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90 lines
4.2 KiB
90 lines
4.2 KiB
#pragma once
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#include <stdint.h>
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#define CMDID(cmdid, cmdSubId) ((cmdid << 8) + cmdSubId)
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#define NEW_CMDID(cmdid, cmdSubId) ((cmdid * 100) + cmdSubId)
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namespace iflytop {
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namespace zcr {
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typedef enum {
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#if 0
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virtual int32_t board_reset() = 0;
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#endif
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kboard_reset = CMDID(0, 0), // para:{}, ack:{}
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kevent_bus_reg_change_report = CMDID(0, 100), // val{regindex, oldval, toval}
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kmodule_ping = CMDID(1, 0),
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kmodule_get_status = CMDID(1, 4),
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kmodule_stop = CMDID(1, 1),
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kmodule_set_reg = CMDID(1, 5),
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kmodule_get_reg = CMDID(1, 6),
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kmodule_get_error = CMDID(1, 10),
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kmodule_clear_error = CMDID(1, 11),
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kmodule_active_cfg = CMDID(1, 16),
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/***********************************************************************************************************************
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* STEP_MOTOR *
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***********************************************************************************************************************/
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kstep_motor_enable = CMDID(2, 1), // para:{1}, ack:{}
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kstep_motor_read_pos = CMDID(2, 11), // para:{}, ack:{4}
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kstep_motor_easy_rotate = CMDID(2, 17), // para:{4}, ack:{}
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kstep_motor_easy_move_by = CMDID(2, 18), // para:{4}, ack:{}
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kstep_motor_easy_move_to = CMDID(2, 19), // para:{4}, ack:{}
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kstep_motor_easy_move_to_zero = CMDID(2, 20), // para:{1}, ack:{}
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kstep_motor_easy_set_current_pos = CMDID(2, 21), // para:{4}, ack:{}
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kstep_motor_easy_move_to_io = CMDID(2, 22), // para:{4,4}, ack:{}
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kstep_motor_stop = CMDID(2, 40), // para:{4}, ack:{}
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kstep_motor_active_cfg = CMDID(2, 41), // para:{4}, ack:{}
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kstep_motor_read_io_state = CMDID(2, 42), // para:{4}, ack:{}
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kstep_motor_easy_move_to_end_point = CMDID(2, 44), //
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kstep_motor_read_tmc5130_status = CMDID(2, 50), //
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kstep_motor_read_tmc5130_state = CMDID(2, 51), // 调试使用
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kstep_motor_read_tmc4361a_status = CMDID(2, 52), // 调试使用
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kstep_motor_read_tmc4361a_state = CMDID(2, 53), // 调试使用
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kstep_motor_read_tmc2160_status = CMDID(2, 54), // 调试使用
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kstep_motor_read_tmc2160_state = CMDID(2, 55), // 调试使用
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kstep_motor_read_io_index_in_stm32 = CMDID(2, 56), // 调试使用
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/***********************************************************************************************************************
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* MINI_SERVO *
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***********************************************************************************************************************/
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kmini_servo_enable = CMDID(102, 1),
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kmini_servo_read_pos = CMDID(102, 2),
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kmini_servo_active_cfg = CMDID(102, 3),
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kmini_servo_stop = CMDID(102, 4),
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kmini_servo_set_mid_point = CMDID(102, 7),
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kmini_servo_read_io_state = CMDID(102, 8),
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kmini_servo_move_to = CMDID(102, 9),
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kmini_servo_rotate = CMDID(102, 10),
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kmini_servo_rotate_with_torque = CMDID(102, 11),
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/***********************************************************************************************************************
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* BOARD *
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***********************************************************************************************************************/
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kextboard_read_inio = CMDID(103, 1), // para:{index}, ack:{state}
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kextboard_write_outio = CMDID(103, 2), // para:{index,state}, ack:{}
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kextboard_read_muti_inio = CMDID(103, 3), // para:{}, ack:{states}
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kextboard_read_inio_index_in_stm32 = CMDID(103, 4), // para:{index}, ack:{index_in_stm32}
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kextboard_read_outio_index_in_stm32 = CMDID(103, 5), // para:{index}, ack:{index_in_stm32}
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kextboard_read_outio = CMDID(103, 6), // para:{index}, ack:{state}
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} cmdid_t;
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typedef struct {
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int index;
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const char* fnname;
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} cmdinfo_t;
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const char* cmdid2str(int32_t code);
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cmdinfo_t* cmdid_get_table();
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int cmdid_get_table_size();
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} // namespace zcr
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} // namespace iflytop
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