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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_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), //
/*******************************************************************************
* SENSOR * *******************************************************************************/ 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_pwm0_ctrl = REG_INDEX(3, 0, 0), //
kreg_pwm0_duty = REG_INDEX(3, 0, 1), //
kreg_pwm0_freq = REG_INDEX(3, 0, 2), //
kreg_pwm1_ctrl = REG_INDEX(3, 10, 0), //
kreg_pwm1_duty = REG_INDEX(3, 10, 1), //
kreg_pwm1_freq = REG_INDEX(3, 10, 2), //
kreg_pwm2_ctrl = REG_INDEX(3, 20, 0), //
kreg_pwm2_duty = REG_INDEX(3, 20, 1), //
kreg_pwm2_freq = REG_INDEX(3, 20, 2), //
kreg_pwm3_ctrl = REG_INDEX(3, 30, 0), //
kreg_pwm3_duty = REG_INDEX(3, 30, 1), //
kreg_pwm3_freq = REG_INDEX(3, 30, 2), //
kreg_pwm4_ctrl = REG_INDEX(3, 40, 0), //
kreg_pwm4_duty = REG_INDEX(3, 40, 1), //
kreg_pwm4_freq = REG_INDEX(3, 40, 2), //
kreg_pwm5_ctrl = REG_INDEX(3, 50, 0), //
kreg_pwm5_duty = REG_INDEX(3, 50, 1), //
kreg_pwm5_freq = REG_INDEX(3, 50, 2), //
kreg_pwm6_ctrl = REG_INDEX(3, 60, 0), //
kreg_pwm6_duty = REG_INDEX(3, 60, 1), //
kreg_pwm6_freq = REG_INDEX(3, 60, 2), //
kreg_pwm7_ctrl = REG_INDEX(3, 70, 0), //
kreg_pwm7_duty = REG_INDEX(3, 70, 1), //
kreg_pwm7_freq = REG_INDEX(3, 70, 2), //
/*******************************************************************************
* ��е��ͨ������ * *******************************************************************************/
/*******************************************************************************
* MOTOR_DEFAULT * *******************************************************************************/ kreg_robot_pos = REG_INDEX(10, 0, 1), // ������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_one_circle_pulse_denominator = REG_INDEX(10, 50, 3), // ����һȦ�������ķ�ĸ
kreg_motor_default_velocity = REG_INDEX(10, 50, 4), // Ĭ���ٶ�
kreg_motor_default_acc = REG_INDEX(10, 50, 5), // Ĭ�ϼ��ٶ�
kreg_motor_default_dec = REG_INDEX(10, 50, 6), // Ĭ�ϼ��ٶ�
kreg_motor_default_break_dec = REG_INDEX(10, 50, 7), // Ĭ�ϼ��ٶ�
kreg_motor_ihold = REG_INDEX(10, 50, 8), // ����������������
kreg_motor_irun = REG_INDEX(10, 50, 9), // ����������������
kreg_motor_iholddelay = REG_INDEX(10, 50, 10), // ����������������
kreg_motor_iglobalscaler = REG_INDEX(10, 50, 11), // ����������������
kreg_motor_run_to_zero_max_d = REG_INDEX(10, 50, 21), // x��������������
kreg_motor_look_zero_edge_max_d = REG_INDEX(10, 50, 22), // x��������Ե��������
kreg_motor_run_to_zero_speed = REG_INDEX(10, 50, 23), // �����ٶ�
kreg_motor_run_to_zero_dec = REG_INDEX(10, 50, 24), // �������ٶ�
kreg_motor_look_zero_edge_speed = REG_INDEX(10, 50, 25), // ������Ե�ٶ�
kreg_motor_look_zero_edge_dec = REG_INDEX(10, 50, 26), // ������Ե���ٶ�
kreg_motor_default_torque = REG_INDEX(10, 50, 27), // Ĭ��Ť��
kreg_motor_max_d = REG_INDEX(10, 50, 28), // �������ƾ���
kreg_motor_min_d = REG_INDEX(10, 50, 29), // ��С���ƾ���
/*******************************************************************************
* MOTOR_X * *******************************************************************************/
kreg_xyrobot_x_pos = REG_INDEX(11, 0, 1), // ������x����
kreg_xyrobot_y_pos = REG_INDEX(12, 0, 1), // ������x����
kreg_xyrobot_x_shift = REG_INDEX(11, 50, 0), // xƫ��
kreg_xyrobot_y_shift = REG_INDEX(12, 50, 0), // yƫ��
kreg_xyrobot_x_shaft = REG_INDEX(11, 50, 1), // x���Ƿ���ת
kreg_xyrobot_y_shaft = REG_INDEX(12, 50, 1), // y���Ƿ���ת
kreg_xyrobot_x_one_circle_pulse = REG_INDEX(11, 50, 2), // x��һȦ������
kreg_xyrobot_y_one_circle_pulse = REG_INDEX(12, 50, 2), // y��һȦ������
kreg_xyrobot_run_to_zero_max_x_d = REG_INDEX(11, 50, 20), // x��������������
kreg_xyrobot_run_to_zero_max_y_d = REG_INDEX(12, 50, 20), // y��������������
kreg_xyrobot_look_zero_edge_max_x_d = REG_INDEX(11, 50, 21), // x��������Ե��������
kreg_xyrobot_look_zero_edge_max_y_d = REG_INDEX(12, 50, 21), // y��������Ե��������
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), // ��������
// 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), kreg_boditech_optical_channel_select_num = REG_INDEX(42, 0, 5), kreg_boditech_optical_laster_gain = REG_INDEX(42, 0, 6), kreg_boditech_optical_scan_gain = 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_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��ѧ��1 f��ѧ
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),
} reg_index_t;
} // namespace iflytop
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