p_graphite_digester
/
p_graphite_digester_sdk
2
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 1 year ago
parent
e66a40b850
commit
4dec1cc348
12 changed files with 290 additions and 171 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 26
      components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
  2. 18
      components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
  3. 15
      components/step_motor_ctrl_module/step_motor_ctrl_module_v2.cpp
  4. 25
      components/step_motor_ctrl_module/step_motor_ctrl_module_v2.hpp
  5. 153
      components/zcancmder/zimodule_impl_v2.cpp
  6. 48
      components/zcancmder/zimodule_impl_v2.hpp
  7. 1
      components/zprotocols/zcancmder_v2/api/errorcode.hpp
  8. 36
      components/zprotocols/zcancmder_v2/api/reg_index.hpp
  9. 11
      components/zprotocols/zcancmder_v2/api/zi_module.hpp
  10. 39
      components/zprotocols/zcancmder_v2/api/zi_motor.hpp
  11. 70
      components/zprotocols/zcancmder_v2/cmdid.hpp
  12. 17
      components/zprotocols/zcancmder_v2/protocol_parser.cpp

26
components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
View File

@ -77,19 +77,19 @@ class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModuleImplV1, pub
*******************************************************************************/ *******************************************************************************/
virtual int32_t module_ping() { return 0; }; virtual int32_t module_ping() { return 0; };
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_rotate_with_torque(int32_t direction, int32_t torque) override;
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) override;
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
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_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_rotate_with_torque(int32_t direction, int32_t torque) ;
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) ;
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) ;
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) ;
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) ;
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) ;
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_read_pos(int32_t *pos);

18
components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
View File

@ -80,7 +80,7 @@ class StepMotorCtrlModule : public ZIModuleImplV1, public ZIMotor {
static void create_default_cfg(flash_config_t& cfg); static void create_default_cfg(flash_config_t& cfg);
static uint32_t get_flash_cfg_size() { return sizeof(flash_config_t); } static uint32_t get_flash_cfg_size() { return sizeof(flash_config_t); }
virtual bool isbusy();
virtual bool isbusy();
virtual int32_t move_to_logic_point(int32_t logic_point_num, action_cb_status_t status_cb); 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); virtual int32_t set_logic_point(int logic_point_num, int32_t x, int32_t vel, int32_t acc, int32_t dec);
@ -130,17 +130,19 @@ class StepMotorCtrlModule : public ZIModuleImplV1, public ZIMotor {
/******************************************************************************* /*******************************************************************************
* Motor * * Motor *
*******************************************************************************/ *******************************************************************************/
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_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_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(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_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) 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_calculated_pos_by_move_to_zero() 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_rotate(int32_t direction) override;
virtual int32_t motor_easy_move_by(int32_t distance) override; virtual int32_t motor_easy_move_by(int32_t distance) override;
virtual int32_t motor_easy_move_to(int32_t position) override; virtual int32_t motor_easy_move_to(int32_t position) override;

15
components/step_motor_ctrl_module/step_motor_ctrl_module_v2.cpp
View File

@ -0,0 +1,15 @@
#include "step_motor_ctrl_module_v2.hpp"
using namespace iflytop;
int32_t StepMotorCtrlModuleV2::module_stop() { return 0; }
int32_t StepMotorCtrlModuleV2::module_break() { return 0; }
int32_t StepMotorCtrlModuleV2::module_start() { return 0; }
int32_t StepMotorCtrlModuleV2::motor_easy_rotate(int32_t direction) { return 0; }
int32_t StepMotorCtrlModuleV2::motor_easy_move_by(int32_t distance) { return 0; }
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; }

25
components/step_motor_ctrl_module/step_motor_ctrl_module_v2.hpp
View File

@ -0,0 +1,25 @@
#pragma once
//
#include "sdk/os/zos.hpp"
#include "sdk\components\tmc\basic\tmc_ic_interface.hpp"
#include "sdk\components\zcancmder\zcanreceiver.hpp"
#include "sdk\components\zcancmder\zimodule_impl_v2.hpp"
namespace iflytop {
class StepMotorCtrlModuleV2 : public ZIModuleImplV2, public ZIMotor {
private:
IStepperMotor* m_stepM1;
public:
virtual int32_t module_stop();
virtual int32_t module_break();
virtual int32_t module_start();
virtual int32_t motor_easy_rotate(int32_t direction);
virtual int32_t motor_easy_move_by(int32_t distance);
virtual int32_t motor_easy_move_to(int32_t position);
virtual int32_t motor_easy_move_to_zero(int32_t direction);
virtual int32_t motor_easy_set_current_pos(int32_t pos);
virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction);
virtual int32_t motor_calculated_pos_by_move_to_zero();
};
} // namespace iflytop

153
components/zcancmder/zimodule_impl_v2.cpp
View File

@ -1,16 +1,15 @@
#include "zimodule_impl_v2.hpp" #include "zimodule_impl_v2.hpp"
#include <stdint.h> #include <stdint.h>
#include <stdio.h>
#include <functional> #include <functional>
#include "sdk/os/zos.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\api\reg_index.hpp" #include "sdk\components\zprotocols\zcancmder_v2\api\reg_index.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\api\zi_module.hpp" #include "sdk\components\zprotocols\zcancmder_v2\api\zi_module.hpp"
using namespace iflytop; using namespace iflytop;
ZIModuleImplV2::ZIModuleImplV2(int32_t id) { m_id = id; }
int32_t ZIModuleImplV2::getid(int32_t *id) { int32_t ZIModuleImplV2::getid(int32_t *id) {
*id = m_id; *id = m_id;
return 0; return 0;
@ -21,26 +20,150 @@ int32_t ZIModuleImplV2::module_get_status(int32_t *status) { return module_get_r
int32_t ZIModuleImplV2::module_get_error(int32_t *iserror) { return module_get_reg(kreg_module_errorcode, iserror); } int32_t ZIModuleImplV2::module_get_error(int32_t *iserror) { return module_get_reg(kreg_module_errorcode, iserror); }
int32_t ZIModuleImplV2::module_clear_error() { return module_set_reg(kreg_module_errorcode, 0); } int32_t ZIModuleImplV2::module_clear_error() { return module_set_reg(kreg_module_errorcode, 0); }
int32_t ZIModuleImplV2::module_enable(int32_t enable) { return module_set_reg(kreg_module_enableflag, enable); } int32_t ZIModuleImplV2::module_enable(int32_t enable) { return module_set_reg(kreg_module_enableflag, enable); }
// int32_t ZIModuleImplV2::module_readio(int32_t *io) { return module_get_reg(kreg_module_input_state, io); }
// int32_t ZIModuleImplV2::module_writeio(int32_t idindex, int32_t io) { return module_set_reg(kreg_module_output_state, io); }
int32_t ZIModuleImplV2::module_factory_reset() { return 0; } int32_t ZIModuleImplV2::module_factory_reset() { return 0; }
int32_t ZIModuleImplV2::module_flush_cfg() { return 0; } int32_t ZIModuleImplV2::module_flush_cfg() { return 0; }
int32_t ZIModuleImplV2::module_active_cfg() { return 0; } int32_t ZIModuleImplV2::module_active_cfg() { return 0; }
int32_t ZIModuleImplV2::module_readio(int32_t *io) { return module_get_reg(kreg_module_input_state, io); }
int32_t ZIModuleImplV2::module_writeio(int32_t idindex, int32_t io) { return module_set_reg(kreg_module_output_state, io); }
void ZIModuleImplV2::_initialize(int32_t moduleid, int32_t module_type, int32_t sf_version) {
m_id = moduleid;
m_regtable = NULL;
m_regNum = 0;
_addRegItem(kreg_module_version, sf_version, kreg_flag_ronly); // 模块版本
_addRegItem(kreg_module_type, module_type, kreg_flag_ronly); // 模块类型
_addRegItem(kreg_module_status, 0, kreg_flag_rw_limit, 0, 2); // 模块限制
_addRegItem(kreg_module_errorcode, 0, kreg_flag_rw); // 模块错误码
_addRegItem(kreg_module_initflag, 0, kreg_flag_rw); // 复位标志位，上电自动置0，上位机可以通过将这个寄存器置1，来判断单片机是否发生复位
_addRegItem(kreg_module_enableflag, 0, kreg_flag_rw); // 模块使能标志位，一般用于电机控制
_addRegItem(kreg_module_errorbitflag0, 0, kreg_flag_rw); // 详细的错误状态
_addRegItem(kreg_module_errorbitflag1, 0, kreg_flag_rw); // 详细的错误状态
_addRegItem(kreg_module_input_state, 0, kreg_flag_rw); // 输入IO状态
_addRegItem(kreg_module_output_state, 0, kreg_flag_rw); // 输出IO状态
_addRegItem(kreg_module_raw_sector_size, 0, kreg_flag_ronly); // 用于辅助module_read_raw方法
_addRegItem(kreg_module_raw_sector_num, 0, kreg_flag_ronly); // 用于辅助module_read_raw方法
_addRegItem(kreg_module_is_online, 0, kreg_flag_ronly); // 如果模块存在下属传感器，可以通过这个寄存器判断传感器是否在线
}
void ZIModuleImplV2::_regRegChangeListener(reg_operation_event_listener_t onregchange) { //
m_reg_operation_event_listener = onregchange;
}
void ZIModuleImplV2::_addRegItem(int32_t index, int32_t value, int32_t regflag, int32_t minval, int32_t maxval) {
reg_iterm_t *iterm = (reg_iterm_t *)realloc(m_regtable, sizeof(reg_iterm_t) * (m_regNum + 1));
ZASSERT(iterm != NULL);
iterm[m_regNum].index = index;
iterm[m_regNum].value = value;
iterm[m_regNum].flag = regflag;
iterm[m_regNum].minval = minval;
iterm[m_regNum].maxval = maxval;
m_regtable = iterm;
m_regNum++;
}
int32_t ZIModuleImplV2::module_set_reg(int32_t param_id, int32_t param_value) { int32_t ZIModuleImplV2::module_set_reg(int32_t param_id, int32_t param_value) {
int32_t retVal = 0;
// if (m_reg_change_listener) {
// m_reg_change_listener(param_id, param_value);
// }
return 0;
int32_t retVal = 0;
reg_iterm_t *regitem = _findreg(param_id);
if (regitem == NULL) {
return err::kreg_not_find_error;
}
if ((regitem->flag & kreg_flag_writeable) == 0) {
return err::koperation_not_support;
}
if ((regitem->flag & kreg_flag_limit) != 0) {
if (param_value < regitem->minval || param_value > regitem->maxval) {
return err::kparam_out_of_range;
}
}
if (m_reg_operation_event_listener) {
retVal = m_reg_operation_event_listener(kon_reg_write, param_id, param_value);
}
if (retVal == 0) {
return retVal;
}
regitem->value = param_value;
return 0;
} }
int32_t ZIModuleImplV2::module_get_reg(int32_t param_id, int32_t *param_value) { int32_t ZIModuleImplV2::module_get_reg(int32_t param_id, int32_t *param_value) {
reg_iterm_t *regitem = _findreg(param_id);
if (regitem == NULL) {
return err::kreg_not_find_error;
}
if ((regitem->flag & kreg_flag_readable) == 0) {
return err::koperation_not_support;
}
if (m_reg_operation_event_listener) {
int32_t retVal = m_reg_operation_event_listener(kon_reg_read, param_id, regitem->value);
if (retVal != 0) {
return retVal;
}
}
*param_value = regitem->value;
return 0;
}
int32_t ZIModuleImplV2::module_get_regbit(int32_t param_id, int32_t bitoffset, int32_t *param_value) {
int32_t regval = 0;
int32_t retVal = module_get_reg(param_id, &regval);
if (retVal != 0) {
return retVal;
}
*param_value = (regval >> bitoffset) & 0x01;
return 0;
}
int32_t ZIModuleImplV2::module_set_regbit(int32_t param_id, int32_t bitoffset, int32_t bitval) {
int32_t regval = 0;
int32_t retVal = _module_get_reg_internal(param_id, &regval);
if (retVal != 0) {
return retVal;
}
regval &= ~(0x01 << bitoffset);
regval |= (bitval & 0x01) << bitoffset;
return module_set_reg(param_id, regval);
}
int32_t ZIModuleImplV2::_module_set_reg_internal(int32_t index, int32_t value) {
reg_iterm_t *regitem = _findreg(index);
if (regitem == NULL) {
return err::kreg_not_find_error;
}
regitem->value = value;
return 0;
}
int32_t ZIModuleImplV2::_module_get_reg_internal(int32_t param_id, int32_t *param_value) {
reg_iterm_t *regitem = _findreg(param_id);
if (regitem == NULL) {
return err::kreg_not_find_error;
}
*param_value = regitem->value;
return 0;
} }
int32_t ZIModuleImplV2::module_get_regbit(int32_t param_id, int32_t bitoffset, int32_t *param_value) {}
int32_t ZIModuleImplV2::module_set_regbit(int32_t param_id, int32_t bitoffset, int32_t bitval) {}
void ZIModuleImplV2::_regRegChangeListener(reg_change_listener_t onregchange) { //
m_reg_change_listener = onregchange;
ZIModuleImplV2::reg_iterm_t *ZIModuleImplV2::_findreg(int32_t index) {
for (int i = 0; i < m_regNum; i++) {
if (m_regtable[i].index == index) {
return &m_regtable[i];
}
}
return NULL;
} }
void ZIModuleImplV2::_allocRegTable(int32_t regNum) {}

48
components/zcancmder/zimodule_impl_v2.hpp
View File

@ -14,11 +14,26 @@ class ZIModuleImplV2 : public ZIModule {
/******************************************************************************* /*******************************************************************************
* 结构定义 * * 结构定义 *
*******************************************************************************/ *******************************************************************************/
typedef enum {
kidle = 0,
kbusy = 1,
kerror = 2,
} module_status_t;
typedef enum {
kreg_flag_writeable = 0x01,
kreg_flag_readable = 0x01 << 1,
kreg_flag_limit = 0x01 << 2,
kreg_flag_rw = kreg_flag_writeable | kreg_flag_readable,
kreg_flag_rw_limit = kreg_flag_writeable | kreg_flag_readable | kreg_flag_limit,
kreg_flag_ronly = kreg_flag_readable,
} reg_flag_t;
typedef struct { typedef struct {
int32_t index; int32_t index;
int32_t value; int32_t value;
// limit
bool enablelimit;
int32_t flag;
int32_t minval; int32_t minval;
int32_t maxval; int32_t maxval;
} reg_iterm_t; } reg_iterm_t;
@ -28,7 +43,7 @@ class ZIModuleImplV2 : public ZIModule {
kon_reg_read, kon_reg_read,
} reg_change_event_t; } reg_change_event_t;
typedef function<int32_t(reg_change_event_t event, int32_t index, int32_t &regval)> reg_change_listener_t;
typedef function<int32_t(reg_change_event_t event, int32_t index, int32_t &regval)> reg_operation_event_listener_t;
private: private:
/******************************************************************************* /*******************************************************************************
@ -38,16 +53,11 @@ class ZIModuleImplV2 : public ZIModule {
reg_iterm_t *m_regtable = NULL; reg_iterm_t *m_regtable = NULL;
int32_t m_regNum = 0; int32_t m_regNum = 0;
reg_iterm_t *m_internal_regtable = NULL;
int32_t m_internal_regNum = 0;
reg_change_listener_t m_reg_change_listener;
reg_operation_event_listener_t m_reg_operation_event_listener;
public: public:
virtual ~ZIModuleImplV2() {} virtual ~ZIModuleImplV2() {}
ZIModuleImplV2(int32_t id);
/******************************************************************************* /*******************************************************************************
* ZIModuleImpl * * ZIModuleImpl *
*******************************************************************************/ *******************************************************************************/
@ -63,24 +73,26 @@ class ZIModuleImplV2 : public ZIModule {
virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) override final; virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) override final;
virtual int32_t module_set_regbit(int32_t param_id, int32_t bitoffset, int32_t bitval) final; virtual int32_t module_set_regbit(int32_t param_id, int32_t bitoffset, int32_t bitval) final;
virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) final; virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) final;
virtual int32_t module_get_regbit(int32_t param_id, int32_t bitoffset, int32_t *param_value) final;
virtual int32_t module_get_regbit(int32_t param_id, int32_t bitoffset, int32_t *param_value) final;
virtual int32_t module_factory_reset() override final; virtual int32_t module_factory_reset() override final;
virtual int32_t module_flush_cfg() override final; virtual int32_t module_flush_cfg() override final;
virtual int32_t module_active_cfg() override final; virtual int32_t module_active_cfg() override final;
// virtual int32_t module_stop() = 0;
// virtual int32_t module_break() = 0;
// virtual int32_t module_start() = 0;
// virtual int32_t module_read_raw(int32_t index, uint8_t *data, int32_t *len) override final;
virtual int32_t module_readio(int32_t *io) override final;
virtual int32_t module_writeio(int32_t idindex, int32_t io) override final;
/******************************************************************************* /*******************************************************************************
* 工具方法 * * 工具方法 *
*******************************************************************************/ *******************************************************************************/
virtual void _initialize(int32_t moduleid, int32_t module_type, int32_t sf_version) final;
virtual void _regRegChangeListener(reg_operation_event_listener_t onregchange) final;
virtual void _addRegItem(int32_t index, int32_t value, //
int32_t regflag = (kreg_flag_writeable | kreg_flag_readable), int32_t minval = 0, int32_t maxval = 0) final;
virtual int32_t _module_set_reg_internal(int32_t index, int32_t value) final; // 模块内部调用设置寄存器，此方法不会任何限制
virtual int32_t _module_get_reg_internal(int32_t param_id, int32_t *param_value) final; // 模块内部调用设置寄存器，此方法不会任何限制
void _regRegChangeListener(reg_change_listener_t onregchange);
void _allocRegTable(int32_t regNum);
public:
private:
reg_iterm_t *_findreg(int32_t index);
}; };
} // namespace iflytop } // namespace iflytop

1
components/zprotocols/zcancmder_v2/api/errorcode.hpp
View File

@ -27,6 +27,7 @@ typedef enum {
kcatch_exception = ERROR_CODE(0, 16), kcatch_exception = ERROR_CODE(0, 16),
khwardware_error_fan_error = ERROR_CODE(0, 17), khwardware_error_fan_error = ERROR_CODE(0, 17),
khwardware_error = ERROR_CODE(0, 18), khwardware_error = ERROR_CODE(0, 18),
kreg_not_find_error = ERROR_CODE(0, 19),
/** /**
* @brief 系统错误 * @brief 系统错误

36
components/zprotocols/zcancmder_v2/api/reg_index.hpp
View File

@ -9,20 +9,19 @@ typedef enum {
/******************************************************************************* /*******************************************************************************
* 模块通用配置和状态 * * 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), //
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), //
/******************************************************************************* /*******************************************************************************
* SENSOR * * SENSOR *
@ -125,10 +124,11 @@ typedef enum {
/******************************************************************************* /*******************************************************************************
* MOTOR_DEFAULT * * 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_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_motor_shift = REG_INDEX(10, 50, 0), // x偏移 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 kreg_motor_shaft = REG_INDEX(10, 50, 1), // x轴是否反转

11
components/zprotocols/zcancmder_v2/api/zi_module.hpp
View File

@ -16,22 +16,23 @@ class ZIModule {
virtual int32_t getid(int32_t *id) = 0; virtual int32_t getid(int32_t *id) = 0;
virtual int32_t getid() = 0; virtual int32_t getid() = 0;
virtual int32_t module_ping() = 0; virtual int32_t module_ping() = 0;
virtual int32_t module_stop() = 0;
virtual int32_t module_break() = 0;
virtual int32_t module_start() = 0;
virtual int32_t module_stop() = 0; // user impl
virtual int32_t module_break() = 0; // user impl
virtual int32_t module_start() = 0; // user impl
virtual int32_t module_get_status(int32_t *status) = 0; virtual int32_t module_get_status(int32_t *status) = 0;
virtual int32_t module_get_error(int32_t *iserror) = 0; virtual int32_t module_get_error(int32_t *iserror) = 0;
virtual int32_t module_clear_error() = 0; virtual int32_t module_clear_error() = 0;
virtual int32_t module_enable(int32_t enable) = 0; virtual int32_t module_enable(int32_t enable) = 0;
virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) = 0; virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) = 0;
virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) = 0; virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) = 0;
virtual int32_t module_readio(int32_t *io) = 0;
virtual int32_t module_writeio(int32_t idindex, int32_t io) = 0;
virtual int32_t module_readio(int32_t *io) = 0; // ¼´½«¶ªÆú
virtual int32_t module_writeio(int32_t idindex, int32_t io) = 0; // ¼´½«¶ªÆú
virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) = 0; virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) = 0;
virtual int32_t module_read_raw(int32_t index, uint8_t *data, int32_t *len) = 0; virtual int32_t module_read_raw(int32_t index, uint8_t *data, int32_t *len) = 0;
virtual int32_t module_factory_reset() = 0; virtual int32_t module_factory_reset() = 0;
virtual int32_t module_flush_cfg() = 0; virtual int32_t module_flush_cfg() = 0;
virtual int32_t module_active_cfg() = 0; virtual int32_t module_active_cfg() = 0;
public: public:
}; };
} // namespace iflytop } // namespace iflytop

39
components/zprotocols/zcancmder_v2/api/zi_motor.hpp
View File

@ -10,39 +10,12 @@ using namespace std;
class ZIMotor { class ZIMotor {
public: public:
virtual ~ZIMotor() {} virtual ~ZIMotor() {}
virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
virtual int32_t motor_rotate_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_easy_rotate(int32_t direction) { return err::koperation_not_support; }
virtual int32_t motor_easy_move_by(int32_t distance) { return err::koperation_not_support; }
virtual int32_t motor_easy_move_to(int32_t position) { return err::koperation_not_support; }
virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; }
virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; }
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() { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // Ò»°ãÓÃÓÚ¶æ»ú
virtual int32_t motor_easy_rotate(int32_t direction) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_by(int32_t distance) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to(int32_t position) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; };
virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; };
virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
// virtual int32_t motor_set_shaft();
// s32 pos, s32 speed, s32 torque,
}; };
} // namespace iflytop } // namespace iflytop

70
components/zprotocols/zcancmder_v2/cmdid.hpp
View File

@ -4,57 +4,41 @@
namespace iflytop { namespace iflytop {
namespace zcr { namespace zcr {
typedef enum { typedef enum {
kboard_reset = CMDID(0, 0), // para:{}, ack:{}
kboard_reset = CMDID(0, 0), // para:{}, ack:{}
kevent_bus_reg_change_report = CMDID(0, 100), // para:{}, ack:{} kevent_bus_reg_change_report = CMDID(0, 100), // para:{}, ack:{}
/******************************************************************************* /*******************************************************************************
* MODULE_PUBLIC_CMD * * 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), // 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:{}
/******************************************************************************* /*******************************************************************************
* MOTOR_CTRL * * MOTOR_CTRL *
*******************************************************************************/ *******************************************************************************/
kmotor_enable = CMDID(2, 1), // para:{1}, ack:{}
kmotor_rotate = CMDID(2, 2), // para:{1,4}, ack:{}
kmotor_move_by = CMDID(2, 3), // para:{4,4}, ack:{}
kmotor_move_to = CMDID(2, 4), // para:{4,4}, ack:{}
kmotor_rotate_acctime = CMDID(2, 5), // para:{4,4}, ack:{}
kmotor_move_by_acctime = CMDID(2, 6), // para:{4,4}, ack:{}
kmotor_move_to_acctime = CMDID(2, 7), // para:{4,4}, ack:{}
kmotor_rotate_with_torque = CMDID(2, 8), // para:{4,4}, ack:{}
kmotor_move_to_zero_forward = CMDID(2, 9), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_move_to_zero_backward = CMDID(2, 10), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_read_pos = CMDID(2, 11), // para:{}, ack:{4}
kmotor_set_current_pos_by_change_shift = CMDID(2, 12), // para:{4}, ack:{}
kmotor_motor_move_to_zero_forward_and_calculated_shift = CMDID(2, 13), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_motor_move_to_zero_backward_and_calculated_shift = CMDID(2, 14), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_move_to_torque = CMDID(2, 15), // para:{4,4,4}, ack:{}
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 = 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:{}
/******************************************************************************* /*******************************************************************************
* XYMOTOR * * XYMOTOR *

17
components/zprotocols/zcancmder_v2/protocol_parser.cpp
View File

@ -112,7 +112,6 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
/******************************************************************************* /*******************************************************************************
* module * * module *
*******************************************************************************/ *******************************************************************************/
PROCESS_PACKET_00(kmodule_ping, ZIModule, module_ping); PROCESS_PACKET_00(kmodule_ping, ZIModule, module_ping);
PROCESS_PACKET_00(kmodule_stop, ZIModule, module_stop); PROCESS_PACKET_00(kmodule_stop, ZIModule, module_stop);
PROCESS_PACKET_00(kmodule_break, ZIModule, module_break); PROCESS_PACKET_00(kmodule_break, ZIModule, module_break);
@ -131,22 +130,6 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
PROCESS_PACKET_10(kmodule_enable, ZIModule, module_enable); PROCESS_PACKET_10(kmodule_enable, ZIModule, module_enable);
PROCESS_PACKET_00(kmodule_start, ZIModule, module_start); PROCESS_PACKET_00(kmodule_start, ZIModule, module_start);
PROCESS_PACKET_10(kmotor_enable, ZIMotor, motor_enable);
PROCESS_PACKET_30(kmotor_rotate, ZIMotor, motor_rotate);
PROCESS_PACKET_30(kmotor_move_by, ZIMotor, motor_move_by);
PROCESS_PACKET_30(kmotor_move_to, ZIMotor, motor_move_to);
PROCESS_PACKET_20(kmotor_rotate_with_torque, ZIMotor, motor_rotate_with_torque);
PROCESS_PACKET_30(kmotor_rotate_acctime, ZIMotor, motor_rotate_acctime);
PROCESS_PACKET_30(kmotor_move_by_acctime, ZIMotor, motor_move_by_acctime);
PROCESS_PACKET_30(kmotor_move_to_acctime, ZIMotor, motor_move_to_acctime);
PROCESS_PACKET_40(kmotor_move_to_zero_forward, ZIMotor, motor_move_to_zero_forward);
PROCESS_PACKET_40(kmotor_move_to_zero_backward, ZIMotor, motor_move_to_zero_backward);
PROCESS_PACKET_01(kmotor_read_pos, ZIMotor, motor_read_pos);
PROCESS_PACKET_10(kmotor_set_current_pos_by_change_shift, ZIMotor, motor_set_current_pos_by_change_shift);
PROCESS_PACKET_40(kmotor_motor_move_to_zero_forward_and_calculated_shift, ZIMotor, motor_move_to_zero_forward_and_calculated_shift);
PROCESS_PACKET_40(kmotor_motor_move_to_zero_backward_and_calculated_shift, ZIMotor, motor_move_to_zero_backward_and_calculated_shift);
PROCESS_PACKET_30(kmotor_move_to_torque, ZIMotor, motor_move_to_torque);
PROCESS_PACKET_00(kmotor_calculated_pos_by_move_to_zero, ZIMotor, motor_calculated_pos_by_move_to_zero); 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); PROCESS_PACKET_10(kmotor_easy_rotate, ZIMotor, motor_easy_rotate);
PROCESS_PACKET_10(kmotor_easy_move_by, ZIMotor, motor_easy_move_by); PROCESS_PACKET_10(kmotor_easy_move_by, ZIMotor, motor_easy_move_by);

Write Preview
Loading…
Cancel
Save