graphite_digester_protocol/api/apibasic/cmdid.hpp

#pragma once
#include <stdint.h>

#define CMDID(cmdid, cmdSubId) ((cmdid << 8) + cmdSubId)

#define NEW_CMDID(cmdid, cmdSubId) ((cmdid * 100) + cmdSubId)

namespace iflytop {
namespace zcr {
typedef enum {
#if 0

   virtual int32_t board_reset() = 0;
#endif

  kboard_reset = CMDID(0, 0),  // para:{}, ack:{}

  kevent_bus_reg_change_report = CMDID(0, 100),  // val{regindex, oldval, toval}

  kmodule_ping        = CMDID(1, 0),
  kmodule_get_status  = CMDID(1, 4),
  kmodule_stop        = CMDID(1, 1),
  kmodule_set_reg     = CMDID(1, 5),
  kmodule_get_reg     = CMDID(1, 6),
  kmodule_get_error   = CMDID(1, 10),
  kmodule_clear_error = CMDID(1, 11),
  kmodule_active_cfg  = CMDID(1, 16),

  /***********************************************************************************************************************
   *                                                     STEP_MOTOR                                                      *
   ***********************************************************************************************************************/

  kstep_motor_enable                 = CMDID(2, 1),   // para:{1}, ack:{}
  kstep_motor_read_pos               = CMDID(2, 11),  // para:{}, ack:{4}
  kstep_motor_easy_rotate            = CMDID(2, 17),  // para:{4}, ack:{}
  kstep_motor_easy_move_by           = CMDID(2, 18),  // para:{4}, ack:{}
  kstep_motor_easy_move_to           = CMDID(2, 19),  // para:{4}, ack:{}
  kstep_motor_easy_move_to_zero      = CMDID(2, 20),  // para:{1}, ack:{}
  kstep_motor_easy_set_current_pos   = CMDID(2, 21),  // para:{4}, ack:{}
  kstep_motor_easy_move_to_io        = CMDID(2, 22),  // para:{4,4}, ack:{}
  kstep_motor_stop                   = CMDID(2, 40),  // para:{4}, ack:{}
  kstep_motor_active_cfg             = CMDID(2, 41),  // para:{4}, ack:{}
  kstep_motor_read_io_state          = CMDID(2, 42),  // para:{4}, ack:{}
  kstep_motor_easy_move_to_end_point = CMDID(2, 44),  //

  kstep_motor_read_tmc5130_status    = CMDID(2, 50),  //
  kstep_motor_read_tmc5130_state     = CMDID(2, 51),  // 调试使用
  kstep_motor_read_tmc4361a_status   = CMDID(2, 52),  // 调试使用
  kstep_motor_read_tmc4361a_state    = CMDID(2, 53),  // 调试使用
  kstep_motor_read_tmc2160_status    = CMDID(2, 54),  // 调试使用
  kstep_motor_read_tmc2160_state     = CMDID(2, 55),  // 调试使用
  kstep_motor_read_io_index_in_stm32 = CMDID(2, 56),  // 调试使用

  /***********************************************************************************************************************
   *                                                     MINI_SERVO                                                      *
   ***********************************************************************************************************************/
  kmini_servo_enable        = CMDID(102, 1),
  kmini_servo_read_pos      = CMDID(102, 2),
  kmini_servo_active_cfg    = CMDID(102, 3),
  kmini_servo_stop          = CMDID(102, 4),
  kmini_servo_set_mid_point = CMDID(102, 7),
  kmini_servo_read_io_state = CMDID(102, 8),

  kmini_servo_move_to            = CMDID(102, 9),
  kmini_servo_rotate             = CMDID(102, 10),
  kmini_servo_rotate_with_torque = CMDID(102, 11),

  /***********************************************************************************************************************
   *                                                        BOARD                                                        *
   ***********************************************************************************************************************/
  kextboard_read_inio                 = CMDID(103, 1),  // para:{index}, ack:{state}
  kextboard_write_outio               = CMDID(103, 2),  // para:{index,state}, ack:{}
  kextboard_read_muti_inio            = CMDID(103, 3),  // para:{}, ack:{states}
  kextboard_read_inio_index_in_stm32  = CMDID(103, 4),  // para:{index}, ack:{index_in_stm32}
  kextboard_read_outio_index_in_stm32 = CMDID(103, 5),  // para:{index}, ack:{index_in_stm32}
  kextboard_read_outio                = CMDID(103, 6),  // para:{index}, ack:{state}

} cmdid_t;

typedef struct {
  int         index;
  const char* fnname;
} cmdinfo_t;

const char* cmdid2str(int32_t code);
cmdinfo_t*  cmdid_get_table();
int         cmdid_get_table_size();

}  // namespace zcr
}  // namespace iflytop