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更新寄存器列表

change_pipette_api
zhaohe 1 year ago
parent
8f3e18d35b
commit
36523bea35
2 changed files with 122 additions and 180 deletions
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  1. 7
      api/apibasic/reg_index.cpp
  2. 295
      api/apibasic/reg_index.hpp

7
api/apibasic/reg_index.cpp
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@ -14,12 +14,7 @@ static reginfo_t table[] = {
REG_ITERM(kreg_module_status),
REG_ITERM(kreg_module_errorcode),
REG_ITERM(kreg_opt_module_do_action0),
REG_ITERM(kreg_opt_module_action_param1),
REG_ITERM(kreg_opt_module_action_param2),
REG_ITERM(kreg_opt_module_action_param3),
REG_ITERM(kreg_opt_module_action_ack1),
REG_ITERM(kreg_opt_module_action_ack2),
REG_ITERM(kreg_water_cooling_tmp_controler_pid_target),
REG_ITERM(kreg_water_cooling_tmp_controler_pid_nowoutput),

295
api/apibasic/reg_index.hpp
View File

@ -9,102 +9,51 @@ 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
kreg_module_version = 0, // 模块版本
kreg_module_type = 1, // 模块类型
kreg_module_status = 2, // 0idle,1busy,2error
kreg_module_errorcode = 3, // inited_flag
/***********************************************************************************************************************
* 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
kreg_water_cooling_tmp_controler_pid_target = 3000, // 目标数值
kreg_water_cooling_tmp_controler_pid_nowoutput = 3001, // 当前输出
kreg_water_cooling_tmp_controler_pid_feedbackval = 3002, // 当前输出
kreg_water_cooling_tmp_controler_temp0 = 3003, // 温度1
kreg_water_cooling_tmp_controler_temp1 = 3004, // 温度2
kreg_water_cooling_tmp_controler_temp2 = 3005, // 温度3
kreg_water_cooling_tmp_controler_temp3 = 3006, // 温度4
kreg_water_cooling_tmp_controler_pid_kp = 3050, // kp
kreg_water_cooling_tmp_controler_pid_ki = 3051, // ki
kreg_water_cooling_tmp_controler_pid_kd = 3052, // kd
kreg_water_cooling_tmp_controler_pid_max_output = 3053, // 最大输出
kreg_water_cooling_tmp_controler_pid_min_output = 3054, // 最小输出
kreg_water_cooling_tmp_controler_pid_max_integral = 3055, // 最大积分
kreg_water_cooling_tmp_controler_pid_min_integral = 3056, // 最小积分
kreg_water_cooling_tmp_controler_pid_error_limit = 3057, // 误差限制
kreg_water_cooling_tmp_controler_pid_compute_interval = 3058, // 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
kreg_pipette_pos_ul = 4000, // 移液枪位置
kreg_pipette_capactitance_val = 4001, // 移液枪电容值
kreg_pipette_tip_state = 4002, // 移动液枪tip状态
kreg_pipette_limit_ul = 4051, //
kreg_pipette_pump_acc = 4052, //
kreg_pipette_pump_dec = 4053, //
kreg_pipette_pump_vstart = 4054, //
kreg_pipette_pump_vstop = 4055, //
kreg_pipette_pump_vmax = 4056, //
kreg_pipette_aspirate_distribut_pump_vel = 4057, //
kreg_pipette_lld_pump_vel = 4058, //
kreg_pipette_lld_motor_vel_rpm = 4059, //
kreg_pipette_lld_detect_period_ms = 4060, //
kreg_pipette_lld_prepare_pos = 4061, //
kreg_pipette_lld_prepare_distribut_pos = 4062, //
/**
* @brief
@ -122,113 +71,111 @@ typedef enum {
*
*/
// 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
//
kreg_a8k_opt_t_pos_offset = 4501, // 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 = 4502, // 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 = 4503, // 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 = 4504, // 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 = 4505, // 参数固定:为1
kreg_a8k_opt_scan_pointnum = 4506, // 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),
kreg_xyrobot_io_state = 9900, //
kreg_xyrobot_robot_type = 9950, //
kreg_xyrobot_one_circle_pulse = 9951, //
kreg_xyrobot_one_circle_pulse_denominator = 9952, //
kreg_xyrobot_ihold = 9954, //
kreg_xyrobot_irun = 9955, //
kreg_xyrobot_iholddelay = 9956, //
kreg_xyrobot_iglobalscaler = 9957, //
kreg_xyrobot_vstart = 9958, //
kreg_xyrobot_a1 = 9959, //
kreg_xyrobot_amax = 9960, //
kreg_xyrobot_v1 = 9961, //
kreg_xyrobot_dmax = 9962, //
kreg_xyrobot_d1 = 9963, //
kreg_xyrobot_vstop = 9964, //
kreg_xyrobot_tzerowait = 9965, //
kreg_xyrobot_enc_resolution = 9966, //
kreg_xyrobot_enable_enc = 9967, //
kreg_xyrobot_x_shaft = 9968, //
kreg_xyrobot_y_shaft = 9969, //
kreg_xyrobot_min_x = 9972, //
kreg_xyrobot_min_y = 9973, //
kreg_xyrobot_max_x = 9974, //
kreg_xyrobot_max_y = 9975, //
kreg_xyrobot_run_to_zero_speed = 9976, //
kreg_xyrobot_look_zero_edge_speed = 9977, //
kreg_xyrobot_shift_x = 9978, //
kreg_xyrobot_shift_y = 9979, //
kreg_xyrobot_default_velocity = 10000, //
/***********************************************************************************************************************
* 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
kreg_step_motor_pos = 10101, // 机器人x坐标
kreg_step_motor_dpos = 10103, // 执行完上一条指令后的相对位移
kreg_step_motor_shift = 10150, // x偏移
kreg_step_motor_shaft = 10151, // x轴是否反转
kreg_step_motor_one_circle_pulse = 10152, // x轴一圈脉冲数
kreg_step_motor_one_circle_pulse_denominator = 10153, // 设置一圈脉冲数的分母
kreg_step_motor_default_velocity = 10154, // 默认速度
kreg_step_motor_ihold = 10158, // 步进电机电流配置
kreg_step_motor_irun = 10159, // 步进电机电流配置
kreg_step_motor_iholddelay = 10160, // 步进电机电流配置
kreg_step_motor_iglobalscaler = 10161, // 步进电机电流配置
kreg_step_motor_run_to_zero_speed = 10173, // 回零速度
kreg_step_motor_look_zero_edge_speed = 10175, // 找零边缘速度
kreg_step_motor_max_d = 10178, // 最大限制距离
kreg_step_motor_min_d = 10179, // 最小限制距离
kreg_step_motor_in_debug_mode = 10180, // 驱动器处于调试模式
kreg_step_motor_vstart = 10181, // a1起作用的速度
kreg_step_motor_a1 = 10182, //
kreg_step_motor_amax = 10183, //
kreg_step_motor_v1 = 10184, //
kreg_step_motor_dmax = 10185, //
kreg_step_motor_d1 = 10186, //
kreg_step_motor_vstop = 10187, //
kreg_step_motor_tzerowait = 10188, //
kreg_step_motor_enc_resolution = 10189, // 编码器分辨率 1000,1024,4000,4096,16384
kreg_step_motor_enable_enc = 10190, //
kreg_step_motor_dzero_pos = 10191, // 驱动器处于调试模式
/***********************************************************************************************************************
* MINI_STEP_MOTOR *
* 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
kreg_mini_servo_pos = 10201, // 位置
kreg_mini_servo_limit_velocity = 10251, // 限制速度
kreg_mini_servo_limit_torque = 10252, // 限制扭矩
kreg_mini_servo_protective_torque = 10253, // 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),
kreg_id_card_reader_raw_sector_size = 10301, //
kreg_id_card_reader_raw_sector_num = 10302, //
kreg_id_card_reader_is_online = 10303, //
/***********************************************************************************************************************
* BOARD *
* 板夹仓扫码 *
***********************************************************************************************************************/
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),
kreg_plate_code_scaner_laster_intensity = 10401, //
kreg_plate_code_scaner_scan_gain = 10402, //
kreg_plate_code_scaner_scan_velocity = 10403, //
kreg_plate_code_scaner_scan_start_pos = 10404, //
kreg_plate_code_scaner_final_stop_pos = 10405, //
kreg_plate_code_scaner_code_judgment_threshold = 10406, //
kreg_plate_code_scaner_item = 10407, //
kreg_plate_code_scaner_lot = 10408, //
kreg_plate_code_scaner_rawcode = 10409, //
kreg_plate_code_scaner_code_legal = 10410, //
} reg_index_t;

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