int32_t module_get_last_exec_status(int32_t *status) { return err::koperation_not_support; }
virtual int32_t module_get_status(int32_t *status) = 0;
virtual int32_t module_get_error(int32_t *iserror) {
*iserror = m_com_reg.module_errorcode;
@ -103,6 +155,9 @@ class ZIModuleImplV1 : public ZIModule {
}
virtual int32_t module_get_inited_flag() { return m_inited_flag; }
// kmodule_factory_reset = CMDID(1, 14), // para:{}, ack:{}
// kmodule_flush_cfg = CMDID(1, 15), // para:{}, ack:{}
// kmodule_active_cfg = CMDID(1, 16), // para:{}, ack:{}
virtual int32_t module_factory_reset() { return err::koperation_not_support; }
virtual int32_t module_flush_cfg() { return err::ksucc; }
@ -132,6 +187,17 @@ class ZIModuleImplV1 : public ZIModule {
return 0;
}
virtual int32_t _module_set_exec_status(int32_t status, int32_t val0 = 0, int32_t val1 = 0, int32_t val2 = 0, int32_t val3 = 0, int32_t val4 = 0) {
m_com_reg.module_last_cmd_exec_status = status;
m_com_reg.module_last_cmd_exec_val0 = val0;
m_com_reg.module_last_cmd_exec_val1 = val1;
m_com_reg.module_last_cmd_exec_val2 = val2;
m_com_reg.module_last_cmd_exec_val3 = val3;
m_com_reg.module_last_cmd_exec_val4 = val4;
return 0;
}
public:
virtual int32_t do_action(int32_t actioncode) { return err::kmodule_not_support_action; };
};
} // namespace iflytop

168
components/zprotocols/zcancmder_v2/api/reg_index.hpp
View File

@ -9,19 +9,55 @@ typedef enum {
/*******************************************************************************
* 模块通用配置和状态 *
*******************************************************************************/
kreg_module_version = REG_INDEX(0, 0, 0), // 模块版本
kreg_module_type = REG_INDEX(0, 0, 1), // 模块类型
kreg_module_status = REG_INDEX(0, 0, 2), // 0idle,1busy,2error
kreg_module_errorcode = REG_INDEX(0, 0, 3), // inited_flag
kreg_module_initflag = REG_INDEX(0, 0, 4), // inited_flag
kreg_module_enableflag = REG_INDEX(0, 0, 5), //
kreg_module_errorbitflag0 = REG_INDEX(0, 0, 6), // 模块异常标志，bit，每个模块自定义
kreg_module_errorbitflag1 = REG_INDEX(0, 0, 7), //
kreg_module_input_state = REG_INDEX(0, 0, 8), //
kreg_module_output_state = REG_INDEX(0, 0, 9), //
kreg_module_raw_sector_size = REG_INDEX(0, 0, 10), // sector_size
kreg_module_raw_sector_num = REG_INDEX(0, 0, 11), //
kreg_module_is_online = REG_INDEX(0, 0, 12), //
kreg_module_version = REG_INDEX(0, 0, 0), // 模块版本
kreg_module_type = REG_INDEX(0, 0, 1), // 模块类型
kreg_module_status = REG_INDEX(0, 0, 2), // 0idle,1busy,2error
kreg_module_errorcode = REG_INDEX(0, 0, 3), // inited_flag
kreg_module_initflag = REG_INDEX(0, 0, 4), // inited_flag
kreg_module_enableflag = REG_INDEX(0, 0, 5), // 0idle,1busy,2error
kreg_module_errorbitflag0 = REG_INDEX(0, 0, 6), // 模块异常标志，bit，每个模块自定义
kreg_module_errorbitflag1 = REG_INDEX(0, 0, 7), //
kreg_module_input_state = REG_INDEX(0, 0, 8), //
kreg_module_output_state = REG_INDEX(0, 0, 9), //
kreg_module_raw_sector_size = REG_INDEX(0, 0, 10), // sector_size
kreg_module_raw_sector_num = REG_INDEX(0, 0, 11), //
kreg_module_is_online = REG_INDEX(0, 0, 12), //
kreg_module_last_cmd_exec_status = REG_INDEX(0, 0, 20), // 上一条指令执行的状态
kreg_module_last_cmd_exec_val0 = REG_INDEX(0, 0, 21), // 上一条指令执行的结果0
kreg_module_last_cmd_exec_val1 = REG_INDEX(0, 0, 22), // 上一条指令执行的结果1
kreg_module_last_cmd_exec_val2 = REG_INDEX(0, 0, 23), // 上一条指令执行的结果2
kreg_module_last_cmd_exec_val3 = REG_INDEX(0, 0, 24), // 上一条指令执行的结果3
kreg_module_last_cmd_exec_val4 = REG_INDEX(0, 0, 25), // 上一条指令执行的结果4
kreg_module_last_cmd_exec_val5 = REG_INDEX(0, 0, 26), // 上一条指令执行的结果5
kreg_module_private0 = REG_INDEX(0, 0, 30), // 模块私有状态0
kreg_module_private1 = REG_INDEX(0, 0, 31), // 模块私有状态1
kreg_module_private2 = REG_INDEX(0, 0, 32), // 模块私有状态2
kreg_module_private3 = REG_INDEX(0, 0, 33), // 模块私有状态3
kreg_module_private4 = REG_INDEX(0, 0, 34), // 模块私有状态4
kreg_module_private5 = REG_INDEX(0, 0, 35), // 模块私有状态5
kreg_module_private6 = REG_INDEX(0, 0, 36), // 模块私有状态6
kreg_module_private7 = REG_INDEX(0, 0, 37), // 模块私有状态7
kreg_module_private8 = REG_INDEX(0, 0, 38), // 模块私有状态8
kreg_module_private9 = REG_INDEX(0, 0, 39), // 模块私有状态9
kreg_module_do_action0 = REG_INDEX(0, 0, 40), // 方法0
kreg_module_action_param1 = REG_INDEX(0, 0, 41), // 方法1
kreg_module_action_param2 = REG_INDEX(0, 0, 42), // 方法2
kreg_module_action_param3 = REG_INDEX(0, 0, 43), // 方法3
kreg_module_action_param4 = REG_INDEX(0, 0, 44), // 方法4
kreg_module_action_param5 = REG_INDEX(0, 0, 45), // 方法5
kreg_module_action_param6 = REG_INDEX(0, 0, 46), // 方法6
kreg_module_action_param7 = REG_INDEX(0, 0, 47), // 方法7
kreg_module_action_param8 = REG_INDEX(0, 0, 48), // 方法8
kreg_module_action_param9 = REG_INDEX(0, 0, 49), // 方法9
kreg_module_action_ack1 = REG_INDEX(0, 0, 51), // ACK1
kreg_module_action_ack2 = REG_INDEX(0, 0, 52), // ACK2
kreg_module_action_ack3 = REG_INDEX(0, 0, 53), // ACK3
kreg_module_action_ack4 = REG_INDEX(0, 0, 54), // ACK4
kreg_module_action_ack5 = REG_INDEX(0, 0, 55), // ACK5
kreg_module_action_ack6 = REG_INDEX(0, 0, 56), // ACK6
kreg_module_action_ack7 = REG_INDEX(0, 0, 57), // ACK7
kreg_module_action_ack8 = REG_INDEX(0, 0, 58), // ACK8
kreg_module_action_ack9 = REG_INDEX(0, 0, 59), // ACK9
/*******************************************************************************
* SENSOR *
@ -122,13 +158,16 @@ typedef enum {
kreg_pwm7_freq = REG_INDEX(3, 70, 2), //
/*******************************************************************************
* 机械人通用配置 *
*******************************************************************************/
/*******************************************************************************
* MOTOR_DEFAULT *
*******************************************************************************/
kreg_robot_move = REG_INDEX(10, 0, 0), // 机器人X是否在移动
kreg_robot_pos = REG_INDEX(10, 0, 1), // 机器人x坐标
kreg_robot_velocity = REG_INDEX(10, 0, 2), // 机器人x速度
kreg_robot_torque = REG_INDEX(10, 0, 3), // 机器人x电流
kreg_robot_last_cmd_dpos = REG_INDEX(10, 0, 4), // 机器人x上一条指令的相对位移
kreg_robot_move = REG_INDEX(10, 0, 0), // 机器人X是否在移动
kreg_robot_pos = REG_INDEX(10, 0, 1), // 机器人x坐标
kreg_robot_velocity = REG_INDEX(10, 0, 2), // 机器人x速度
kreg_robot_torque = REG_INDEX(10, 0, 3), // 机器人x电流
kreg_motor_shift = REG_INDEX(10, 50, 0), // x偏移
kreg_motor_shaft = REG_INDEX(10, 50, 1), // x轴是否反转
@ -242,6 +281,99 @@ typedef enum {
kreg_xyrobot_robot_type = REG_INDEX(20, 50, 0), // 机器人类型 0:hbot 1:corexy
/*******************************************************************************
* PID控制器(3000->4000) *
*******************************************************************************/
kreg_pid_target = REG_INDEX(30, 0, 0), // 目标数值
kreg_pid_nowoutput = REG_INDEX(30, 0, 1), // 当前输出
kreg_pid_feedbackval = REG_INDEX(30, 0, 2), // 当前输出
kreg_pid_kp = REG_INDEX(30, 50, 0), // kp
kreg_pid_ki = REG_INDEX(30, 50, 1), // ki
kreg_pid_kd = REG_INDEX(30, 50, 2), // kd
kreg_pid_max_output = REG_INDEX(30, 50, 3), // 最大输出
kreg_pid_min_output = REG_INDEX(30, 50, 4), // 最小输出
kreg_pid_max_integral = REG_INDEX(30, 50, 5), // 最大积分
kreg_pid_min_integral = REG_INDEX(30, 50, 6), // 最小积分
kreg_error_limit = REG_INDEX(30, 50, 7), // 误差限制
kreg_compute_interval = REG_INDEX(30, 50, 8), // 计算间隔
/*******************************************************************************
* 风扇控制 *
*******************************************************************************/
kreg_fan0_ctrl_speed_level = REG_INDEX(31, 0, 0), // 风扇转速0,1,2,3
kreg_fan1_ctrl_speed_level = REG_INDEX(31, 0, 1), // 风扇转速0,1,2,3
kreg_fan2_ctrl_speed_level = REG_INDEX(31, 0, 2), // 风扇转速0,1,2,3
kreg_fan3_ctrl_speed_level = REG_INDEX(31, 0, 3), // 风扇转速0,1,2,3
kreg_fan4_ctrl_speed_level = REG_INDEX(31, 0, 4), // 风扇转速0,1,2,3
kreg_fan0_speed_level = REG_INDEX(31, 10, 0), // 风扇实时转速0,1,2,3
kreg_fan1_speed_level = REG_INDEX(31, 10, 1), // 风扇实时转速0,1,2,3
kreg_fan2_speed_level = REG_INDEX(31, 10, 2), // 风扇实时转速0,1,2,3
kreg_fan3_speed_level = REG_INDEX(31, 10, 3), // 风扇实时转速0,1,2,3
kreg_fan4_speed_level = REG_INDEX(31, 10, 4), // 风扇实时转速0,1,2,3
kreg_pwm_pump0_ctrl_speed_level = REG_INDEX(32, 0, 0), // PWM水泵0,1,2,3
kreg_pwm_pump1_ctrl_speed_level = REG_INDEX(32, 0, 1), // PWM水泵0,1,2,3
kreg_pwm_pump2_ctrl_speed_level = REG_INDEX(32, 0, 2), // PWM水泵0,1,2,3
kreg_pwm_pump3_ctrl_speed_level = REG_INDEX(32, 0, 3), // PWM水泵0,1,2,3
kreg_pwm_pump4_ctrl_speed_level = REG_INDEX(32, 0, 4), // PWM水泵0,1,2,3
kreg_pwm_pump0_speed_level = REG_INDEX(32, 10, 0), // PWM水泵0,1,2,3
kreg_pwm_pump1_speed_level = REG_INDEX(32, 10, 1), // PWM水泵0,1,2,3
kreg_pwm_pump2_speed_level = REG_INDEX(32, 10, 2), // PWM水泵0,1,2,3
kreg_pwm_pump3_speed_level = REG_INDEX(32, 10, 3), // PWM水泵0,1,2,3
kreg_pwm_pump4_speed_level = REG_INDEX(32, 10, 4), // PWM水泵0,1,2,3
/*******************************************************************************
* 移液枪状态 *
*******************************************************************************/
kreg_pipette_pos_ul = REG_INDEX(40, 0, 0), // 移液枪位置
kreg_pipette_capactitance_val = REG_INDEX(40, 0, 1), // 移液枪电容值
kreg_pipette_tip_state = REG_INDEX(40, 0, 2), // 移动液枪tip状态
kreg_pipette_limit_ul = REG_INDEX(40, 50, 0), // 移液枪ul限制
/*******************************************************************************
* smartADC *
*******************************************************************************/
kreg_self_reflecting_laser_sensor_transmitting_power = REG_INDEX(41, 0, 0), // 发射功率
kreg_self_reflecting_laser_sensor_receiving_tube_gain = REG_INDEX(41, 0, 1), // 接收管放大倍数
kreg_self_reflecting_laser_sensor_sample_interval_ms = REG_INDEX(41, 0, 2), // 采样率
kreg_self_reflecting_laser_sensor_num_samples = REG_INDEX(41, 0, 3), // 采样点数
/*******************************************************************************
* smartADC *
*******************************************************************************/
// scan action
kreg_boditech_optical_scan_type = REG_INDEX(42, 0, 0), // 0 t光学，1 f光学
kreg_boditech_optical_scan_start_pos = REG_INDEX(42, 0, 1),
kreg_boditech_optical_scan_direction = REG_INDEX(42, 0, 2),
kreg_boditech_optical_scan_step_interval = REG_INDEX(42, 0, 3),
kreg_boditech_optical_scan_pointnum = REG_INDEX(42, 0, 4),
kreg_boditech_optical_channel_select_num = REG_INDEX(42, 0, 5),
kreg_boditech_optical_laster_gain = REG_INDEX(42, 0, 6),
kreg_boditech_optical_scan_gain = REG_INDEX(42, 0, 7),
kreg_boditech_optical_trf_uvled_on_duration_us = REG_INDEX(42, 0, 8),
kreg_boditech_optical_trf_uvled_off_duration_us = REG_INDEX(42, 0, 9),
kreg_boditech_optical_trf_scan_delay_us = REG_INDEX(42, 0, 10),
kreg_boditech_optical_trf_scan_duration_us = REG_INDEX(42, 0, 11),
kreg_boditech_optical_scan_gain_adjust_suggestion = REG_INDEX(42, 0, 12),
kreg_boditech_optical_adc_result_overflow = REG_INDEX(42, 0, 13),
kreg_boditech_optical_laster_intensity = REG_INDEX(42, 0, 14),
//
kreg_laster_scaner_scan_type = REG_INDEX(43, 0, 0), // 0 t光学，1 f光学
kreg_laster_scaner_scan_start_pos = REG_INDEX(43, 0, 1),
kreg_laster_scaner_scan_direction = REG_INDEX(43, 0, 2),
kreg_laster_scaner_scan_step_interval = REG_INDEX(43, 0, 3),
kreg_laster_scaner_scan_pointnum = REG_INDEX(43, 0, 4),
kreg_laster_scaner_laster_gain = REG_INDEX(43, 0, 5),
kreg_laster_scaner_scan_gain = REG_INDEX(43, 0, 6),
kreg_laster_scaner_scan_gain_adjust_suggestion = REG_INDEX(43, 0, 12),
kreg_laster_scaner_adc_result_overflow = REG_INDEX(43, 0, 13),
kreg_laster_scaner_laster_intensity = REG_INDEX(43, 0, 14),
} reg_index_t;
} // namespace iflytop

3
components/zprotocols/zcancmder_v2/api/zi_module.hpp
View File

@ -33,6 +33,9 @@ class ZIModule {
virtual int32_t module_flush_cfg() = 0;
virtual int32_t module_active_cfg() = 0;
virtual int32_t module_set_cover_reg(int32_t param_id, int32_t param_value) { return err::koperation_not_support; }
virtual int32_t module_get_cover_reg(int32_t param_id, int32_t *param_value) { return err::koperation_not_support; }
public:
};
} // namespace iflytop

3
components/zprotocols/zcancmder_v2/api/zi_motor.hpp
View File

@ -18,5 +18,8 @@ class ZIMotor {
virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; }
virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
virtual int32_t motor_calculated_pos_by_move_to_zero_read_result(int32_t* result) { return err::koperation_not_support; }
public:
};
} // namespace iflytop

75
components/zprotocols/zcancmder_v2/cmdid.hpp
View File

@ -4,53 +4,54 @@
namespace iflytop {
namespace zcr {
typedef enum {
kboard_reset = CMDID(0, 0), // para:{}, ack:{}
kevent_bus_reg_change_report = CMDID(0, 100), // para:{}, ack:{}
kboard_reset = CMDID(0, 0),
kevent_bus_reg_change_report = CMDID(0, 100),
/*******************************************************************************
* MODULE_PUBLIC_CMD *
*******************************************************************************/
kmodule_ping = CMDID(1, 0), // para:{}, ack:{}
kmodule_stop = CMDID(1, 1), // para:{}, ack:{}
kmodule_break = CMDID(1, 2), // para:{}, ack:{}
kmodule_get_status = CMDID(1, 4), // para:{}, ack:{4}
kmodule_set_reg = CMDID(1, 5), // para:{4,4}, ack:{}
kmodule_get_reg = CMDID(1, 6), // para:{4}, ack:{4}I
kmodule_readio = CMDID(1, 7), // para:{}, ack:{4}
kmodule_writeio = CMDID(1, 8), // para:{4}, ack:{}
kmodule_read_adc = CMDID(1, 9), // para:{4}, ack:{4}
kmodule_get_error = CMDID(1, 10), // para:{}, ack:{1}
kmodule_clear_error = CMDID(1, 11), // para:{}, ack:{}
kmodule_set_inited_flag = CMDID(1, 12), // para:{4}, ack:{}
kmodule_get_inited_flag = CMDID(1, 13), // para:{}, ack:{4}
kmodule_factory_reset = CMDID(1, 14), // para:{}, ack:{}
kmodule_flush_cfg = CMDID(1, 15), // para:{}, ack:{}
kmodule_active_cfg = CMDID(1, 16), // para:{}, ack:{}
kmodule_read_raw = CMDID(1, 19), // para:{4,4}, ack:{4}
kmodule_enable = CMDID(1, 20), // para:{4}, ack:{}
kmodule_start = CMDID(1, 21), // para:{4}, ack:{}
kmodule_ping = CMDID(1, 0),
kmodule_stop = CMDID(1, 1),
kmodule_break = CMDID(1, 2),
kmodule_get_status = CMDID(1, 4),
kmodule_set_reg = CMDID(1, 5),
kmodule_get_reg = CMDID(1, 6),
kmodule_readio = CMDID(1, 7),
kmodule_writeio = CMDID(1, 8),
kmodule_read_adc = CMDID(1, 9),
kmodule_get_error = CMDID(1, 10),
kmodule_clear_error = CMDID(1, 11),
kmodule_set_inited_flag = CMDID(1, 12),
kmodule_get_inited_flag = CMDID(1, 13),
kmodule_factory_reset = CMDID(1, 14),
kmodule_flush_cfg = CMDID(1, 15),
kmodule_active_cfg = CMDID(1, 16),
kmodule_read_raw = CMDID(1, 19),
kmodule_enable = CMDID(1, 20),
kmodule_start = CMDID(1, 21),
kmodule_set_cover_reg = CMDID(2, 22),
kmodule_get_cover_reg = CMDID(2, 23),
/*******************************************************************************
* MOTOR_CTRL *
*******************************************************************************/
kmotor_calculated_pos_by_move_to_zero = CMDID(2, 16), // para:{}, ack:{}
kmotor_easy_rotate = CMDID(2, 17), // para:{4}, ack:{}
kmotor_easy_move_by = CMDID(2, 18), // para:{4}, ack:{}
kmotor_easy_move_to = CMDID(2, 19), // para:{4}, ack:{}
kmotor_easy_move_to_zero = CMDID(2, 20), // para:{1}, ack:{}
kmotor_easy_set_current_pos = CMDID(2, 21), // para:{4}, ack:{}
kmotor_easy_move_to_io = CMDID(2, 22), // para:{4,4}, ack:{}
kmotor_calculated_pos_by_move_to_zero_read_result = CMDID(2, 23), // para:{}, ack:{4}
kmotor_calculated_pos_by_move_to_zero = CMDID(2, 16),
kmotor_easy_rotate = CMDID(2, 17),
kmotor_easy_move_by = CMDID(2, 18),
kmotor_easy_move_to = CMDID(2, 19),
kmotor_easy_move_to_zero = CMDID(2, 20),
kmotor_easy_set_current_pos = CMDID(2, 21),
kmotor_easy_move_to_io = CMDID(2, 22),
kmotor_calculated_pos_by_move_to_zero_read_result = CMDID(2, 23),
/*******************************************************************************
* XYMOTOR *
*******************************************************************************/
kxymotor_enable = CMDID(3, 1), // para:{1}, ack:{}
kxymotor_move_by = CMDID(3, 2), // para:{4,4,4}, ack:{}
kxymotor_move_to = CMDID(3, 3), // para:{4,4,4}, ack:{}
kxymotor_move_to_zero = CMDID(3, 4), // para:{}, ack:{}
kxymotor_move_to_zero_and_calculated_shift = CMDID(3, 5), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kxymotor_read_pos = CMDID(3, 6), // para:{}, ack:{4,4}
kxymotor_calculated_pos_by_move_to_zero = CMDID(3, 7), // para:{}, ack:{}
kxymotor_enable = CMDID(3, 1),
kxymotor_move_by = CMDID(3, 2),
kxymotor_move_to = CMDID(3, 3),
kxymotor_move_to_zero = CMDID(3, 4),
kxymotor_move_to_zero_and_calculated_shift = CMDID(3, 5),
kxymotor_read_pos = CMDID(3, 6),
kxymotor_calculated_pos_by_move_to_zero = CMDID(3, 7),
} cmdid_t;

4
components/zprotocols/zcancmder_v2/protocol_parser.cpp
View File

@ -129,6 +129,8 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
PROCESS_BUF_REQUEST_1(kmodule_read_raw, ZIModule, module_read_raw);
PROCESS_PACKET_10(kmodule_enable, ZIModule, module_enable);
PROCESS_PACKET_00(kmodule_start, ZIModule, module_start);
PROCESS_PACKET_20(kmodule_set_cover_reg, ZIModule, module_set_cover_reg);
PROCESS_PACKET_11(kmodule_get_cover_reg, ZIModule, module_get_cover_reg);
PROCESS_PACKET_00(kmotor_calculated_pos_by_move_to_zero, ZIMotor, motor_calculated_pos_by_move_to_zero);
PROCESS_PACKET_10(kmotor_easy_rotate, ZIMotor, motor_easy_rotate);
@ -139,7 +141,6 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
PROCESS_PACKET_20(kmotor_easy_move_to_io, ZIMotor, motor_easy_move_to_io);
PROCESS_PACKET_01(kmotor_calculated_pos_by_move_to_zero_read_result, ZIMotor, motor_calculated_pos_by_move_to_zero_read_result);
/*******************************************************************************
* xymotor *
*******************************************************************************/
@ -150,5 +151,4 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
PROCESS_PACKET_00(kxymotor_move_to_zero_and_calculated_shift, ZIXYMotor, xymotor_move_to_zero_and_calculated_shift);
PROCESS_PACKET_02(kxymotor_read_pos, ZIXYMotor, xymotor_read_pos);
PROCESS_PACKET_00(kxymotor_calculated_pos_by_move_to_zero, ZIXYMotor, xymotor_calculated_pos_by_move_to_zero);
}
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