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  1. #pragma once
  2. #define CMDID(cmdid, cmdSubId) ((cmdid << 8) + cmdSubId)
  3. #define NEW_CMDID(cmdid, cmdSubId) ((cmdid * 100) + cmdSubId)
  4. namespace iflytop {
  5. namespace zcr {
  6. typedef enum {
  7. #if 0
  8. virtual int32_t board_reset() = 0;
  9. #endif
  10. kboard_reset = CMDID(0, 0), // para:{}, ack:{}
  11. kevent_bus_reg_change_report = CMDID(0, 100), // para:{}, ack:{}
  12. kmodule_ping = CMDID(1, 0), // para:{}, ack:{}
  13. kmodule_get_status = CMDID(1, 4), // para:{}, ack:{4}
  14. kmodule_set_reg = CMDID(1, 5), // para:{4,4}, ack:{}
  15. kmodule_get_reg = CMDID(1, 6), // para:{4}, ack:{4}I
  16. kmodule_get_error = CMDID(1, 10), // para:{}, ack:{1}
  17. kmodule_clear_error = CMDID(1, 11), // para:{}, ack:{}
  18. kxymotor_enable = CMDID(3, 1), // para:{1}, ack:{}
  19. kxymotor_move_by = CMDID(3, 2), // para:{4,4,4}, ack:{}
  20. kxymotor_move_to = CMDID(3, 3), // para:{4,4,4}, ack:{}
  21. kxymotor_move_to_zero = CMDID(3, 4), // para:{}, ack:{}
  22. kxymotor_move_to_zero_and_calculated_shift = CMDID(3, 5), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
  23. kxymotor_read_pos = CMDID(3, 6), // para:{}, ack:{4,4}
  24. kxymotor_calculated_pos_by_move_to_zero = CMDID(3, 7), // para:{}, ack:{}
  25. kcode_scaner_start_scan = CMDID(4, 1), // para:{}, ack:{}
  26. kcode_scaner_stop_scan = CMDID(4, 2), // para:{}, ack:{}
  27. kcode_scaner_read_scaner_result = CMDID(4, 3), // para:{4,4}, ack:{4}
  28. kpipette_ctrl_init_device = CMDID(5, 1), // para:{}, ack:{}
  29. kpipette_ctrl_put_tip = CMDID(5, 2), // para:{}, ack:{}
  30. kpipette_ctrl_move_to_ul = CMDID(5, 3), // para:{4}, ack:{}
  31. ka8000_optical_module_power_ctrl = CMDID(6, 0), // para:{4}, ack:{}
  32. ka8000_optical_open_laser = CMDID(6, 1), // para:{4}, ack:{}
  33. ka8000_optical_close_laser = CMDID(6, 2), // para:{4}, ack:{}
  34. ka8000_optical_set_laster_gain = CMDID(6, 3), // para:{4,4}, ack:{}
  35. ka8000_optical_set_scan_amp_gain = CMDID(6, 4), // para:{4,4}, ack:{}
  36. ka8000_optical_read_scanner_adc_val = CMDID(6, 5), // para:{4}, ack:{4}
  37. ka8000_optical_read_laster_adc_val = CMDID(6, 6), // para:{4}, ack:{4}
  38. ka8000_optical_scan_current_point_amp_adc_val = CMDID(6, 7), // para:{4,4,4,4}, ack:{4,4}
  39. /***********************************************************************************************************************************************
  40. * NEW *
  41. * NEW *
  42. * NEW *
  43. * NEW *
  44. * NEW *
  45. ***********************************************************************************************************************************************/
  46. /***********************************************************************************************************************
  47. * STEP_MOTOR *
  48. ***********************************************************************************************************************/
  49. kstep_motor_enable = NEW_CMDID(101, 1), // para:{1}, ack:{}
  50. kstep_motor_read_pos = NEW_CMDID(101, 2), // para:{}, ack:{4}
  51. kstep_motor_easy_rotate = NEW_CMDID(101, 3), // para:{4}, ack:{}
  52. kstep_motor_easy_move_by = NEW_CMDID(101, 4), // para:{4}, ack:{}
  53. kstep_motor_easy_move_to = NEW_CMDID(101, 5), // para:{4}, ack:{}
  54. kstep_motor_easy_move_to_zero = NEW_CMDID(101, 6), // para:{1}, ack:{}
  55. kstep_motor_easy_set_current_pos = NEW_CMDID(101, 7), // para:{4}, ack:{}
  56. kstep_motor_easy_move_to_io = NEW_CMDID(101, 8), // para:{4,4}, ack:{}
  57. kstep_motor_active_cfg = NEW_CMDID(101, 9), // para:{4,4}, ack:{}
  58. kstep_motor_stop = NEW_CMDID(101, 10), // para:{4}, ack:{}
  59. kstep_motor_read_io_state = NEW_CMDID(101, 11), // para:{4}, ack:{}
  60. /***********************************************************************************************************************
  61. * MINI_SERVO *
  62. ***********************************************************************************************************************/
  63. kmini_servo_enable = NEW_CMDID(102, 1),
  64. kmini_servo_read_pos = NEW_CMDID(102, 2),
  65. kmini_servo_active_cfg = NEW_CMDID(102, 3),
  66. kmini_servo_stop = NEW_CMDID(102, 4),
  67. kmini_servo_rotate = NEW_CMDID(102, 5),
  68. kmini_servo_move_to = NEW_CMDID(102, 6),
  69. kmini_servo_set_mid_point = NEW_CMDID(102, 7),
  70. kmini_servo_read_io_state = NEW_CMDID(102, 8),
  71. /***********************************************************************************************************************
  72. * BOARD *
  73. ***********************************************************************************************************************/
  74. kboard_read_io = NEW_CMDID(103, 1), // para:{}, ack:{4}
  75. kboard_write_io = NEW_CMDID(103, 2), // para:{}, ack:{4}
  76. } cmdid_t;
  77. } // namespace zcr
  78. } // namespace iflytop