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#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),
kxymotor_enable = CMDID(3, 1), kxymotor_move_by = CMDID(3, 2), kxymotor_move_to = CMDID(3, 3), kxymotor_move_to_zero = CMDID(3, 4), kxymotor_read_pos = CMDID(3, 6), kxymotor_read_inio_index_in_stm32 = CMDID(3, 7), kxymotor_read_inio = CMDID(3, 8), kxymotor_set_pos = CMDID(3, 9),
/***********************************************************************************************************************
* 光学模组 * ***********************************************************************************************************************/ ka8000_optical_module_power_ctrl = CMDID(6, 0), // para:{4}, ack:{}
ka8000_optical_open_laser = CMDID(6, 1), // para:{4}, ack:{}
ka8000_optical_close_laser = CMDID(6, 2), // para:{4}, ack:{}
ka8000_optical_set_laster_gain = CMDID(6, 3), // para:{4,4}, ack:{}
ka8000_optical_set_scan_amp_gain = CMDID(6, 4), // para:{4,4}, ack:{}
ka8000_optical_read_scanner_adc_val = CMDID(6, 5), // para:{4}, ack:{4}
ka8000_optical_read_laster_adc_val = CMDID(6, 6), // para:{4}, ack:{4}
ka8000_optical_scan_current_point_amp_adc_val = CMDID(6, 7), // para:{4,4,4,4}, ack:{4,4}
ka8000_optical_start_capture = CMDID(6, 8), // para:{n/a}
ka8000_optical_read_raw = CMDID(6, 9), // para:{index,size}
/***********************************************************************************************************************
* 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_pos_and_enc_pos = CMDID(2, 45), // para:{}, ack:{4,4}
kstep_motor_read_tmc5130_status = CMDID(2, 50), //
kstep_motor_read_tmc5130_state = CMDID(2, 51), // 调试使用
kstep_motor_read_io_index_in_stm32 = CMDID(2, 56), // 调试使用
kstep_motor_set_subdevice_reg = CMDID(2, 57), // 调试使用
kstep_motor_get_subdevice_reg = CMDID(2, 58), // 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}
/***********************************************************************************************************************
* CODE_SCANER * ***********************************************************************************************************************/ kcode_scaner_start_scan = CMDID(104, 1), // para:{}, ack:{}
kcode_scaner_stop_scan = CMDID(104, 2), // para:{}, ack:{}
kcode_scaner_result_is_ready = CMDID(104, 3), // para:{}, ack:{}
kcode_scaner_read_scaner_result = CMDID(104, 4), // para:{}, ack:{X}
kcode_scaner_get_result_length = CMDID(104, 5), // para:{}, ack:{X}
/***********************************************************************************************************************
* FAN_CTRL * ***********************************************************************************************************************/ kfan_controler_set_speed = CMDID(0x69, 0),
/***********************************************************************************************************************
* WATER_COOLING_TEMPERATURE * ***********************************************************************************************************************/ ktemp_controler_start_hearting = CMDID(0x70, 0), ktemp_controler_stop_hearting = CMDID(0x70, 1), ktemp_controler_set_peltier_power_level = CMDID(0x70, 2), // 测试使用 para:{+-level100}
ktemp_controler_set_pump_level = CMDID(0x70, 3), // 测试使用 para:{+ level100}
ktemp_controler_set_fan_level = CMDID(0x70, 4), // 测试使用 para:{+ level100}
ktemp_controler_enable_log = CMDID(0x70, 5), // 测试使用 para:{enable log}
/***********************************************************************************************************************
* IDCARD_READER * ***********************************************************************************************************************/ ka8000_idcard_reader_read_raw = CMDID(0x71, 0), // para:{index}, ack:{}
/***********************************************************************************************************************
* 移液枪 * ***********************************************************************************************************************/
kpipette_ctrl_init_device = CMDID(0x72, 1), // param:(void)
kpipette_ctrl_put_tip = CMDID(0x72, 2), // param:(void)
kpipette_ctrl_move_to_ul = CMDID(0x72, 3), // param:(int32_t ul)
kpipette_lld_prepare = CMDID(0x72, 4), // param:(void)
kpipette_plld = CMDID(0x72, 5), // param:(int32_t zdpos, int32_t p_threshold)
kpipette_clld = CMDID(0x72, 6), // param:(int32_t zdpos, int32_t c_threshold)
kpipette_mlld = CMDID(0x72, 7), // param:(int32_t zdpos, int32_t c_threshold, int32_t p_threshold)
kpipette_lld_is_detect_liquid = CMDID(0x72, 8), // param:(void) ack(int32_t isdetect)
kpipette_aspirate = CMDID(0x72, 9), // param:(int32_t ul)
kpipette_distribut = CMDID(0x72, 10), // param:(int32_t ul)
kpipette_shake_up = CMDID(0x72, 11), // param:(int32_t ul, int32_t times)
kpipette_aspirate_llf = CMDID(0x72, 12), // param:(int32_t ul, int32_t zmotor_v)
kpipette_distribut_llf = CMDID(0x72, 13), // param:(int32_t ul, int32_t zmotor_v)
kpipette_shake_up_llf = CMDID(0x72, 14), // param:(int32_t ul, int32_t zmotor_v, int32_t times)
kpipette_enable_zmotor = CMDID(0x72, 20), // para:{enable}, ack:{}
kpipette_write_cmd_direct = CMDID(0x72, 21), // para:{strbuf}, ack:{strbuf}
kpipette_get_sensor_sample_data = CMDID(0x72, 22), // para:{index} , ack:{motor_pos,cval,pval}
kpipette_get_sensor_sample_data_num = CMDID(0x72, 23), // para:{} , ack:{num}
kpipette_sensor_sample_data_report = CMDID(0x72, 50), // val{regindex, oldval, toval}
/***********************************************************************************************************************
* 板夹仓板夹扫码 * ***********************************************************************************************************************/
kplate_code_scaner_push_card_and_scan = CMDID(0x73, 1), // int32_t startpos
kplate_code_scaner_stop_scan = CMDID(0x73, 2), //
kplate_code_scaner_read_result = CMDID(0x73, 3), // int32_t packetIndex, uint8_t* data, int32_t* len
kplate_code_scaner_read_result_point_num = CMDID(0x73, 4), // int32_t* pointNum
kplate_code_scaner_read_code = CMDID(0x73, 5), // int32_t* rawcode, int32_t* legal, int32_t* item, int32_t* lot
kplate_code_scaner_adc_readraw = CMDID(0x73, 6), // 硬件测试使用 int32_t* val
kplate_code_scaner_open_laser = CMDID(0x73, 7), // 硬件测试使用
kplate_code_scaner_close_laser = CMDID(0x73, 8), // 硬件测试使用
} 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
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