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#pragma once
#include <stdint.h>
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
/***********************************************************************************************************************
* 水冷温度控制器 * ***********************************************************************************************************************/
kreg_water_cooling_tmp_controler_pid_target = REG_INDEX(30, 0, 0), // 目标数值
kreg_water_cooling_tmp_controler_pid_nowoutput = REG_INDEX(30, 0, 1), // 当前输出
kreg_water_cooling_tmp_controler_pid_feedbackval = REG_INDEX(30, 0, 2), // 当前输出
kreg_water_cooling_tmp_controler_temp0 = REG_INDEX(30, 0, 3), // 温度1
kreg_water_cooling_tmp_controler_temp1 = REG_INDEX(30, 0, 4), // 温度2
kreg_water_cooling_tmp_controler_temp2 = REG_INDEX(30, 0, 5), // 温度3
kreg_water_cooling_tmp_controler_temp3 = REG_INDEX(30, 0, 6), // 温度4
kreg_water_cooling_tmp_controler_pid_kp = REG_INDEX(30, 50, 0), // kp
kreg_water_cooling_tmp_controler_pid_ki = REG_INDEX(30, 50, 1), // ki
kreg_water_cooling_tmp_controler_pid_kd = REG_INDEX(30, 50, 2), // kd
kreg_water_cooling_tmp_controler_pid_max_output = REG_INDEX(30, 50, 3), // 最大输出
kreg_water_cooling_tmp_controler_pid_min_output = REG_INDEX(30, 50, 4), // 最小输出
kreg_water_cooling_tmp_controler_pid_max_integral = REG_INDEX(30, 50, 5), // 最大积分
kreg_water_cooling_tmp_controler_pid_min_integral = REG_INDEX(30, 50, 6), // 最小积分
kreg_water_cooling_tmp_controler_pid_error_limit = REG_INDEX(30, 50, 7), // 误差限制
kreg_water_cooling_tmp_controler_pid_compute_interval = REG_INDEX(30, 50, 8), // 计算间隔
/*******************************************************************************
* 移液枪状态 * *******************************************************************************/ kreg_pipette_pos_ul = REG_INDEX(40, 0, 0), // 移液枪位置
kreg_pipette_capactitance_val = REG_INDEX(40, 0, 1), // 移液枪电容值
kreg_pipette_tip_state = REG_INDEX(40, 0, 2), // 移动液枪tip状态
kreg_pipette_limit_ul = REG_INDEX(40, 50, 1), kreg_pipette_pump_acc = REG_INDEX(40, 50, 2), kreg_pipette_pump_dec = REG_INDEX(40, 50, 3), kreg_pipette_pump_vstart = REG_INDEX(40, 50, 4), kreg_pipette_pump_vstop = REG_INDEX(40, 50, 5), kreg_pipette_pump_vmax = REG_INDEX(40, 50, 6), kreg_pipette_aspirate_distribut_pump_vel = REG_INDEX(40, 50, 7), kreg_pipette_lld_pump_vel = REG_INDEX(40, 50, 8), kreg_pipette_lld_motor_vel_rpm = REG_INDEX(40, 50, 9), kreg_pipette_lld_detect_period_ms = REG_INDEX(40, 50, 10), kreg_pipette_lld_prepare_pos = REG_INDEX(40, 50, 11), kreg_pipette_lld_prepare_distribut_pos = REG_INDEX(40, 50, 12),
/***********************************************************************************************************************
* 光学模组 * ***********************************************************************************************************************/#if 0
kreg_boditech_optical_module_raw_sector_size = REG_INDEX(41, 0, 0), // sector_size
kreg_boditech_optical_module_raw_sector_num = REG_INDEX(41, 0, 1), //
// scan action
kreg_boditech_optical_scan_type = REG_INDEX(42, 0, 0), // 0 t光学，1 f光学
kreg_boditech_optical_scan_start_pos = REG_INDEX(42, 0, 1), kreg_boditech_optical_scan_direction = REG_INDEX(42, 0, 2), kreg_boditech_optical_scan_step_interval = REG_INDEX(42, 0, 3), kreg_boditech_optical_scan_pointnum = REG_INDEX(42, 0, 4), kreg_boditech_optical_channel_select_num = REG_INDEX(42, 0, 5), kreg_boditech_optical_laster_gain_potentiometer_val = REG_INDEX(42, 0, 6), kreg_boditech_optical_scan_gain_potentiometer = REG_INDEX(42, 0, 7), kreg_boditech_optical_trf_uvled_on_duration_us = REG_INDEX(42, 0, 8), kreg_boditech_optical_trf_uvled_off_duration_us = REG_INDEX(42, 0, 9), kreg_boditech_optical_trf_scan_delay_us = REG_INDEX(42, 0, 10), kreg_boditech_optical_trf_scan_duration_us = REG_INDEX(42, 0, 11), kreg_boditech_optical_scan_gain_potentiometer_adjust_suggestion = REG_INDEX(42, 0, 12), kreg_boditech_optical_adc_result_overflow = REG_INDEX(42, 0, 13), kreg_boditech_optical_laster_intensity = REG_INDEX(42, 0, 14),
//
kreg_laster_scaner_scan_type = REG_INDEX(43, 0, 0), // 0 t光学，1 f光学
kreg_laster_scaner_scan_start_pos = REG_INDEX(43, 0, 1), kreg_laster_scaner_scan_direction = REG_INDEX(43, 0, 2), kreg_laster_scaner_scan_step_interval = REG_INDEX(43, 0, 3), kreg_laster_scaner_scan_pointnum = REG_INDEX(43, 0, 4), kreg_laster_scaner_laster_gain = REG_INDEX(43, 0, 5), kreg_laster_scaner_scan_gain = REG_INDEX(43, 0, 6),
kreg_laster_scaner_scan_gain_adjust_suggestion = REG_INDEX(43, 0, 12), kreg_laster_scaner_adc_result_overflow = REG_INDEX(43, 0, 13), kreg_laster_scaner_laster_intensity = REG_INDEX(43, 0, 14), kreg_laster_scaner_raw_sector_size = REG_INDEX(44, 0, 1), kreg_laster_scaner_raw_sector_num = REG_INDEX(44, 0, 2),#endif
/**
* @brief * * ------------------------------------------------------ * * * 扫描零点偏移:（F光学向左扫描的起始位置） * 扫描方向:1:板卡箭头方向，-1板卡箭头反方向 * 扫描点数:固定为1200 * 扫描步距:固定为1 * * 返回点数:(1200) * * */ // 坐标参数
kreg_a8k_opt_t_pos_offset = REG_INDEX(45, 0, 1), // T光学正向扫描，扫描起始位距离零点的偏移
kreg_a8k_opt_f_pos_offset = REG_INDEX(45, 0, 2), // F光学正向扫描，扫描起始位距离零点的偏移
kreg_a8k_opt_t_reverse_scan_pos_offset = REG_INDEX(45, 0, 3), // T光学逆向扫描，扫描起始位距离零点的偏移
kreg_a8k_opt_f_reverse_scan_pos_offset = REG_INDEX(45, 0, 4), // F光学逆向扫描，扫描起始位距离零点的偏移
kreg_a8k_opt_scan_step_interval = REG_INDEX(45, 0, 5), // 参数固定:为1
kreg_a8k_opt_scan_pointnum = REG_INDEX(45, 0, 6), // 参数固定:为1200个点
//
/***********************************************************************************************************************
* XYROBOT * ***********************************************************************************************************************/
kreg_xyrobot_io_state = REG_INDEX(99, 0, 0), // IO状态
kreg_xyrobot_robot_type = REG_INDEX(99, 50, 0), // 机器人类型 0:hbot 1:corexy
kreg_xyrobot_one_circle_pulse = REG_INDEX(99, 50, 1), kreg_xyrobot_one_circle_pulse_denominator = REG_INDEX(99, 50, 2), kreg_xyrobot_ihold = REG_INDEX(99, 50, 4), kreg_xyrobot_irun = REG_INDEX(99, 50, 5), kreg_xyrobot_iholddelay = REG_INDEX(99, 50, 6), kreg_xyrobot_iglobalscaler = REG_INDEX(99, 50, 7), kreg_xyrobot_vstart = REG_INDEX(99, 50, 8), kreg_xyrobot_a1 = REG_INDEX(99, 50, 9), kreg_xyrobot_amax = REG_INDEX(99, 50, 10), kreg_xyrobot_v1 = REG_INDEX(99, 50, 11), kreg_xyrobot_dmax = REG_INDEX(99, 50, 12), kreg_xyrobot_d1 = REG_INDEX(99, 50, 13), kreg_xyrobot_vstop = REG_INDEX(99, 50, 14), kreg_xyrobot_tzerowait = REG_INDEX(99, 50, 15), kreg_xyrobot_enc_resolution = REG_INDEX(99, 50, 16), kreg_xyrobot_enable_enc = REG_INDEX(99, 50, 17), kreg_xyrobot_x_shaft = REG_INDEX(99, 50, 18), // x轴是否反转
kreg_xyrobot_y_shaft = REG_INDEX(99, 50, 19), // y轴是否反转
kreg_xyrobot_min_x = REG_INDEX(99, 50, 22), kreg_xyrobot_min_y = REG_INDEX(99, 50, 23), kreg_xyrobot_max_x = REG_INDEX(99, 50, 24), kreg_xyrobot_max_y = REG_INDEX(99, 50, 25), kreg_xyrobot_run_to_zero_speed = REG_INDEX(99, 50, 26), kreg_xyrobot_look_zero_edge_speed = REG_INDEX(99, 50, 27), kreg_xyrobot_shift_x = REG_INDEX(99, 50, 28), kreg_xyrobot_shift_y = REG_INDEX(99, 50, 29),
kreg_xyrobot_default_velocity = REG_INDEX(100, 0, 0),
/***********************************************************************************************************************
* 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), kreg_step_motor_enc_resolution = REG_INDEX(101, 50, 39), // 编码器分辨率 1000,1024,4000,4096,16384
kreg_step_motor_enable_enc = REG_INDEX(101, 50, 40), //
kreg_step_motor_dzero_pos = REG_INDEX(101, 50, 41), // 驱动器处于调试模式
/***********************************************************************************************************************
* 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
/***********************************************************************************************************************
* ID_CARD_READER * ***********************************************************************************************************************/ kreg_id_card_reader_raw_sector_size = REG_INDEX(103, 0, 1), kreg_id_card_reader_raw_sector_num = REG_INDEX(103, 0, 2), kreg_id_card_reader_is_online = REG_INDEX(103, 0, 3),
/***********************************************************************************************************************
* BOARD * ***********************************************************************************************************************/
kreg_plate_code_scaner_laster_intensity = REG_INDEX(104, 0, 1), kreg_plate_code_scaner_scan_gain = REG_INDEX(104, 0, 2), kreg_plate_code_scaner_scan_velocity = REG_INDEX(104, 0, 3), kreg_plate_code_scaner_scan_start_pos = REG_INDEX(104, 0, 4), kreg_plate_code_scaner_final_stop_pos = REG_INDEX(104, 0, 5), kreg_plate_code_scaner_code_judgment_threshold = REG_INDEX(104, 0, 6), kreg_plate_code_scaner_item = REG_INDEX(104, 0, 7), kreg_plate_code_scaner_lot = REG_INDEX(104, 0, 8), kreg_plate_code_scaner_rawcode = REG_INDEX(104, 0, 9), kreg_plate_code_scaner_code_legal = REG_INDEX(104, 0, 10),
} 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
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