8 changed files with 14 additions and 240 deletions
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1components/step_motor_ctrl_module/step_motor_ctrl_module_v2.hpp
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4components/zprotocols/zcancmder_v2/api/api.hpp
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1components/zprotocols/zcancmder_v2/api/protocol_constant.hpp
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217components/zprotocols/zcancmder_v2/api/reg_index_table.cpp
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13components/zprotocols/zcancmder_v2/api/reg_index_table.hpp
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1components/zprotocols/zcancmder_v2/api/zi_motor.hpp
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15components/zprotocols/zcancmder_v2/cmdid.hpp
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2components/zprotocols/zcancmder_v2/protocol_parser.cpp
@ -1 +1,2 @@ |
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#pragma once
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#define ZCANCMD_READ_BUF_MAX_SIZE 512
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@ -1,217 +0,0 @@ |
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#include "reg_index_table.hpp"
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#include <stdlib.h>
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#include <string.h>
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#include "reg_index.hpp"
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using namespace iflytop; |
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static reg_index_table_iterm_t iterms[] = { |
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{"module_version", kreg_module_version}, |
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{"module_type", kreg_module_type}, |
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{"module_status", kreg_module_status}, |
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{"module_errorcode", kreg_module_errorcode}, |
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{"module_initflag", kreg_module_initflag}, |
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{"module_enableflag", kreg_module_enableflag}, |
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{"module_errorbitflag0", kreg_module_errorbitflag0}, |
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{"module_errorbitflag1", kreg_module_errorbitflag1}, |
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{"module_input_state", kreg_module_input_state}, |
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{"module_output_state", kreg_module_output_state}, |
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{"module_raw_sector_size", kreg_module_raw_sector_size}, |
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{"module_raw_sector_num", kreg_module_raw_sector_num}, |
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{"module_is_online", kreg_module_is_online}, |
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{"sensor_current", kreg_sensor_current}, |
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{"sensor_voltage", kreg_sensor_voltage}, |
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{"sensor_temperature", kreg_sensor_temperature}, |
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{"sensor_humidity", kreg_sensor_humidity}, |
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{"sensor_wind_speed", kreg_sensor_wind_speed}, |
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{"sensor_wind_dir", kreg_sensor_wind_dir}, |
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{"sensor_air_press", kreg_sensor_air_press}, |
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{"sensor_pm25", kreg_sensor_pm25}, |
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{"sensor_pm10", kreg_sensor_pm10}, |
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{"sensor_co", kreg_sensor_co}, |
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{"sensor_co2", kreg_sensor_co2}, |
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{"sensor_no2", kreg_sensor_no2}, |
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{"sensor_so2", kreg_sensor_so2}, |
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{"sensor_o3", kreg_sensor_o3}, |
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{"sensor_light_intensity", kreg_sensor_light_intensity}, |
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{"sensor_radiation", kreg_sensor_radiation}, |
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{"sensor_hydrogen_peroxide_volume", kreg_sensor_hydrogen_peroxide_volume}, |
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{"sensor_h2o_h2o2_rs", kreg_sensor_h2o_h2o2_rs}, |
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{"sensor_relative_humidity", kreg_sensor_relative_humidity}, |
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{"sensor_absolute_hydrogen_peroxide", kreg_sensor_absolute_hydrogen_peroxide}, |
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{"sensor_h2o_h2o2dew_point_temperature", kreg_sensor_h2o_h2o2dew_point_temperature}, |
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{"sensor_water_volume", kreg_sensor_water_volume}, |
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{"sensor_water_vapor_pressure", kreg_sensor_water_vapor_pressure}, |
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{"sensor_absolute_humidity", kreg_sensor_absolute_humidity}, |
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{"sensor_water_vapor_saturation_pressure_h2o", kreg_sensor_water_vapor_saturation_pressure_h2o}, |
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{"sensor_h2o2_vapor_pressure", kreg_sensor_h2o2_vapor_pressure}, |
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{"sensor_water_vapor_saturation_pressure_h2o_h2o2", kreg_sensor_water_vapor_saturation_pressure_h2o_h2o2}, |
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{"sensor_temperature0", kreg_sensor_temperature0}, |
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{"sensor_temperature1", kreg_sensor_temperature1}, |
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{"sensor_temperature2", kreg_sensor_temperature2}, |
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{"sensor_temperature3", kreg_sensor_temperature3}, |
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{"sensor_temperature4", kreg_sensor_temperature4}, |
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{"sensor_temperature5", kreg_sensor_temperature5}, |
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{"sensor_temperature6", kreg_sensor_temperature6}, |
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{"sensor_temperature7", kreg_sensor_temperature7}, |
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{"sensor_temperature8", kreg_sensor_temperature8}, |
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{"sensor_temperature9", kreg_sensor_temperature9}, |
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{"sensor_pressure0", kreg_sensor_pressure0}, |
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{"sensor_pressure1", kreg_sensor_pressure1}, |
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{"sensor_pressure2", kreg_sensor_pressure2}, |
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{"sensor_pressure3", kreg_sensor_pressure3}, |
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{"sensor_pressure4", kreg_sensor_pressure4}, |
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{"sensor_pressure5", kreg_sensor_pressure5}, |
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{"sensor_pressure6", kreg_sensor_pressure6}, |
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{"sensor_pressure7", kreg_sensor_pressure7}, |
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{"sensor_pressure8", kreg_sensor_pressure8}, |
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{"sensor_pressure9", kreg_sensor_pressure9}, |
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{"sensor_humidity0", kreg_sensor_humidity0}, |
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{"sensor_humidity1", kreg_sensor_humidity1}, |
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{"sensor_humidity2", kreg_sensor_humidity2}, |
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{"sensor_humidity3", kreg_sensor_humidity3}, |
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{"sensor_humidity4", kreg_sensor_humidity4}, |
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{"sensor_humidity5", kreg_sensor_humidity5}, |
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{"sensor_humidity6", kreg_sensor_humidity6}, |
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{"sensor_humidity7", kreg_sensor_humidity7}, |
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{"sensor_humidity8", kreg_sensor_humidity8}, |
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{"sensor_humidity9", kreg_sensor_humidity9}, |
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{"reg_pwm0_ctrl", kreg_pwm0_ctrl}, |
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{"reg_pwm0_duty", kreg_pwm0_duty}, |
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{"reg_pwm0_freq", kreg_pwm0_freq}, |
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{"reg_pwm1_ctrl", kreg_pwm1_ctrl}, |
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{"reg_pwm1_duty", kreg_pwm1_duty}, |
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{"reg_pwm1_freq", kreg_pwm1_freq}, |
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{"reg_pwm2_ctrl", kreg_pwm2_ctrl}, |
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{"reg_pwm2_duty", kreg_pwm2_duty}, |
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{"reg_pwm2_freq", kreg_pwm2_freq}, |
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{"reg_pwm3_ctrl", kreg_pwm3_ctrl}, |
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{"reg_pwm3_duty", kreg_pwm3_duty}, |
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{"reg_pwm3_freq", kreg_pwm3_freq}, |
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{"reg_pwm4_ctrl", kreg_pwm4_ctrl}, |
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{"reg_pwm4_duty", kreg_pwm4_duty}, |
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{"reg_pwm4_freq", kreg_pwm4_freq}, |
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{"reg_pwm5_ctrl", kreg_pwm5_ctrl}, |
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{"reg_pwm5_duty", kreg_pwm5_duty}, |
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{"reg_pwm5_freq", kreg_pwm5_freq}, |
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{"reg_pwm6_ctrl", kreg_pwm6_ctrl}, |
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{"reg_pwm6_duty", kreg_pwm6_duty}, |
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{"reg_pwm6_freq", kreg_pwm6_freq}, |
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{"reg_pwm7_ctrl", kreg_pwm7_ctrl}, |
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{"reg_pwm7_duty", kreg_pwm7_duty}, |
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{"reg_pwm7_freq", kreg_pwm7_freq}, |
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{"robot_move", kreg_robot_move}, |
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{"robot_pos", kreg_robot_pos}, |
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{"robot_velocity", kreg_robot_velocity}, |
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{"robot_torque", kreg_robot_torque}, |
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{"motor_shift", kreg_motor_shift}, |
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{"motor_shaft", kreg_motor_shaft}, |
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{"motor_one_circle_pulse", kreg_motor_one_circle_pulse}, |
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{"motor_one_circle_pulse_denominator", kreg_motor_one_circle_pulse_denominator}, |
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{"motor_default_velocity", kreg_motor_default_velocity}, |
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{"motor_default_acc", kreg_motor_default_acc}, |
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{"motor_default_dec", kreg_motor_default_dec}, |
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{"motor_default_break_dec", kreg_motor_default_break_dec}, |
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{"stepmotor_ihold", kreg_stepmotor_ihold}, |
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{"stepmotor_irun", kreg_stepmotor_irun}, |
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{"stepmotor_iholddelay", kreg_stepmotor_iholddelay}, |
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{"stepmotor_iglobalscaler", kreg_stepmotor_iglobalscaler}, |
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{"motor_run_to_zero_max_d", kreg_motor_run_to_zero_max_d}, |
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{"motor_look_zero_edge_max_d", kreg_motor_look_zero_edge_max_d}, |
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{"motor_run_to_zero_speed", kreg_motor_run_to_zero_speed}, |
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{"motor_run_to_zero_dec", kreg_motor_run_to_zero_dec}, |
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{"motor_look_zero_edge_speed", kreg_motor_look_zero_edge_speed}, |
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{"motor_look_zero_edge_dec", kreg_motor_look_zero_edge_dec}, |
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{"motor_default_torque", kreg_motor_default_torque}, |
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{"motor_max_d", kreg_motor_max_d}, |
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{"motor_min_d", kreg_motor_min_d}, |
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{"robot_x_move", kreg_robot_x_move}, |
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{"robot_x_pos", kreg_robot_x_pos}, |
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{"robot_x_velocity", kreg_robot_x_velocity}, |
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{"robot_x_torque", kreg_robot_x_torque}, |
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{"motor_x_shift", kreg_motor_x_shift}, |
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{"motor_x_shaft", kreg_motor_x_shaft}, |
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{"motor_x_one_circle_pulse", kreg_motor_x_one_circle_pulse}, |
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{"motor_x_default_velocity", kreg_motor_x_default_velocity}, |
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{"motor_x_default_acc", kreg_motor_x_default_acc}, |
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{"motor_x_default_dec", kreg_motor_x_default_dec}, |
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{"motor_x_default_break_dec", kreg_motor_x_default_break_dec}, |
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{"stepmotor_x_ihold", kreg_stepmotor_x_ihold}, |
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{"stepmotor_x_irun", kreg_stepmotor_x_irun}, |
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{"stepmotor_x_iholddelay", kreg_stepmotor_x_iholddelay}, |
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{"motor_run_to_zero_max_x_d", kreg_motor_run_to_zero_max_x_d}, |
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{"motor_look_zero_edge_max_x_d", kreg_motor_look_zero_edge_max_x_d}, |
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{"motor_x_run_to_zero_speed", kreg_motor_x_run_to_zero_speed}, |
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{"motor_x_run_to_zero_dec", kreg_motor_x_run_to_zero_dec}, |
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{"motor_x_look_zero_edge_speed", kreg_motor_x_look_zero_edge_speed}, |
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{"motor_x_look_zero_edge_dec", kreg_motor_x_look_zero_edge_dec}, |
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{"motor_x_default_torque", kreg_motor_x_default_torque}, |
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{"motor_max_x_d", kreg_motor_max_x_d}, |
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{"motor_min_x_d", kreg_motor_min_x_d}, |
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{"robot_y_move", kreg_robot_y_move}, |
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{"robot_y_pos", kreg_robot_y_pos}, |
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{"robot_y_velocity", kreg_robot_y_velocity}, |
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{"robot_y_torque", kreg_robot_y_torque}, |
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{"motor_y_shift", kreg_motor_y_shift}, |
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{"motor_y_shaft", kreg_motor_y_shaft}, |
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{"motor_y_one_circle_pulse", kreg_motor_y_one_circle_pulse}, |
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{"motor_y_default_velocity", kreg_motor_y_default_velocity}, |
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{"motor_y_default_acc", kreg_motor_y_default_acc}, |
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{"motor_y_default_dec", kreg_motor_y_default_dec}, |
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{"motor_y_default_break_dec", kreg_motor_y_default_break_dec}, |
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{"stepmotor_y_ihold", kreg_stepmotor_y_ihold}, |
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{"stepmotor_y_irun", kreg_stepmotor_y_irun}, |
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{"stepmotor_y_iholddelay", kreg_stepmotor_y_iholddelay}, |
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{"motor_run_to_zero_max_y_d", kreg_motor_run_to_zero_max_y_d}, |
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{"motor_look_zero_edge_max_y_d", kreg_motor_look_zero_edge_max_y_d}, |
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{"motor_y_run_to_zero_speed", kreg_motor_y_run_to_zero_speed}, |
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{"motor_y_run_to_zero_dec", kreg_motor_y_run_to_zero_dec}, |
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{"motor_y_look_zero_edge_speed", kreg_motor_y_look_zero_edge_speed}, |
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{"motor_y_look_zero_edge_dec", kreg_motor_y_look_zero_edge_dec}, |
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{"motor_y_default_torque", kreg_motor_y_default_torque}, |
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{"motor_max_y_d", kreg_motor_max_y_d}, |
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{"motor_min_y_d", kreg_motor_min_y_d}, |
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{"robot_z_move", kreg_robot_z_move}, |
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{"robot_z_pos", kreg_robot_z_pos}, |
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{"robot_z_velocity", kreg_robot_z_velocity}, |
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{"robot_z_torque", kreg_robot_z_torque}, |
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{"motor_z_shift", kreg_motor_z_shift}, |
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{"motor_z_shaft", kreg_motor_z_shaft}, |
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{"motor_z_one_circle_pulse", kreg_motor_z_one_circle_pulse}, |
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{"motor_z_default_velocity", kreg_motor_z_default_velocity}, |
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{"motor_z_default_acc", kreg_motor_z_default_acc}, |
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{"motor_z_default_dec", kreg_motor_z_default_dec}, |
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{"motor_z_default_break_dec", kreg_motor_z_default_break_dec}, |
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{"stepmotor_z_ihold", kreg_stepmotor_z_ihold}, |
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{"stepmotor_z_irun", kreg_stepmotor_z_irun}, |
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{"stepmotor_z_iholddelay", kreg_stepmotor_z_iholddelay}, |
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{"motor_run_to_zero_max_z_d", kreg_motor_run_to_zero_max_z_d}, |
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{"motor_look_zero_edge_max_z_d", kreg_motor_look_zero_edge_max_z_d}, |
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{"motor_z_run_to_zero_speed", kreg_motor_z_run_to_zero_speed}, |
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{"motor_z_run_to_zero_dec", kreg_motor_z_run_to_zero_dec}, |
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{"motor_z_look_zero_edge_speed", kreg_motor_z_look_zero_edge_speed}, |
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{"motor_z_look_zero_edge_dec", kreg_motor_z_look_zero_edge_dec}, |
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{"motor_z_default_torque", kreg_motor_z_default_torque}, |
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{"motor_max_z_d", kreg_motor_max_z_d}, |
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{"motor_min_z_d", kreg_motor_min_z_d}, |
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{"xyrobot_robot_type", kreg_xyrobot_robot_type}, |
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}; |
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namespace iflytop { |
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void reg_index_table_get(reg_index_table_iterm_t** table, int32_t* size) { |
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*size = sizeof(iterms) / sizeof(iterms[0]); |
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*table = iterms; |
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} |
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int32_t str_to_reg_index(const char* val) { |
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for (int32_t i = 0; i < sizeof(iterms) / sizeof(iterms[0]); i++) { |
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if (strcmp(iterms[i].name, val) == 0) { |
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return iterms[i].index; |
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} |
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} |
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return atoi(val); |
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} |
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} // namespace iflytop
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@ -1,13 +0,0 @@ |
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#pragma once
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#include <stdint.h>
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namespace iflytop { |
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typedef struct { |
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const char* name; |
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int32_t index; |
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} reg_index_table_iterm_t; |
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void reg_index_table_get(reg_index_table_iterm_t** table, int32_t* size); |
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int32_t str_to_reg_index(const char* val); |
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} // namespace iflytop
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