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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 { /*******************************************************************************
* ģ��ͨ�����ú�״̬ * *******************************************************************************/ kreg_module_version = REG_INDEX(0, 0, 0), // ģ���汾
kreg_module_type = REG_INDEX(0, 0, 1), // ģ������
kreg_module_status = REG_INDEX(0, 0, 2), // 0idle,1busy,2error
kreg_module_errorcode = REG_INDEX(0, 0, 3), // inited_flag
kreg_module_initflag = REG_INDEX(0, 0, 4), // inited_flag
kreg_module_enableflag = REG_INDEX(0, 0, 5), // 0idle,1busy,2error
kreg_module_errorbitflag0 = REG_INDEX(0, 0, 6), // ģ���쳣��־��bit��ÿ��ģ���Զ���
kreg_module_errorbitflag1 = REG_INDEX(0, 0, 7), //
kreg_module_input_state = REG_INDEX(0, 0, 8), //
kreg_module_output_state = REG_INDEX(0, 0, 9), //
kreg_module_raw_sector_size = REG_INDEX(0, 0, 10), // sector_size
kreg_module_raw_sector_num = REG_INDEX(0, 0, 11), //
kreg_module_is_online = REG_INDEX(0, 0, 12), //
kreg_module_last_cmd_exec_status = REG_INDEX(0, 0, 20), // ��һ��ָ��ִ�е�״̬
kreg_module_last_cmd_exec_val0 = REG_INDEX(0, 0, 21), // ��һ��ָ��ִ�еĽ���0
kreg_module_last_cmd_exec_val1 = REG_INDEX(0, 0, 22), // ��һ��ָ��ִ�еĽ���1
kreg_module_last_cmd_exec_val2 = REG_INDEX(0, 0, 23), // ��һ��ָ��ִ�еĽ���2
kreg_module_last_cmd_exec_val3 = REG_INDEX(0, 0, 24), // ��һ��ָ��ִ�еĽ���3
kreg_module_last_cmd_exec_val4 = REG_INDEX(0, 0, 25), // ��һ��ָ��ִ�еĽ���4
kreg_module_last_cmd_exec_val5 = REG_INDEX(0, 0, 26), // ��һ��ָ��ִ�еĽ���5
kreg_module_private0 = REG_INDEX(0, 0, 30), // ģ��˽��״̬0
kreg_module_private1 = REG_INDEX(0, 0, 31), // ģ��˽��״̬1
kreg_module_private2 = REG_INDEX(0, 0, 32), // ģ��˽��״̬2
kreg_module_private3 = REG_INDEX(0, 0, 33), // ģ��˽��״̬3
kreg_module_private4 = REG_INDEX(0, 0, 34), // ģ��˽��״̬4
kreg_module_private5 = REG_INDEX(0, 0, 35), // ģ��˽��״̬5
kreg_module_private6 = REG_INDEX(0, 0, 36), // ģ��˽��״̬6
kreg_module_private7 = REG_INDEX(0, 0, 37), // ģ��˽��״̬7
kreg_module_private8 = REG_INDEX(0, 0, 38), // ģ��˽��״̬8
kreg_module_private9 = REG_INDEX(0, 0, 39), // ģ��˽��״̬9
kreg_module_do_action0 = REG_INDEX(0, 0, 40), // ����0
kreg_module_action_param1 = REG_INDEX(0, 0, 41), // ����1
kreg_module_action_param2 = REG_INDEX(0, 0, 42), // ����2
kreg_module_action_param3 = REG_INDEX(0, 0, 43), // ����3
kreg_module_action_param4 = REG_INDEX(0, 0, 44), // ����4
kreg_module_action_param5 = REG_INDEX(0, 0, 45), // ����5
kreg_module_action_param6 = REG_INDEX(0, 0, 46), // ����6
kreg_module_action_param7 = REG_INDEX(0, 0, 47), // ����7
kreg_module_action_param8 = REG_INDEX(0, 0, 48), // ����8
kreg_module_action_param9 = REG_INDEX(0, 0, 49), // ����9
/*******************************************************************************
* SENSOR * *******************************************************************************/ kreg_sensor_current = REG_INDEX(1, 0, 0), // ����
kreg_sensor_voltage = REG_INDEX(1, 0, 1), // ��ѹ
kreg_sensor_temperature = REG_INDEX(1, 0, 2), // �¶�
kreg_sensor_humidity = REG_INDEX(1, 0, 3), // ʪ��
kreg_sensor_wind_speed = REG_INDEX(1, 0, 4), // ����
kreg_sensor_wind_dir = REG_INDEX(1, 0, 5), // ����
kreg_sensor_air_press = REG_INDEX(1, 0, 6), // ��ѹ
kreg_sensor_pm25 = REG_INDEX(1, 0, 7), // PM2.5
kreg_sensor_pm10 = REG_INDEX(1, 0, 8), // PM10
kreg_sensor_co = REG_INDEX(1, 0, 9), // CO
kreg_sensor_co2 = REG_INDEX(1, 0, 10), // CO
kreg_sensor_no2 = REG_INDEX(1, 0, 11), // NO2
kreg_sensor_so2 = REG_INDEX(1, 0, 12), // SO2
kreg_sensor_o3 = REG_INDEX(1, 0, 13), // O3
kreg_sensor_light_intensity = REG_INDEX(1, 0, 14), // ����ǿ��
kreg_sensor_radiation = REG_INDEX(1, 0, 15), // �ܷ�����
kreg_sensor_hydrogen_peroxide_volume = REG_INDEX(1, 0, 16), // ppm 0x0100
kreg_sensor_h2o_h2o2_rs = REG_INDEX(1, 0, 17), // %RS * 100
kreg_sensor_relative_humidity = REG_INDEX(1, 0, 18), // %RH * 100
kreg_sensor_absolute_hydrogen_peroxide = REG_INDEX(1, 0, 19), // mg/m3
kreg_sensor_h2o_h2o2dew_point_temperature = REG_INDEX(1, 0, 20), // ��C * 100
kreg_sensor_water_volume = REG_INDEX(1, 0, 21), // ppm
kreg_sensor_water_vapor_pressure = REG_INDEX(1, 0, 22), // hpa
kreg_sensor_absolute_humidity = REG_INDEX(1, 0, 23), // g/m3
kreg_sensor_water_vapor_saturation_pressure_h2o = REG_INDEX(1, 0, 24), // hpa
kreg_sensor_h2o2_vapor_pressure = REG_INDEX(1, 0, 25), // hpa
kreg_sensor_water_vapor_saturation_pressure_h2o_h2o2 = REG_INDEX(1, 0, 26), // hpa
kreg_sensor_temperature0 = REG_INDEX(2, 0, 0), // �¶�1
kreg_sensor_temperature1 = REG_INDEX(2, 0, 1), // �¶�2
kreg_sensor_temperature2 = REG_INDEX(2, 0, 2), // �¶�3
kreg_sensor_temperature3 = REG_INDEX(2, 0, 3), // �¶�4
kreg_sensor_temperature4 = REG_INDEX(2, 0, 4), // �¶�5
kreg_sensor_temperature5 = REG_INDEX(2, 0, 5), // �¶�6
kreg_sensor_temperature6 = REG_INDEX(2, 0, 6), // �¶�7
kreg_sensor_temperature7 = REG_INDEX(2, 0, 7), // �¶�8
kreg_sensor_temperature8 = REG_INDEX(2, 0, 8), // �¶�9
kreg_sensor_temperature9 = REG_INDEX(2, 0, 9), // �¶�10
kreg_sensor_pressure0 = REG_INDEX(2, 10, 0), // ѹ��0
kreg_sensor_pressure1 = REG_INDEX(2, 10, 1), // ѹ��1
kreg_sensor_pressure2 = REG_INDEX(2, 10, 2), // ѹ��2
kreg_sensor_pressure3 = REG_INDEX(2, 10, 3), // ѹ��3
kreg_sensor_pressure4 = REG_INDEX(2, 10, 4), // ѹ��4
kreg_sensor_pressure5 = REG_INDEX(2, 10, 5), // ѹ��5
kreg_sensor_pressure6 = REG_INDEX(2, 10, 6), // ѹ��6
kreg_sensor_pressure7 = REG_INDEX(2, 10, 7), // ѹ��7
kreg_sensor_pressure8 = REG_INDEX(2, 10, 8), // ѹ��8
kreg_sensor_pressure9 = REG_INDEX(2, 10, 9), // ѹ��9
kreg_sensor_humidity0 = REG_INDEX(2, 20, 0), // ʪ��0
kreg_sensor_humidity1 = REG_INDEX(2, 20, 1), // ʪ��1
kreg_sensor_humidity2 = REG_INDEX(2, 20, 2), // ʪ��2
kreg_sensor_humidity3 = REG_INDEX(2, 20, 3), // ʪ��3
kreg_sensor_humidity4 = REG_INDEX(2, 20, 4), // ʪ��4
kreg_sensor_humidity5 = REG_INDEX(2, 20, 5), // ʪ��5
kreg_sensor_humidity6 = REG_INDEX(2, 20, 6), // ʪ��6
kreg_sensor_humidity7 = REG_INDEX(2, 20, 7), // ʪ��7
kreg_sensor_humidity8 = REG_INDEX(2, 20, 8), // ʪ��8
kreg_sensor_humidity9 = REG_INDEX(2, 20, 9), // ʪ��9
/*******************************************************************************
* ��е��ͨ������ * *******************************************************************************/
/*******************************************************************************
* MOTOR_DEFAULT * *******************************************************************************/ kreg_robot_move = REG_INDEX(10, 0, 0), // ������X�Ƿ����ƶ�
kreg_robot_pos = REG_INDEX(10, 0, 1), // ������x����
kreg_robot_velocity = REG_INDEX(10, 0, 2), // ������x�ٶ�
kreg_robot_torque = REG_INDEX(10, 0, 3), // ������x����
kreg_motor_shift = REG_INDEX(10, 50, 0), // xƫ��
kreg_motor_shaft = REG_INDEX(10, 50, 1), // x���Ƿ���ת
kreg_motor_one_circle_pulse = REG_INDEX(10, 50, 2), // x��һȦ������
kreg_motor_default_velocity = REG_INDEX(10, 50, 3), // Ĭ���ٶ�
kreg_motor_default_acc = REG_INDEX(10, 50, 4), // Ĭ�ϼ��ٶ�
kreg_motor_default_dec = REG_INDEX(10, 50, 5), // Ĭ�ϼ��ٶ�
kreg_motor_default_break_dec = REG_INDEX(10, 50, 6), // Ĭ�ϼ��ٶ�
kreg_stepmotor_ihold = REG_INDEX(10, 50, 7), // ����������������
kreg_stepmotor_irun = REG_INDEX(10, 50, 8), // ����������������
kreg_stepmotor_iholddelay = REG_INDEX(10, 50, 9), // ����������������
kreg_motor_run_to_zero_max_d = REG_INDEX(10, 50, 20), // x��������������
kreg_motor_look_zero_edge_max_d = REG_INDEX(10, 50, 21), // x��������Ե��������
kreg_motor_run_to_zero_speed = REG_INDEX(10, 50, 22), // �����ٶ�
kreg_motor_run_to_zero_dec = REG_INDEX(10, 50, 23), // �������ٶ�
kreg_motor_look_zero_edge_speed = REG_INDEX(10, 50, 24), // ������Ե�ٶ�
kreg_motor_look_zero_edge_dec = REG_INDEX(10, 50, 25), // ������Ե���ٶ�
/*******************************************************************************
* MOTOR_X * *******************************************************************************/ kreg_robot_x_move = REG_INDEX(11, 0, 0), // ������X�Ƿ����ƶ�
kreg_robot_x_pos = REG_INDEX(11, 0, 1), // ������x����
kreg_robot_x_velocity = REG_INDEX(11, 0, 2), // ������x�ٶ�
kreg_robot_x_torque = REG_INDEX(11, 0, 3), // ������x����
kreg_motor_x_shift = REG_INDEX(11, 50, 0), // xƫ��
kreg_motor_x_shaft = REG_INDEX(11, 50, 1), // x���Ƿ���ת
kreg_motor_x_one_circle_pulse = REG_INDEX(11, 50, 2), // x��һȦ������
kreg_motor_x_default_velocity = REG_INDEX(11, 50, 3), // Ĭ���ٶ�
kreg_motor_x_default_acc = REG_INDEX(11, 50, 4), // Ĭ�ϼ��ٶ�
kreg_motor_x_default_dec = REG_INDEX(11, 50, 5), // Ĭ�ϼ��ٶ�
kreg_motor_x_default_break_dec = REG_INDEX(11, 50, 6), // Ĭ�ϼ��ٶ�
kreg_stepmotor_x_ihold = REG_INDEX(11, 50, 7), // ����������������
kreg_stepmotor_x_irun = REG_INDEX(11, 50, 8), // ����������������
kreg_stepmotor_x_iholddelay = REG_INDEX(11, 50, 9), // ����������������
kreg_motor_run_to_zero_max_x_d = REG_INDEX(11, 50, 20), // x��������������
kreg_motor_look_zero_edge_max_x_d = REG_INDEX(11, 50, 21), // x��������Ե��������
kreg_motor_x_run_to_zero_speed = REG_INDEX(11, 50, 22), // �����ٶ�
kreg_motor_x_run_to_zero_dec = REG_INDEX(11, 50, 23), // �������ٶ�
kreg_motor_x_look_zero_edge_speed = REG_INDEX(11, 50, 24), // ������Ե�ٶ�
kreg_motor_x_look_zero_edge_dec = REG_INDEX(11, 50, 25), // ������Ե���ٶ�
/*******************************************************************************
* MOTOR_Y * *******************************************************************************/ kreg_robot_y_move = REG_INDEX(12, 0, 0), // ������X�Ƿ����ƶ�
kreg_robot_y_pos = REG_INDEX(12, 0, 1), // ������x����
kreg_robot_y_velocity = REG_INDEX(12, 0, 2), // ������x�ٶ�
kreg_robot_y_torque = REG_INDEX(12, 0, 3), // ������x����
kreg_motor_y_shift = REG_INDEX(12, 50, 0), // xƫ��
kreg_motor_y_shaft = REG_INDEX(12, 50, 1), // x���Ƿ���ת
kreg_motor_y_one_circle_pulse = REG_INDEX(12, 50, 2), // x��һȦ������
kreg_motor_y_default_velocity = REG_INDEX(12, 50, 3), // Ĭ���ٶ�
kreg_motor_y_default_acc = REG_INDEX(12, 50, 4), // Ĭ�ϼ��ٶ�
kreg_motor_y_default_dec = REG_INDEX(12, 50, 5), // Ĭ�ϼ��ٶ�
kreg_motor_y_default_break_dec = REG_INDEX(12, 50, 6), // Ĭ�ϼ��ٶ�
kreg_stepmotor_y_ihold = REG_INDEX(12, 50, 7), // ����������������
kreg_stepmotor_y_irun = REG_INDEX(12, 50, 8), // ����������������
kreg_stepmotor_y_iholddelay = REG_INDEX(12, 50, 9), // ����������������
kreg_motor_run_to_zero_max_y_d = REG_INDEX(12, 50, 20), // x��������������
kreg_motor_look_zero_edge_max_y_d = REG_INDEX(12, 50, 21), // x��������Ե��������
kreg_motor_y_run_to_zero_speed = REG_INDEX(12, 50, 22), // �����ٶ�
kreg_motor_y_run_to_zero_dec = REG_INDEX(12, 50, 23), // �������ٶ�
kreg_motor_y_look_zero_edge_speed = REG_INDEX(12, 50, 24), // ������Ե�ٶ�
kreg_motor_y_look_zero_edge_dec = REG_INDEX(12, 50, 25), // ������Ե���ٶ�
/*******************************************************************************
* MOTOR_Z * *******************************************************************************/ kreg_robot_z_move = REG_INDEX(13, 0, 0), // ������X�Ƿ����ƶ�
kreg_robot_z_pos = REG_INDEX(13, 0, 1), // ������x����
kreg_robot_z_velocity = REG_INDEX(13, 0, 2), // ������x�ٶ�
kreg_robot_z_torque = REG_INDEX(13, 0, 3), // ������x����
kreg_motor_z_shift = REG_INDEX(13, 50, 0), // xƫ��
kreg_motor_z_shaft = REG_INDEX(13, 50, 1), // x���Ƿ���ת
kreg_motor_z_one_circle_pulse = REG_INDEX(13, 50, 2), // x��һȦ������
kreg_motor_z_default_velocity = REG_INDEX(13, 50, 3), // Ĭ���ٶ�
kreg_motor_z_default_acc = REG_INDEX(13, 50, 4), // Ĭ�ϼ��ٶ�
kreg_motor_z_default_dec = REG_INDEX(13, 50, 5), // Ĭ�ϼ��ٶ�
kreg_motor_z_default_break_dec = REG_INDEX(13, 50, 6), // Ĭ�ϼ��ٶ�
kreg_stepmotor_z_ihold = REG_INDEX(13, 50, 7), // ����������������
kreg_stepmotor_z_irun = REG_INDEX(13, 50, 8), // ����������������
kreg_stepmotor_z_iholddelay = REG_INDEX(13, 50, 9), // ����������������
kreg_motor_run_to_zero_max_z_d = REG_INDEX(13, 50, 20), // x��������������
kreg_motor_look_zero_edge_max_z_d = REG_INDEX(13, 50, 21), // x��������Ե��������
kreg_motor_z_run_to_zero_speed = REG_INDEX(13, 50, 22), // �����ٶ�
kreg_motor_z_run_to_zero_dec = REG_INDEX(13, 50, 23), // �������ٶ�
kreg_motor_z_look_zero_edge_speed = REG_INDEX(13, 50, 24), // ������Ե�ٶ�
kreg_motor_z_look_zero_edge_dec = REG_INDEX(13, 50, 25), // ������Ե���ٶ�
kreg_xyrobot_robot_type = REG_INDEX(20, 50, 0), // ���������� 0:hbot 1:corexy
/*******************************************************************************
* PID������(3000->4000) * *******************************************************************************/ kreg_pid_target = REG_INDEX(30, 0, 0), // Ŀ����ֵ
kreg_pid_nowoutput = REG_INDEX(30, 0, 1), // ��ǰ����
kreg_pid_feedbackval = REG_INDEX(30, 0, 2), // ��ǰ����
kreg_pid_kp = REG_INDEX(30, 50, 0), // kp
kreg_pid_ki = REG_INDEX(30, 50, 1), // ki
kreg_pid_kd = REG_INDEX(30, 50, 2), // kd
kreg_pid_max_output = REG_INDEX(30, 50, 3), // ��������
kreg_pid_min_output = REG_INDEX(30, 50, 4), // ������
kreg_pid_max_integral = REG_INDEX(30, 50, 5), // ��������
kreg_pid_min_integral = REG_INDEX(30, 50, 6), // ������
kreg_error_limit = REG_INDEX(30, 50, 7), // ��������
kreg_compute_interval = REG_INDEX(30, 50, 8), // ��������
/*******************************************************************************
* ���ȿ��� * *******************************************************************************/ kreg_fan0_ctrl_speed_level = REG_INDEX(31, 0, 0), // ����ת��0,1,2,3
kreg_fan1_ctrl_speed_level = REG_INDEX(31, 0, 1), // ����ת��0,1,2,3
kreg_fan2_ctrl_speed_level = REG_INDEX(31, 0, 2), // ����ת��0,1,2,3
kreg_fan3_ctrl_speed_level = REG_INDEX(31, 0, 3), // ����ת��0,1,2,3
kreg_fan4_ctrl_speed_level = REG_INDEX(31, 0, 4), // ����ת��0,1,2,3
kreg_fan0_speed_level = REG_INDEX(31, 10, 0), // ����ʵʱת��0,1,2,3
kreg_fan1_speed_level = REG_INDEX(31, 10, 1), // ����ʵʱת��0,1,2,3
kreg_fan2_speed_level = REG_INDEX(31, 10, 2), // ����ʵʱת��0,1,2,3
kreg_fan3_speed_level = REG_INDEX(31, 10, 3), // ����ʵʱת��0,1,2,3
kreg_fan4_speed_level = REG_INDEX(31, 10, 4), // ����ʵʱת��0,1,2,3
kreg_pwm_pump0_ctrl_speed_level = REG_INDEX(32, 0, 0), // PWMˮ��0,1,2,3
kreg_pwm_pump1_ctrl_speed_level = REG_INDEX(32, 0, 1), // PWMˮ��0,1,2,3
kreg_pwm_pump2_ctrl_speed_level = REG_INDEX(32, 0, 2), // PWMˮ��0,1,2,3
kreg_pwm_pump3_ctrl_speed_level = REG_INDEX(32, 0, 3), // PWMˮ��0,1,2,3
kreg_pwm_pump4_ctrl_speed_level = REG_INDEX(32, 0, 4), // PWMˮ��0,1,2,3
kreg_pwm_pump0_speed_level = REG_INDEX(32, 10, 0), // PWMˮ��0,1,2,3
kreg_pwm_pump1_speed_level = REG_INDEX(32, 10, 1), // PWMˮ��0,1,2,3
kreg_pwm_pump2_speed_level = REG_INDEX(32, 10, 2), // PWMˮ��0,1,2,3
kreg_pwm_pump3_speed_level = REG_INDEX(32, 10, 3), // PWMˮ��0,1,2,3
kreg_pwm_pump4_speed_level = REG_INDEX(32, 10, 4), // PWMˮ��0,1,2,3
/*******************************************************************************
* ��Һǹ״̬ * *******************************************************************************/ kreg_pipette_pos_ul = REG_INDEX(40, 0, 0), // ��Һǹλ��
kreg_pipette_capactitance_val = REG_INDEX(40, 0, 1), // ��Һǹ����ֵ
kreg_pipette_tip_state = REG_INDEX(40, 0, 2), // �ƶ�Һǹtip״̬
kreg_pipette_limit_ul = REG_INDEX(40, 50, 0), // ��Һǹul����
/*******************************************************************************
* smartADC * *******************************************************************************/ kreg_self_reflecting_laser_sensor_transmitting_power = REG_INDEX(41, 0, 0), // ���书��
kreg_self_reflecting_laser_sensor_receiving_tube_gain = REG_INDEX(41, 0, 1), // ���չܷŴ�����
kreg_self_reflecting_laser_sensor_sample_interval_ms = REG_INDEX(41, 0, 2), // ������
kreg_self_reflecting_laser_sensor_num_samples = REG_INDEX(41, 0, 3), // ��������
/*******************************************************************************
* smartADC * *******************************************************************************/ // scan action
kreg_boditech_optical_scan_type = REG_INDEX(42, 0, 0), // 0 t��ѧ��1 f��ѧ
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), // main(f��ѧ)
kreg_boditech_optical_main_amp_gain = REG_INDEX(42, 20, 0), kreg_boditech_optical_main_laser_gain = REG_INDEX(42, 20, 1), // trf(t��ѧ)
kreg_boditech_optical_trf_amp_gain = REG_INDEX(42, 40, 0), kreg_boditech_optical_trf_uvled_gain = REG_INDEX(42, 40, 1), kreg_boditech_optical_trf_uvled_on_duration_us = REG_INDEX(42, 40, 2), kreg_boditech_optical_trf_uvled_off_duration_us = REG_INDEX(42, 40, 3), kreg_boditech_optical_trf_scan_delay_us = REG_INDEX(42, 40, 4), kreg_boditech_optical_trf_scan_duration_us = REG_INDEX(42, 40, 5),} reg_index_t;
} // namespace iflytop
/**
* @brief * * ģ��ͨ�����ú�״̬ 0->1000 * Robot/Motorͨ�����ú�״̬ 1000->2000 * Sensorͨ�����ú�״̬ 2000->3000 * PIDͨ�����ú�״̬ 4000->4100 */
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