From 6fc7a1349be33ac2141d4a817719c51f1a999816 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Tue, 25 Jun 2024 14:56:24 +0800 Subject: [PATCH] remove protocol --- protocol/api/api.hpp | 14 --- protocol/api/apibasic/basic.hpp | 14 --- protocol/api/apibasic/cmdid.cpp | 70 ------------- protocol/api/apibasic/cmdid.hpp | 90 ---------------- protocol/api/apibasic/errorcode.cpp | 61 ----------- protocol/api/apibasic/errorcode.hpp | 72 ------------- protocol/api/apibasic/module_type_index.hpp | 13 --- protocol/api/apibasic/packet_interface.hpp | 31 ------ protocol/api/apibasic/protocol_constant.hpp | 1 - protocol/api/apibasic/reg_index.cpp | 78 -------------- protocol/api/apibasic/reg_index.hpp | 78 -------------- protocol/api/zi_board.hpp | 20 ---- protocol/api/zi_event_bus.hpp | 14 --- protocol/api/zi_mini_servo.hpp | 26 ----- protocol/api/zi_module.cpp | 96 ----------------- protocol/api/zi_module.hpp | 83 --------------- protocol/api/zi_motor.hpp | 154 ---------------------------- protocol/i_zcanreceiver.hpp | 24 ----- protocol/protocol.hpp | 5 - 19 files changed, 944 deletions(-) delete mode 100644 protocol/api/api.hpp delete mode 100644 protocol/api/apibasic/basic.hpp delete mode 100644 protocol/api/apibasic/cmdid.cpp delete mode 100644 protocol/api/apibasic/cmdid.hpp delete mode 100644 protocol/api/apibasic/errorcode.cpp delete mode 100644 protocol/api/apibasic/errorcode.hpp delete mode 100644 protocol/api/apibasic/module_type_index.hpp delete mode 100644 protocol/api/apibasic/packet_interface.hpp delete mode 100644 protocol/api/apibasic/protocol_constant.hpp delete mode 100644 protocol/api/apibasic/reg_index.cpp delete mode 100644 protocol/api/apibasic/reg_index.hpp delete mode 100644 protocol/api/zi_board.hpp delete mode 100644 protocol/api/zi_event_bus.hpp delete mode 100644 protocol/api/zi_mini_servo.hpp delete mode 100644 protocol/api/zi_module.cpp delete mode 100644 protocol/api/zi_module.hpp delete mode 100644 protocol/api/zi_motor.hpp delete mode 100644 protocol/i_zcanreceiver.hpp delete mode 100644 protocol/protocol.hpp diff --git a/protocol/api/api.hpp b/protocol/api/api.hpp deleted file mode 100644 index 61fc685..0000000 --- a/protocol/api/api.hpp +++ /dev/null @@ -1,14 +0,0 @@ -#pragma once -#include "apibasic/basic.hpp" - -// -#include "zi_module.hpp" -// -#include "zi_motor.hpp" - -// -#include "zi_event_bus.hpp" - -#include "zi_mini_servo.hpp" -// -#include "zi_board.hpp" \ No newline at end of file diff --git a/protocol/api/apibasic/basic.hpp b/protocol/api/apibasic/basic.hpp deleted file mode 100644 index 395c1d5..0000000 --- a/protocol/api/apibasic/basic.hpp +++ /dev/null @@ -1,14 +0,0 @@ -#pragma once - -#include "cmdid.hpp" -// -#include "errorcode.hpp" -// -#include "packet_interface.hpp" -// -#include "module_type_index.hpp" -// -#include "protocol_constant.hpp" -// -#include "reg_index.hpp" -// diff --git a/protocol/api/apibasic/cmdid.cpp b/protocol/api/apibasic/cmdid.cpp deleted file mode 100644 index fa7cfba..0000000 --- a/protocol/api/apibasic/cmdid.cpp +++ /dev/null @@ -1,70 +0,0 @@ -#include "cmdid.hpp" - -#include -namespace iflytop { -namespace zcr { - -#define CMD_ITERM(enum) \ - { enum, #enum } - -static cmdinfo_t table[] = { - CMD_ITERM(kboard_reset), - - CMD_ITERM(kevent_bus_reg_change_report), - - CMD_ITERM(kmodule_ping), - CMD_ITERM(kmodule_get_status), - CMD_ITERM(kmodule_stop), - CMD_ITERM(kmodule_set_reg), - CMD_ITERM(kmodule_get_reg), - CMD_ITERM(kmodule_get_error), - CMD_ITERM(kmodule_clear_error), - CMD_ITERM(kmodule_active_cfg), - - CMD_ITERM(kstep_motor_enable), - CMD_ITERM(kstep_motor_read_pos), - CMD_ITERM(kstep_motor_easy_rotate), - CMD_ITERM(kstep_motor_easy_move_by), - CMD_ITERM(kstep_motor_easy_move_to), - CMD_ITERM(kstep_motor_easy_move_to_zero), - CMD_ITERM(kstep_motor_easy_move_to_end_point), - CMD_ITERM(kstep_motor_easy_set_current_pos), - CMD_ITERM(kstep_motor_easy_move_to_io), - CMD_ITERM(kstep_motor_active_cfg), - CMD_ITERM(kstep_motor_stop), - CMD_ITERM(kstep_motor_read_io_state), - - CMD_ITERM(kmini_servo_enable), - CMD_ITERM(kmini_servo_read_pos), - CMD_ITERM(kmini_servo_active_cfg), - CMD_ITERM(kmini_servo_stop), - CMD_ITERM(kmini_servo_set_mid_point), - CMD_ITERM(kmini_servo_read_io_state), - - CMD_ITERM(kmini_servo_move_to), - CMD_ITERM(kmini_servo_rotate), - CMD_ITERM(kmini_servo_rotate_with_torque), - - CMD_ITERM(kextboard_read_inio), - CMD_ITERM(kextboard_write_outio), - CMD_ITERM(kextboard_read_muti_inio), - CMD_ITERM(kextboard_read_inio_index_in_stm32), - CMD_ITERM(kextboard_read_outio_index_in_stm32), - CMD_ITERM(kextboard_read_outio), - - -}; - -const char* cmdid2str(int32_t code) { - for (int i = 0; i < sizeof(table) / sizeof(table[0]); i++) { - if (table[i].index == code) { - return table[i].fnname; - } - } - return "unknown_cmd"; -} -cmdinfo_t* cmdid_get_table() { return table; } -int cmdid_get_table_size() { return sizeof(table) / sizeof(table[0]); } - -} // namespace zcr -} // namespace iflytop \ No newline at end of file diff --git a/protocol/api/apibasic/cmdid.hpp b/protocol/api/apibasic/cmdid.hpp deleted file mode 100644 index 190cc4b..0000000 --- a/protocol/api/apibasic/cmdid.hpp +++ /dev/null @@ -1,90 +0,0 @@ -#pragma once -#include - -#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 \ No newline at end of file diff --git a/protocol/api/apibasic/errorcode.cpp b/protocol/api/apibasic/errorcode.cpp deleted file mode 100644 index 11f6bb5..0000000 --- a/protocol/api/apibasic/errorcode.cpp +++ /dev/null @@ -1,61 +0,0 @@ -#include "errorcode.hpp" - -#define ERR2STR(code) \ - case code: \ - return #code; - -namespace iflytop { -namespace err { - -#define ERR_ITERM(enum) \ - { enum, #enum } - -static ecode_table_item_t table[] = { - - ERR_ITERM(ksucc), - ERR_ITERM(kfail), - ERR_ITERM(kparam_out_of_range), - ERR_ITERM(kcmd_not_support), - ERR_ITERM(kdevice_is_busy), - ERR_ITERM(kdevice_is_offline), - ERR_ITERM(kovertime), - ERR_ITERM(knoack), - ERR_ITERM(kerrorack), - ERR_ITERM(kdevice_offline), - ERR_ITERM(ksubdevice_overtime), - ERR_ITERM(kbuffer_not_enough), - ERR_ITERM(kcmd_param_num_error), - ERR_ITERM(kcheckcode_is_error), - ERR_ITERM(kmodule_opeation_break_by_user), - ERR_ITERM(kmodule_not_find_reg), - ERR_ITERM(kstep_motor_not_found_zero_point), - ERR_ITERM(kstep_motor_not_go_zero), - ERR_ITERM(kstep_motor_over_temperature), - ERR_ITERM(kstep_motor_over_voltage), - ERR_ITERM(kstep_motor_run_overtime), - ERR_ITERM(kstep_motor_not_enable), - ERR_ITERM(kstep_motor_ioindex_out_of_range), - ERR_ITERM(kstep_motor_subic_reset), - ERR_ITERM(kstep_motor_drv_err), - ERR_ITERM(kstep_motor_uv_cp), - ERR_ITERM(kstep_motor_not_found_point_edge), - ERR_ITERM(kmini_servo_not_enable), - ERR_ITERM(kmini_servo_mode_not_support), - - -}; - -const char* error2str(int32_t code) { - for (int i = 0; i < sizeof(table) / sizeof(table[0]); i++) { - if (table[i].index == code) { - return table[i].info; - } - } - return "unknown error"; -} - -ecode_table_item_t* error_get_table() { return table; } -int error_get_table_size() { return sizeof(table) / sizeof(table[0]); } - -} // namespace err -} // namespace iflytop diff --git a/protocol/api/apibasic/errorcode.hpp b/protocol/api/apibasic/errorcode.hpp deleted file mode 100644 index 453a499..0000000 --- a/protocol/api/apibasic/errorcode.hpp +++ /dev/null @@ -1,72 +0,0 @@ -#pragma once -#include - -namespace iflytop { -namespace err { -using namespace std; - -#define ERROR_CODE(errortype, suberrorcode) (errortype + suberrorcode) - -typedef enum { - - ksucc = ERROR_CODE(0, 0), - kfail = ERROR_CODE(0, 1), - /*********************************************************************************************************************** - * 协议错误码 * - ***********************************************************************************************************************/ - kparam_out_of_range = ERROR_CODE(100, 2), // 参数超出范围 - kcmd_not_support = ERROR_CODE(100, 3), // 操作不支持 - kdevice_is_busy = ERROR_CODE(100, 4), // 设备忙 - kdevice_is_offline = ERROR_CODE(100, 5), // 设备离线 - kovertime = ERROR_CODE(100, 6), - knoack = ERROR_CODE(100, 7), - kerrorack = ERROR_CODE(100, 8), - kdevice_offline = ERROR_CODE(100, 9), - ksubdevice_overtime = ERROR_CODE(100, 11), - kbuffer_not_enough = ERROR_CODE(100, 12), - kcmd_param_num_error = ERROR_CODE(100, 14), - kcheckcode_is_error = ERROR_CODE(100, 15), - - /*********************************************************************************************************************** - * 模块错误码 * - ***********************************************************************************************************************/ - kmodule_opeation_break_by_user = ERROR_CODE(200, 2), // 用户中断 - kmodule_not_find_reg = ERROR_CODE(200, 7), // 未找到配置索引 - - - /*********************************************************************************************************************** - * 步进电机错误码 * - ***********************************************************************************************************************/ - kstep_motor_not_found_zero_point = ERROR_CODE(600, 0), // 未找到零点 - kstep_motor_not_go_zero = ERROR_CODE(600, 1), // 设备未归零 - kstep_motor_over_temperature = ERROR_CODE(600, 2), // 过温 - kstep_motor_over_voltage = ERROR_CODE(600, 3), // 过压 - kstep_motor_run_overtime = ERROR_CODE(600, 4), // 运行超时 - kstep_motor_not_enable = ERROR_CODE(600, 5), // 电机未使能 - kstep_motor_ioindex_out_of_range = ERROR_CODE(600, 6), // IO超出范围 - kstep_motor_subic_reset = ERROR_CODE(600, 7), // 子IC复位 - kstep_motor_drv_err = ERROR_CODE(600, 8), // 驱动器异常 - kstep_motor_uv_cp = ERROR_CODE(600, 9), // 驱动器异常 - kstep_motor_not_found_point_edge = ERROR_CODE(600, 10), // 未找到零点 - - /*********************************************************************************************************************** - * 舵机错误码 * - ***********************************************************************************************************************/ - kmini_servo_not_enable = ERROR_CODE(700, 0), // - kmini_servo_mode_not_support = ERROR_CODE(700, 1), // - - -} error_t; - -typedef struct { - int index; - const char* info; -} ecode_table_item_t; - -const char* error2str(int32_t code); - -ecode_table_item_t* error_get_table(); -int error_get_table_size(); - -} // namespace err -} // namespace iflytop \ No newline at end of file diff --git a/protocol/api/apibasic/module_type_index.hpp b/protocol/api/apibasic/module_type_index.hpp deleted file mode 100644 index 9e567c1..0000000 --- a/protocol/api/apibasic/module_type_index.hpp +++ /dev/null @@ -1,13 +0,0 @@ -#pragma once -#include - -namespace iflytop { -typedef enum { - kuniversal_module = 0, // 通用模块 - khbot_module = 1, // hbot模块 - kmotor_module = 2, // 电机控制 - ktmc_step_motor = 10, // 步进电机 - kmini_servo_motor_module = 11, // 舵机 - kboard = 12, // 扩展板 -} module_type_t; -} \ No newline at end of file diff --git a/protocol/api/apibasic/packet_interface.hpp b/protocol/api/apibasic/packet_interface.hpp deleted file mode 100644 index a0802e8..0000000 --- a/protocol/api/apibasic/packet_interface.hpp +++ /dev/null @@ -1,31 +0,0 @@ -#pragma once -#include - -namespace iflytop { -namespace zcr { -#pragma pack(push, 1) -typedef struct { - uint16_t packetindex; - uint16_t cmdMainId; // cmd main id - uint8_t cmdSubId; // cmd sub id - uint8_t packetType; // - uint16_t subModuleid; // module id - uint8_t data[]; -} zcr_cmd_header_t; -#pragma pack(pop) - -typedef enum { - kptv2_cmd = 0, - kptv2_ack = 1, - kptv2_error_ack = 2, - kptv2_event = 3, -} zcan_cmd_packet_type_t; - -} // namespace zcr -} // namespace iflytop - -#define CMD_SUB_ID(cmdid) (cmdid & 0xff) -#define MODULE_CMDID(cmdid) (cmdid >> 8) - -#define STEP_MOTOR_ID_OFF 100 -#define XY_MOTOR_ID_OFF 200 diff --git a/protocol/api/apibasic/protocol_constant.hpp b/protocol/api/apibasic/protocol_constant.hpp deleted file mode 100644 index faa241f..0000000 --- a/protocol/api/apibasic/protocol_constant.hpp +++ /dev/null @@ -1 +0,0 @@ -#define ZCANCMD_READ_BUF_MAX_SIZE 512 \ No newline at end of file diff --git a/protocol/api/apibasic/reg_index.cpp b/protocol/api/apibasic/reg_index.cpp deleted file mode 100644 index 68f4133..0000000 --- a/protocol/api/apibasic/reg_index.cpp +++ /dev/null @@ -1,78 +0,0 @@ - -#include "reg_index.hpp" - -#include - -namespace iflytop { - -#define REG_ITERM(enum) \ - { enum, #enum } - -static reginfo_t table[] = { - REG_ITERM(kreg_module_version), - REG_ITERM(kreg_module_type), - REG_ITERM(kreg_module_status), - REG_ITERM(kreg_module_errorcode), - - REG_ITERM(kreg_opt_module_do_action0), - REG_ITERM(kreg_opt_module_action_param1), - REG_ITERM(kreg_opt_module_action_param2), - REG_ITERM(kreg_opt_module_action_param3), - REG_ITERM(kreg_opt_module_action_ack1), - REG_ITERM(kreg_opt_module_action_ack2), - - - REG_ITERM(kreg_step_motor_pos), - REG_ITERM(kreg_step_motor_dpos), - REG_ITERM(kreg_step_motor_shift), - REG_ITERM(kreg_step_motor_shaft), - REG_ITERM(kreg_step_motor_one_circle_pulse), - REG_ITERM(kreg_step_motor_one_circle_pulse_denominator), - REG_ITERM(kreg_step_motor_default_velocity), - REG_ITERM(kreg_step_motor_ihold), - REG_ITERM(kreg_step_motor_irun), - REG_ITERM(kreg_step_motor_iholddelay), - REG_ITERM(kreg_step_motor_iglobalscaler), - REG_ITERM(kreg_step_motor_run_to_zero_speed), - REG_ITERM(kreg_step_motor_look_zero_edge_speed), - REG_ITERM(kreg_step_motor_max_d), - REG_ITERM(kreg_step_motor_min_d), - REG_ITERM(kreg_step_motor_in_debug_mode), - REG_ITERM(kreg_step_motor_vstart), - REG_ITERM(kreg_step_motor_a1), - REG_ITERM(kreg_step_motor_amax), - REG_ITERM(kreg_step_motor_v1), - REG_ITERM(kreg_step_motor_dmax), - REG_ITERM(kreg_step_motor_d1), - REG_ITERM(kreg_step_motor_vstop), - REG_ITERM(kreg_step_motor_tzerowait), - REG_ITERM(kreg_mini_servo_pos), - REG_ITERM(kreg_mini_servo_limit_velocity), - REG_ITERM(kreg_mini_servo_limit_torque), - REG_ITERM(kreg_mini_servo_protective_torque), - - -}; - -reginfo_t *get_reginfo_by_index(int32_t index) { - for (int i = 0; i < sizeof(table) / sizeof(table[0]); i++) { - if (table[i].index == index) { - return &table[i]; - } - } - return nullptr; -} - -const char *regindex2str(int32_t index) { - for (int i = 0; i < sizeof(table) / sizeof(table[0]); i++) { - if (table[i].index == index) { - return table[i].regname; - } - } - return "unknown reg"; -} - -reginfo_t *reg_get_table() { return table; } -int reg_get_table_size() { return sizeof(table) / sizeof(table[0]); } - -} // namespace iflytop diff --git a/protocol/api/apibasic/reg_index.hpp b/protocol/api/apibasic/reg_index.hpp deleted file mode 100644 index 1be0684..0000000 --- a/protocol/api/apibasic/reg_index.hpp +++ /dev/null @@ -1,78 +0,0 @@ -#pragma once -#include - -namespace iflytop { -using namespace std; - -#define REG_INDEX(type, offset, subconfigindex) (type * 100 + offset + subconfigindex) -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 - - /*********************************************************************************************************************** - * 光学模组私有方法 * - ***********************************************************************************************************************/ - kreg_opt_module_do_action0 = REG_INDEX(0, 0, 40), // 方法0 - kreg_opt_module_action_param1 = REG_INDEX(0, 0, 41), // 方法1 - kreg_opt_module_action_param2 = REG_INDEX(0, 0, 42), // 方法2 - kreg_opt_module_action_param3 = REG_INDEX(0, 0, 43), // 方法3 - kreg_opt_module_action_ack1 = REG_INDEX(0, 0, 51), // ACK1 - kreg_opt_module_action_ack2 = REG_INDEX(0, 0, 52), // ACK2 - - - /*********************************************************************************************************************** - * step_motor * - ***********************************************************************************************************************/ - kreg_step_motor_pos = REG_INDEX(101, 0, 1), // 机器人x坐标 - kreg_step_motor_dpos = REG_INDEX(101, 0, 3), // 执行完上一条指令后的相对位移 - - kreg_step_motor_shift = REG_INDEX(101, 50, 0), // x偏移 - kreg_step_motor_shaft = REG_INDEX(101, 50, 1), // x轴是否反转 - kreg_step_motor_one_circle_pulse = REG_INDEX(101, 50, 2), // x轴一圈脉冲数 - kreg_step_motor_one_circle_pulse_denominator = REG_INDEX(101, 50, 3), // 设置一圈脉冲数的分母 - kreg_step_motor_default_velocity = REG_INDEX(101, 50, 4), // 默认速度 - kreg_step_motor_ihold = REG_INDEX(101, 50, 8), // 步进电机电流配置 - kreg_step_motor_irun = REG_INDEX(101, 50, 9), // 步进电机电流配置 - kreg_step_motor_iholddelay = REG_INDEX(101, 50, 10), // 步进电机电流配置 - kreg_step_motor_iglobalscaler = REG_INDEX(101, 50, 11), // 步进电机电流配置 - kreg_step_motor_run_to_zero_speed = REG_INDEX(101, 50, 23), // 回零速度 - kreg_step_motor_look_zero_edge_speed = REG_INDEX(101, 50, 25), // 找零边缘速度 - kreg_step_motor_max_d = REG_INDEX(101, 50, 28), // 最大限制距离 - kreg_step_motor_min_d = REG_INDEX(101, 50, 29), // 最小限制距离 - kreg_step_motor_in_debug_mode = REG_INDEX(101, 50, 30), // 驱动器处于调试模式 - - kreg_step_motor_vstart = REG_INDEX(101, 50, 31), // a1起作用的速度 - kreg_step_motor_a1 = REG_INDEX(101, 50, 32), // - kreg_step_motor_amax = REG_INDEX(101, 50, 33), - kreg_step_motor_v1 = REG_INDEX(101, 50, 34), - kreg_step_motor_dmax = REG_INDEX(101, 50, 35), - kreg_step_motor_d1 = REG_INDEX(101, 50, 36), - kreg_step_motor_vstop = REG_INDEX(101, 50, 37), - kreg_step_motor_tzerowait = REG_INDEX(101, 50, 38), - - /*********************************************************************************************************************** - * MINI_STEP_MOTOR * - ***********************************************************************************************************************/ - - kreg_mini_servo_pos = REG_INDEX(102, 0, 1), // 位置 - kreg_mini_servo_limit_velocity = REG_INDEX(102, 50, 1), // 限制速度 - kreg_mini_servo_limit_torque = REG_INDEX(102, 50, 2), // 限制扭矩 - kreg_mini_servo_protective_torque = REG_INDEX(102, 50, 3), // 保护扭矩 - -} reg_index_t; - -typedef struct { - int index; - const char* regname; -} reginfo_t; - -const char* regindex2str(int32_t code); -reginfo_t* reg_get_table(); -int reg_get_table_size(); - -} // namespace iflytop diff --git a/protocol/api/zi_board.hpp b/protocol/api/zi_board.hpp deleted file mode 100644 index 01987a2..0000000 --- a/protocol/api/zi_board.hpp +++ /dev/null @@ -1,20 +0,0 @@ -#pragma once -#include - -#include - -#include "apibasic/basic.hpp" - -namespace iflytop { -using namespace std; -class ZIBoard { - public: - virtual ~ZIBoard() {} - virtual int32_t extboard_read_inio(int32_t ioindex, int32_t *val) = 0; - virtual int32_t kextboard_write_outio(int32_t ioindex, int32_t val) = 0; - virtual int32_t extboard_read_muti_inio(int32_t *val) = 0; - virtual int32_t extboard_read_inio_index_in_stm32(int32_t ioindex, int32_t *val) = 0; - virtual int32_t extboard_read_outio_index_in_stm32(int32_t ioindex, int32_t *val) = 0; - virtual int32_t extboard_read_outio(int32_t ioindex, int32_t *val) = 0; -}; -} // namespace iflytop \ No newline at end of file diff --git a/protocol/api/zi_event_bus.hpp b/protocol/api/zi_event_bus.hpp deleted file mode 100644 index 52be2bc..0000000 --- a/protocol/api/zi_event_bus.hpp +++ /dev/null @@ -1,14 +0,0 @@ -#pragma once -#include - -#include -#include "apibasic/basic.hpp" - - - - - -namespace iflytop { -using namespace std; - -} // namespace iflytop diff --git a/protocol/api/zi_mini_servo.hpp b/protocol/api/zi_mini_servo.hpp deleted file mode 100644 index 71bf5e9..0000000 --- a/protocol/api/zi_mini_servo.hpp +++ /dev/null @@ -1,26 +0,0 @@ -#pragma once -#include - -#include - -#include "apibasic/basic.hpp" - -namespace iflytop { -using namespace std; - -class ZIMiniServo { - public: - virtual ~ZIMiniServo() {} - virtual int32_t mini_servo_enable(int32_t enable) = 0; - virtual int32_t mini_servo_read_pos(int32_t* pos) = 0; - virtual int32_t mini_servo_active_cfg() = 0; - virtual int32_t mini_servo_stop(int32_t breakstop) = 0; - - virtual int32_t mini_servo_move_to(int32_t pos3600) = 0; // 舵机模式 - virtual int32_t mini_servo_rotate(int32_t speed) = 0; // 速度模式 - virtual int32_t mini_servo_rotate_with_torque(int32_t torque) = 0; // 扭矩模式 - - virtual int32_t mini_servo_set_mid_point() = 0; - virtual int32_t mini_servo_read_io_state(int32_t ioindex, int32_t* val) = 0; -}; -} // namespace iflytop \ No newline at end of file diff --git a/protocol/api/zi_module.cpp b/protocol/api/zi_module.cpp deleted file mode 100644 index 01844fe..0000000 --- a/protocol/api/zi_module.cpp +++ /dev/null @@ -1,96 +0,0 @@ - -#include "zi_module.hpp" - -#include - -#include - -using namespace iflytop; - -int32_t ZIModule::getid() { - int32_t id = 0; - getid(&id); - return id; -}; - -int32_t ZIModule::module_ping() { return 0; }; -int32_t ZIModule::module_set_reg(int32_t param_id, int32_t param_value) { return _module_xxx_reg(param_id, false, param_value); } -int32_t ZIModule::module_get_reg(int32_t param_id, int32_t *param_value) { return _module_xxx_reg(param_id, true, *param_value); } - -int32_t ZIModule::_module_xxx_reg(int32_t param_id, bool read, int32_t &val) { - if (param_id == kreg_module_version) { - if (read) { - module_get_version(&val); - return 0; - } else { - return 0; - } - } - - else if (param_id == kreg_module_type) { - if (read) { - module_get_type(&val); - return 0; - } else { - return 0; - } - } - - else if (param_id == kreg_module_status) { - if (read) { - module_get_status(&val); - return 0; - } else { - return 0; - } - } - - else if (param_id == kreg_module_errorcode) { - if (read) { - val = creg.module_errorcode; - return 0; - } else { - return 0; - } - } - - return module_xxx_reg(param_id, read, val); -} - -int32_t ZIModule::_module_set_reg(int32_t regoff, int32_t *regval, int32_t val, int32_t min, int32_t max) { - if (val < min || val > max) { - return err::kparam_out_of_range; - } - *regval = val; - return 0; -} -int32_t ZIModule::_module_get_reg(int32_t regoff, int32_t regval, int32_t &val) { - val = regval; - return 0; -} -int32_t ZIModule::_module_set_reg_float(int32_t regoff, float *regval, int32_t val, float precision, int32_t min, int32_t max) { - if (val < min || val > max) { - return err::kparam_out_of_range; - } - *regval = val * precision; - return 0; -} -int32_t ZIModule::_module_get_reg_float(int32_t regoff, float regval, int32_t &val, float precision) { - val = regval / precision; - return 0; -} - -int32_t ZIModule::module_get_error(int32_t *iserror) { - *iserror = creg.module_errorcode; - return 0; -} -int32_t ZIModule::module_clear_error() { - creg.module_errorcode = 0; - creg.module_status = 0; - return 0; -} - -int32_t ZIModule::module_get_status(int32_t *status) { - *status = creg.module_status; - return 0; -} diff --git a/protocol/api/zi_module.hpp b/protocol/api/zi_module.hpp deleted file mode 100644 index 8f29739..0000000 --- a/protocol/api/zi_module.hpp +++ /dev/null @@ -1,83 +0,0 @@ -#pragma once -#include - -#include - -#include "apibasic/basic.hpp" - -namespace iflytop { -using namespace std; - -#define REG_SET(reg, ...) _module_set_reg(param_id, ®, val, ##__VA_ARGS__) -#define REG_GET(reg) _module_get_reg(param_id, reg, val) - -#define REG_SET_FLOAT(reg, precision, ...) _module_set_reg_float(param_id, ®, val, precision, ##__VA_ARGS__) -#define REG_GET_FLOAT(reg, precision) _module_get_reg_float(param_id, reg, val, precision) - -#define ACTION_NONE 0 -#define PROCESS_REG(param_id, readaction, writeacton) \ - case param_id: { \ - if (read) { \ - return readaction; \ - } else { \ - return writeacton; \ - } \ - } break; - -#define ENABLE_MODULE(name, type, version) \ - public: \ - virtual int32_t module_get_version(int32_t *val) { \ - *val = version; \ - return 0; \ - } \ - virtual int32_t module_get_type(int32_t *val) { \ - *val = type; \ - return 0; \ - } - -#define MODULE_COMMON_PROCESS_REG_CB() - -typedef struct { - int32_t module_errorcode; - int32_t module_status; -} module_common_reg_t; - -class ZIModule { - int32_t m_inited_flag = 0; - - protected: - module_common_reg_t creg; - - public: - virtual ~ZIModule() {} - - public: - virtual int32_t getid(); - virtual int32_t module_ping(); - virtual int32_t module_get_error(int32_t *iserror); - virtual int32_t module_clear_error(); - virtual int32_t module_set_reg(int32_t param_id, int32_t param_value); - virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value); - virtual int32_t module_get_status(int32_t *status); - virtual int32_t module_get_version(int32_t *val) = 0; - virtual int32_t module_get_type(int32_t *val) = 0; - virtual int32_t module_stop() { return 0; } - virtual int32_t module_active_cfg() { return 0; } - - /*********************************************************************************************************************** - * 用户实现 * - ***********************************************************************************************************************/ - virtual int32_t getid(int32_t *id) = 0; - virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val) = 0; - - protected: - virtual int32_t _module_set_reg(int32_t regoff, int32_t *regval, int32_t val, int32_t min = INT32_MIN, int32_t max = INT32_MAX); - virtual int32_t _module_get_reg(int32_t regoff, int32_t regval, int32_t &val); - virtual int32_t _module_set_reg_float(int32_t regoff, float *regval, int32_t val, float precision, int32_t min = INT32_MIN, int32_t max = INT32_MAX); - virtual int32_t _module_get_reg_float(int32_t regoff, float regval, int32_t &val, float precision); - virtual int32_t _module_xxx_reg(int32_t param_id, bool read, int32_t &val); - - public: - public: -}; -} // namespace iflytop diff --git a/protocol/api/zi_motor.hpp b/protocol/api/zi_motor.hpp deleted file mode 100644 index 005dcdb..0000000 --- a/protocol/api/zi_motor.hpp +++ /dev/null @@ -1,154 +0,0 @@ -#pragma once -#include - -#include - -#include "apibasic/basic.hpp" - -typedef struct { - uint32_t sg_result : 10; - uint32_t reserved0 : 5; - uint32_t fsactive : 1; - uint32_t cs_actual : 5; - uint32_t reserved1 : 3; - uint32_t stallguard : 1; - uint32_t ot : 1; - uint32_t otpw : 1; - uint32_t s2ga : 1; - uint32_t s2gb : 1; - uint32_t ola : 1; - uint32_t olb : 1; - uint32_t stst : 1; -} TMC5130MotorStatus_t; - -typedef struct { - uint32_t reset : 1; // fatal error - uint32_t drv_err : 1; // fatal error - uint32_t uv_cp : 1; // fatal error -} TMC5130MotorState_t; // R+C - -typedef struct { - uint32_t sg_result : 10; - uint32_t reserved0 : 1; - uint32_t reserved1 : 1; - uint32_t s2vsa : 1; - uint32_t s2vsb : 1; - uint32_t stealth : 1; - uint32_t fsactive : 1; - uint32_t cs_actual : 5; - uint32_t reserved2 : 3; - uint32_t stallguard : 1; - uint32_t ot : 1; - uint32_t otpw : 1; - uint32_t s2ga : 1; - uint32_t s2gb : 1; - uint32_t ola : 1; - uint32_t olb : 1; - uint32_t stst : 1; -} TMC2160MotorDriverStatus_t; - -typedef struct { - uint32_t TARGET_REACHED_F : 1; // XACTUAL = XTARGET - uint32_t POS_COMP_REACHED_F : 1; // XACTUAL = POS_COMP - uint32_t VEL_REACHED_F : 1; // VACTUAL = |VMAX| - uint32_t VEL_STATE_F : 2; // 0:VACTUAL = 0; 1:VACTUAL > 0; 2:VACTUAL < 0 - uint32_t RAMP_STATE_F : 2; // 0:AACTUAL = 0; 1:AACTUAL 增加(加速); 2:AACTUAL 减小(减速) - uint32_t STOPL_ACTIVE_F : 1; // 左停止开关有效。 - - uint32_t STOPR_ACTIVE_F : 1; // 右停止开关有效。 - uint32_t VSTOPL_ACTIVE_F : 1; // 左虚拟停止开关有效。 - uint32_t VSTOPR_ACTIVE_F : 1; // 右虚拟停止开关有效。 - uint32_t ACTIVE_STALL_F : 1; // 电机堵转检测且 VACTUAL > VSTALL_LIMIT。 - uint32_t HOME_ERROR_F : 1; // 输入信号电平不等于预期的回零电平。 - uint32_t FS_ACTIVE_F : 1; // 全步有效。 - uint32_t ENC_FAIL_F : 1; // XACTUAL 和 ENC_POS 中间的差值超出容差。 - uint32_t N_ACTIVE_F : 1; // 事件有效 - - uint32_t ENC_LATCH_F : 1; // ENC_LATCH 被重置。 - uint32_t MULTI_CYCLE_FAIL_F : 1; // 仅适用于绝对编码器 MULTI_CYCLE_FAIL_F 表示上一个多圈数据出现故障。 - uint32_t ___ : 1; // - uint32_t CL_FIT_F : 1; // 如果 ENC_POS_DEV < CL_COMPLATION，则有效。XACTUAL 和 ENC_POS 之间的差值在容许范围内 - uint32_t SERIAL_ENC_FLAGS : 4; // 仅适用于绝对编码器:从编码器接收的 SERIAL_ENC_FLAGS。新的编码器传输请求是会重置这些标志 - - uint32_t SG : 1; // 仅 TMC26x / TMC21x0 StallGuard2 状态。 - uint32_t OT : 1; // 过温关断。 - uint32_t OTPW : 1; // 过温预警。 - uint32_t S2GA : 1; // 线圈 A 高端 MOSFET 管对地短路检测位。 - uint32_t S2GB : 1; // 线圈 B 高端 MOSFET 管对地短路检测位。 - uint32_t OLA : 1; // 线圈 A 开路。 - uint32_t OLB : 1; // 线圈 B 开路。 - uint32_t STST : 1; // 仅 TMC26x / TMC21x0 静止状态。 -} TMC4361AMotorStatus_t; // R+CW 事件标志位 - -typedef struct { - uint32_t reset : 1; // fatal error - uint32_t drv_err : 1; // fatal error - uint32_t uv_cp : 1; // fatal error -} TMC2160MotorGstate_t; // R+C - -typedef struct { - uint32_t TARGET_REACHED : 1; // - uint32_t POS_COMP_REACHED : 1; // - uint32_t VEL_REACHED : 1; // - uint32_t VEL_STATE_EQ_0 : 1; // - uint32_t VEL_STATE_EQ_1 : 1; // - uint32_t VEL_STATE_EQ_2 : 1; // - uint32_t RAMP_STATE_EQ_0 : 1; // - uint32_t RAMP_STATE_EQ_1 : 1; // - uint32_t RAMP_STATE_EQ_2 : 1; // - uint32_t MAX_PHASE_TRAP : 1; // 梯形斜坡已经达到其极限速度 - uint32_t FROZEN : 1; // 重置 TMC4361A，以便进一步运动。 fatal error - uint32_t STOPL : 1; // - uint32_t STOPR : 1; // - uint32_t VSTOPL_ACTIVE : 1; // - uint32_t VSTOPR_ACTIVE : 1; // - uint32_t HOME_ERROR : 1; // - uint32_t XLATCH_DONE : 1; // - uint32_t FS_ACTIVE : 1; // - uint32_t ENC_FAIL : 1; // - uint32_t N_ACTIVE : 1; // - uint32_t ENC_DONE : 1; // - uint32_t SER_ENC_DATA_FAIL : 1; // - uint32_t ___ : 1; // - uint32_t SER_DATA_DONE : 1; // - uint32_t SERIAL_ENC_Flags : 1; // - uint32_t COVER_DONE : 1; // - uint32_t ENC_VEL0 : 1; // 编码器速度到 0。 - uint32_t CL_MAX : 1; // - uint32_t CL_FIT : 1; // - uint32_t STOP_ON_STALL : 1; // 检测到电机堵转。电机斜坡已经停止。 fatal error - uint32_t MOTOR_EV : 1; // 选定的 TMC 电机驱动器标志之一被触发。 - uint32_t RST_EV : 1; // 复位被触发。 fatal error -} TMC4361AMotorEventState_t; - -namespace iflytop { -using namespace std; -class ZIStepMotor { - public: - virtual ~ZIStepMotor() {} - virtual int32_t step_motor_enable(int32_t enable) = 0; - virtual int32_t step_motor_stop(int32_t breakstop) = 0; - virtual int32_t step_motor_read_pos(int32_t* pos) = 0; - virtual int32_t step_motor_easy_rotate(int32_t direction) = 0; - virtual int32_t step_motor_easy_move_by(int32_t distance) = 0; - virtual int32_t step_motor_easy_move_to(int32_t position) = 0; - virtual int32_t step_motor_easy_move_to_zero() = 0; - virtual int32_t step_motor_easy_set_current_pos(int32_t pos) = 0; - virtual int32_t step_motor_easy_move_to_io(int32_t ioindex, int32_t direction) = 0; - virtual int32_t step_motor_active_cfg() = 0; - virtual int32_t step_motor_read_io_state(int32_t ioindex, int32_t* state) = 0; - virtual int32_t step_motor_easy_move_to_end_point() = 0; - - /*********************************************************************************************************************** - * DEBUG * - ***********************************************************************************************************************/ - virtual int32_t step_motor_read_tmc5130_status(int32_t* status) = 0; - virtual int32_t step_motor_read_tmc5130_state(int32_t* status) = 0; - virtual int32_t step_motor_read_tmc4361a_status(int32_t* status) = 0; - virtual int32_t step_motor_read_tmc4361a_state(int32_t* gstate) = 0; - virtual int32_t step_motor_read_tmc2160_status(int32_t* status) = 0; - virtual int32_t step_motor_read_tmc2160_state(int32_t* status) = 0; - - virtual int32_t step_motor_read_io_index_in_stm32(int32_t ioindex, int32_t* index_in_stm32) = 0; -}; -} // namespace iflytop diff --git a/protocol/i_zcanreceiver.hpp b/protocol/i_zcanreceiver.hpp deleted file mode 100644 index 7f65f2e..0000000 --- a/protocol/i_zcanreceiver.hpp +++ /dev/null @@ -1,24 +0,0 @@ -// -// Created by zwsd -// -#pragma once -#include "api/api.hpp" -namespace iflytop { -using namespace zcr; - -class IZCanReceiverListener { - public: - virtual void onRceivePacket(zcr_cmd_header_t *rxcmd, uint8_t *data, int32_t len) = 0; -}; - -class IZCanReceiver { - public: - public: - virtual void registerListener(IZCanReceiverListener *listener) = 0; - virtual int32_t sendBufAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) = 0; - virtual int32_t sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, int32_t nack) = 0; - virtual int32_t sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode) = 0; - virtual int32_t triggerEvent(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) = 0; -}; - -} // namespace iflytop \ No newline at end of file diff --git a/protocol/protocol.hpp b/protocol/protocol.hpp deleted file mode 100644 index 64edb94..0000000 --- a/protocol/protocol.hpp +++ /dev/null @@ -1,5 +0,0 @@ -#pragma once -#include "api/api.hpp" -// -#include "i_zcanreceiver.hpp" -// \ No newline at end of file