diff --git a/api/apibasic/cmdid.hpp b/api/apibasic/cmdid.hpp index 58818e4..c549611 100644 --- a/api/apibasic/cmdid.hpp +++ b/api/apibasic/cmdid.hpp @@ -13,175 +13,135 @@ typedef enum { virtual int32_t board_reset() = 0; #endif - kboard_reset = CMDID(0, 0), // para:{}, ack:{} - - kevent_bus_reg_change_report = CMDID(0, 100), // val{regindex, oldval, toval} - - kmodule_ping = CMDID(1, 0), - kmodule_get_status = CMDID(1, 4), - kmodule_stop = CMDID(1, 1), - kmodule_set_reg = CMDID(1, 5), - kmodule_get_reg = CMDID(1, 6), - kmodule_get_error = CMDID(1, 10), - kmodule_clear_error = CMDID(1, 11), - kmodule_active_cfg = CMDID(1, 16), - - kxymotor_enable = CMDID(3, 1), - kxymotor_move_by = CMDID(3, 2), - kxymotor_move_to = CMDID(3, 3), - kxymotor_move_to_zero = CMDID(3, 4), - kxymotor_read_pos = CMDID(3, 6), - kxymotor_read_inio_index_in_stm32 = CMDID(3, 7), - kxymotor_read_inio = CMDID(3, 8), - kxymotor_set_pos = CMDID(3, 9), - kxymotor_motor_move_by_direct = CMDID(3, 10), // int32_t motor1_dpos, int32_t motor2_dpos - kxymotor_read_enc_direct = CMDID(3, 11), // int32_t *enc1, int32_t *enc2 - - /*********************************************************************************************************************** - * 光学模组 * - ***********************************************************************************************************************/ - ka8000_optical_module_power_ctrl = CMDID(6, 0), // para:{4}, ack:{} - ka8000_optical_open_laser = CMDID(6, 1), // para:{4}, ack:{} - ka8000_optical_close_laser = CMDID(6, 2), // para:{4}, ack:{} - ka8000_optical_set_laster_gain = CMDID(6, 3), // para:{4,4}, ack:{} - ka8000_optical_set_scan_amp_gain = CMDID(6, 4), // para:{4,4}, ack:{} - ka8000_optical_read_scanner_adc_val = CMDID(6, 5), // para:{4}, ack:{4} - ka8000_optical_read_laster_adc_val = CMDID(6, 6), // para:{4}, ack:{4} - ka8000_optical_scan_current_point_amp_adc_val = CMDID(6, 7), // para:{4,4,4,4}, ack:{4,4} - ka8000_optical_start_capture = CMDID(6, 8), // para:{n/a} - ka8000_optical_read_raw = CMDID(6, 9), // para:{index,size} - - ka8k_opt_v2_t_start_scan = CMDID(7, 0), //(int32_t scanDirection, int32_t lasterGain,int32_t scanGain) - ka8k_opt_v2_f_start_scan = CMDID(7, 1), //(int32_t scanDirection, int32_t lasterGain,int32_t scanGain) - ka8k_opt_v2_t_open_laster = CMDID(7, 10), //(int32_t lasterGain,int32_t scanGain) for_debug - ka8k_opt_v2_t_close_laster = CMDID(7, 11), //() for_debug - ka8k_opt_v2_t_readVal = CMDID(7, 12), //(int32_t *val0,int32_t *val1) for_debug - ka8k_opt_v2_f_open_laster = CMDID(7, 13), //(int32_t lasterGain,int32_t scanGain) for_debug - ka8k_opt_v2_f_close_laster = CMDID(7, 14), //() for_debug - ka8k_opt_v2_f_readVal = CMDID(7, 15), //(int32_t *val0,int32_t *val1) for_debug - - /*********************************************************************************************************************** - * STEP_MOTOR * - ***********************************************************************************************************************/ - - kstep_motor_enable = CMDID(2, 1), // para:{1}, ack:{} - kstep_motor_read_pos = CMDID(2, 11), // para:{}, ack:{4} - kstep_motor_easy_rotate = CMDID(2, 17), // para:{4}, ack:{} - kstep_motor_easy_move_by = CMDID(2, 18), // para:{4}, ack:{} - kstep_motor_easy_move_to = CMDID(2, 19), // para:{4}, ack:{} - kstep_motor_easy_move_to_zero = CMDID(2, 20), // para:{1}, ack:{} - kstep_motor_easy_set_current_pos = CMDID(2, 21), // para:{4}, ack:{} - kstep_motor_easy_move_to_io = CMDID(2, 22), // para:{4,4}, ack:{} - kstep_motor_stop = CMDID(2, 40), // para:{4}, ack:{} - kstep_motor_active_cfg = CMDID(2, 41), // para:{4}, ack:{} - kstep_motor_read_io_state = CMDID(2, 42), // para:{4}, ack:{} - kstep_motor_easy_move_to_end_point = CMDID(2, 44), // - kstep_motor_easy_reciprocating_motion = CMDID(2, 45), //(int32_t startpos, int32_t endpos, int32_t times) = 0; - kstep_motor_easy_move_to_zero_point_quick = CMDID(2, 46), //(int32_t startpos, int32_t endpos, int32_t times) = 0; - - kstep_motor_read_tmc5130_status = CMDID(2, 50), // - kstep_motor_read_tmc5130_state = CMDID(2, 51), // 调试使用 - kstep_motor_read_io_index_in_stm32 = CMDID(2, 56), // 调试使用 - kstep_motor_set_subdevice_reg = CMDID(2, 57), // 调试使用 - kstep_motor_get_subdevice_reg = CMDID(2, 58), // 调试使用 - - /*********************************************************************************************************************** - * MINI_SERVO * - ***********************************************************************************************************************/ - kmini_servo_enable = CMDID(102, 1), - kmini_servo_read_pos = CMDID(102, 2), - kmini_servo_active_cfg = CMDID(102, 3), - kmini_servo_stop = CMDID(102, 4), - kmini_servo_set_mid_point = CMDID(102, 7), - kmini_servo_read_io_state = CMDID(102, 8), - - kmini_servo_move_to = CMDID(102, 9), - kmini_servo_rotate = CMDID(102, 10), - kmini_servo_rotate_with_torque = CMDID(102, 11), - kmini_servo_set_cur_pos = CMDID(102, 12), // {int32_t pos} - - /*********************************************************************************************************************** - * BOARD * - ***********************************************************************************************************************/ - kextboard_read_inio = CMDID(103, 1), // para:{index}, ack:{state} - kextboard_write_outio = CMDID(103, 2), // para:{index,state}, ack:{} - kextboard_read_muti_inio = CMDID(103, 3), // para:{}, ack:{states} - kextboard_read_inio_index_in_stm32 = CMDID(103, 4), // para:{index}, ack:{index_in_stm32} - kextboard_read_outio_index_in_stm32 = CMDID(103, 5), // para:{index}, ack:{index_in_stm32} - kextboard_read_outio = CMDID(103, 6), // para:{index}, ack:{state} - - /*********************************************************************************************************************** - * CODE_SCANER * - ***********************************************************************************************************************/ - kcode_scaner_start_scan = CMDID(104, 1), // para:{}, ack:{} - kcode_scaner_stop_scan = CMDID(104, 2), // para:{}, ack:{} - kcode_scaner_result_is_ready = CMDID(104, 3), // para:{}, ack:{} - kcode_scaner_read_scaner_result = CMDID(104, 4), // para:{}, ack:{X} - kcode_scaner_get_result_length = CMDID(104, 5), // para:{}, ack:{X} - - /*********************************************************************************************************************** - * FAN_CTRL * - ***********************************************************************************************************************/ - kfan_controler_set_speed = CMDID(0x69, 0), - - /*********************************************************************************************************************** - * WATER_COOLING_TEMPERATURE * - ***********************************************************************************************************************/ - ktemp_controler_start_hearting = CMDID(0x70, 0), - ktemp_controler_stop_hearting = CMDID(0x70, 1), - ktemp_controler_set_peltier_power_level = CMDID(0x70, 2), // 测试使用 para:{+-level100} - ktemp_controler_set_pump_level = CMDID(0x70, 3), // 测试使用 para:{+ level100} - ktemp_controler_set_fan_level = CMDID(0x70, 4), // 测试使用 para:{+ level100} - ktemp_controler_enable_log = CMDID(0x70, 5), // 测试使用 para:{enable log} - - /*********************************************************************************************************************** - * IDCARD_READER * - ***********************************************************************************************************************/ - ka8000_idcard_reader_read_raw = CMDID(0x71, 0), // para:{index}, ack:{} - ka8000_idcard_write_raw = CMDID(0x71, 1), // (int32_t add, uint8_t* data, int32_t len) - ka8000_idcard_erase = CMDID(0x71, 2), // - ka8000_idcard_earse_unlock = CMDID(0x71, 3), // - kevent_a8000_idcard_online = CMDID(0x71, 200), // - kevent_a8000_idcard_offline = CMDID(0x71, 201), // - - /*********************************************************************************************************************** - * 移液枪 * - ***********************************************************************************************************************/ - - kpipette_ctrl_init_device = CMDID(0x72, 1), // param:(void) - kpipette_ctrl_put_tip = CMDID(0x72, 2), // param:(void) - kpipette_ctrl_move_to_ul = CMDID(0x72, 3), // param:(int32_t ul) - kpipette_lld_prepare = CMDID(0x72, 4), // param:(void) - kpipette_plld = CMDID(0x72, 5), // param:(int32_t zdpos, int32_t p_threshold) - kpipette_clld = CMDID(0x72, 6), // param:(int32_t zdpos, int32_t c_threshold) - kpipette_mlld = CMDID(0x72, 7), // param:(int32_t zdpos, int32_t c_threshold, int32_t p_threshold) - kpipette_lld_is_detect_liquid = CMDID(0x72, 8), // param:(void) ack(int32_t isdetect) - kpipette_aspirate = CMDID(0x72, 9), // param:(int32_t ul) - kpipette_distribut = CMDID(0x72, 10), // param:(int32_t ul) - kpipette_shake_up = CMDID(0x72, 11), // param:(int32_t ul, int32_t times) - kpipette_aspirate_llf = CMDID(0x72, 12), // param:(int32_t ul, int32_t zmotor_v) - kpipette_distribut_llf = CMDID(0x72, 13), // param:(int32_t ul, int32_t zmotor_v) - kpipette_shake_up_llf = CMDID(0x72, 14), // param:(int32_t ul, int32_t zmotor_v, int32_t times) - - kpipette_enable_zmotor = CMDID(0x72, 20), // para:{enable}, ack:{} - kpipette_write_cmd_direct = CMDID(0x72, 21), // para:{strbuf}, ack:{strbuf} - kpipette_get_sensor_sample_data = CMDID(0x72, 22), // para:{index} , ack:{motor_pos,cval,pval} - kpipette_get_sensor_sample_data_num = CMDID(0x72, 23), // para:{} , ack:{num} - kpipette_sensor_sample_data_report = CMDID(0x72, 50), // val{regindex, oldval, toval} - - /*********************************************************************************************************************** - * 板夹仓板夹扫码 * - ***********************************************************************************************************************/ - - kplate_code_scaner_push_card_and_scan = CMDID(0x73, 1), // int32_t startpos - kplate_code_scaner_stop_scan = CMDID(0x73, 2), // - kplate_code_scaner_read_result = CMDID(0x73, 3), // int32_t packetIndex, uint8_t* data, int32_t* len - kplate_code_scaner_read_result_point_num = CMDID(0x73, 4), // int32_t* pointNum - kplate_code_scaner_read_code = CMDID(0x73, 5), // int32_t* rawcode, int32_t* legal, int32_t* item, int32_t* lot - - kplate_code_scaner_adc_readraw = CMDID(0x73, 6), // 硬件测试使用 int32_t* val - kplate_code_scaner_open_laser = CMDID(0x73, 7), // 硬件测试使用 - kplate_code_scaner_close_laser = CMDID(0x73, 8), // 硬件测试使用 + kboard_reset = 0x0000, //{} {} + + kevent_bus_reg_change_report = 0x0064, //{regindex,oldval,toval} + + kmodule_ping = 0x0100, //{}{} + kmodule_get_status = 0x0104, //{}{int32_t} + kmodule_stop = 0x0101, //{}{} + kmodule_set_reg = 0x0105, //(int32_t index,int32_t val)->() + kmodule_get_reg = 0x0106, //(int32_t index)->(int32_t val) + kmodule_get_error = 0x010a, // + kmodule_clear_error = 0x010b, // + kmodule_active_cfg = 0x0110, // + kxymotor_enable = 0x0301, // + kxymotor_move_by = 0x0302, // + kxymotor_move_to = 0x0303, // + kxymotor_move_to_zero = 0x0304, // + kxymotor_read_pos = 0x0306, // + kxymotor_read_inio_index_in_stm32 = 0x0307, // + kxymotor_read_inio = 0x0308, // + kxymotor_set_pos = 0x0309, // + kxymotor_motor_move_by_direct = 0x030a, // + kxymotor_read_enc_direct = 0x030b, // + + kpipette_ctrl_init_device = 0x7201, // param:(void) + kpipette_ctrl_put_tip = 0x7202, // param:(void) + kpipette_ctrl_move_to_ul = 0x7203, // param:(int32_t ul) + kpipette_lld_prepare = 0x7204, // param:(void) + kpipette_plld = 0x7205, // param:(int32_t zdpos, int32_t p_threshold) + kpipette_clld = 0x7206, // param:(int32_t zdpos, int32_t c_threshold) + kpipette_mlld = 0x7207, // param:(int32_t zdpos, int32_t c_threshold, int32_t p_threshold) + kpipette_lld_is_detect_liquid = 0x7208, // param:(void) ack(int32_t isdetect) + kpipette_aspirate = 0x7209, // param:(int32_t ul) + kpipette_distribut = 0x720a, // param:(int32_t ul) + kpipette_shake_up = 0x720b, // param:(int32_t ul, int32_t times) + kpipette_enable_zmotor = 0x7214, // param:(int32_t ul, int32_t zmotor_v) + kpipette_write_cmd_direct = 0x7215, // param:(int32_t ul, int32_t zmotor_v) + kpipette_get_sensor_sample_data = 0x7216, // param:(int32_t ul, int32_t zmotor_v, int32_t times) + kpipette_get_sensor_sample_data_num = 0x7217, // para:{enable}, ack:{} + kpipette_sensor_sample_data_report = 0x7232, // para:{strbuf}, ack:{strbuf} + kpipette_aspirate_llf = 0x720c, // para:{index} , ack:{motor_pos,cval,pval} + kpipette_distribut_llf = 0x720d, // para:{} , ack:{num} + kpipette_shake_up_llf = 0x720e, // val{regindex, oldval, toval} + + ka8000_optical_module_power_ctrl = 0x0600, // + ka8000_optical_open_laser = 0x0601, // + ka8000_optical_close_laser = 0x0602, // + ka8000_optical_set_laster_gain = 0x0603, // + ka8000_optical_set_scan_amp_gain = 0x0604, // + ka8000_optical_read_scanner_adc_val = 0x0605, // + ka8000_optical_read_laster_adc_val = 0x0606, // + ka8000_optical_scan_current_point_amp_adc_val = 0x0607, // + ka8000_optical_start_capture = 0x0608, // + ka8000_optical_read_raw = 0x0609, // + + ka8k_opt_v2_t_start_scan = 0x0700, //(int32_t scanDirection, int32_t lasterGain,int32_t scanGain) + ka8k_opt_v2_f_start_scan = 0x0701, //(int32_t scanDirection, int32_t lasterGain,int32_t scanGain) + ka8k_opt_v2_t_open_laster = 0x070a, //(int32_t lasterGain,int32_t scanGain) for_debug + ka8k_opt_v2_t_close_laster = 0x070b, //() for_debug + ka8k_opt_v2_t_readVal = 0x070c, //(int32_t *val0,int32_t *val1) for_debug + ka8k_opt_v2_f_open_laster = 0x070d, //(int32_t lasterGain,int32_t scanGain) for_debug + ka8k_opt_v2_f_close_laster = 0x070e, //() for_debug + ka8k_opt_v2_f_readVal = 0x070f, //(int32_t *val0,int32_t *val1) for_debug + + kstep_motor_enable = 0x0201, // + kstep_motor_read_pos = 0x020b, // + kstep_motor_easy_rotate = 0x0211, // + kstep_motor_easy_move_by = 0x0212, // + kstep_motor_easy_move_to = 0x0213, // + kstep_motor_easy_move_to_zero = 0x0214, // + kstep_motor_easy_set_current_pos = 0x0215, // + kstep_motor_easy_move_to_io = 0x0216, // + kstep_motor_stop = 0x0228, // + kstep_motor_active_cfg = 0x0229, // + kstep_motor_read_io_state = 0x022a, // + kstep_motor_easy_move_to_end_point = 0x022c, // + kstep_motor_read_tmc5130_status = 0x0232, // + kstep_motor_read_tmc5130_state = 0x0233, // + kstep_motor_read_io_index_in_stm32 = 0x0238, // + kstep_motor_set_subdevice_reg = 0x0239, // + kstep_motor_get_subdevice_reg = 0x023a, // + kstep_motor_easy_reciprocating_motion = 0x022d, // + kstep_motor_easy_move_to_zero_point_quick = 0x022e, // + kmini_servo_enable = 0x6601, // + kmini_servo_read_pos = 0x6602, // + kmini_servo_active_cfg = 0x6603, // + kmini_servo_stop = 0x6604, // + kmini_servo_set_mid_point = 0x6607, // + kmini_servo_read_io_state = 0x6608, // + kmini_servo_move_to = 0x6609, // + kmini_servo_rotate = 0x660a, // + kmini_servo_rotate_with_torque = 0x660b, // + kmini_servo_set_cur_pos = 0x660c, // + + kextboard_read_inio = 0x6701, // para:{index}, ack:{state} + kextboard_write_outio = 0x6702, // para:{index,state}, ack:{} + kextboard_read_muti_inio = 0x6703, // para:{}, ack:{states} + kextboard_read_inio_index_in_stm32 = 0x6704, // para:{index}, ack:{index_in_stm32} + kextboard_read_outio_index_in_stm32 = 0x6705, // para:{index}, ack:{index_in_stm32} + kextboard_read_outio = 0x6706, // para:{index}, ack:{state} + + kcode_scaner_start_scan = 0x6801, // para:{}, ack:{} + kcode_scaner_stop_scan = 0x6802, // para:{}, ack:{} + kcode_scaner_result_is_ready = 0x6803, // para:{}, ack:{} + kcode_scaner_read_scaner_result = 0x6804, // para:{}, ack:{X} + kcode_scaner_get_result_length = 0x6805, // para:{}, ack:{X} + + kfan_controler_set_speed = 0x6900, // + + ktemp_controler_start_hearting = 0x7000, // + ktemp_controler_stop_hearting = 0x7001, // + ktemp_controler_set_peltier_power_level = 0x7002, // + ktemp_controler_set_pump_level = 0x7003, // + ktemp_controler_set_fan_level = 0x7004, // + ktemp_controler_enable_log = 0x7005, // + + ka8000_idcard_reader_read_raw = 0x7100, // + ka8000_idcard_write_raw = 0x7101, // + ka8000_idcard_erase = 0x7102, // + ka8000_idcard_earse_unlock = 0x7103, // + kevent_a8000_idcard_online = 0x71c8, // + kevent_a8000_idcard_offline = 0x71c9, // + kplate_code_scaner_push_card_and_scan = 0x7301, // + kplate_code_scaner_stop_scan = 0x7302, // + kplate_code_scaner_read_result = 0x7303, // + kplate_code_scaner_read_result_point_num = 0x7304, // + kplate_code_scaner_read_code = 0x7305, // + kplate_code_scaner_adc_readraw = 0x7306, // + kplate_code_scaner_open_laser = 0x7307, // + kplate_code_scaner_close_laser = 0x7308, // } cmdid_t; diff --git a/api/apibasic/reg_index.cpp b/api/apibasic/reg_index.cpp index fbe174d..c914900 100644 --- a/api/apibasic/reg_index.cpp +++ b/api/apibasic/reg_index.cpp @@ -5,8 +5,7 @@ namespace iflytop { -#define REG_ITERM(enum) \ - { enum, #enum } +#define REG_ITERM(enum) {enum, #enum} static reginfo_t table[] = { REG_ITERM(kreg_module_version), @@ -14,8 +13,6 @@ static reginfo_t table[] = { REG_ITERM(kreg_module_status), REG_ITERM(kreg_module_errorcode), - - REG_ITERM(kreg_water_cooling_tmp_controler_pid_target), REG_ITERM(kreg_water_cooling_tmp_controler_pid_nowoutput), REG_ITERM(kreg_water_cooling_tmp_controler_pid_feedbackval), @@ -51,37 +48,6 @@ static reginfo_t table[] = { REG_ITERM(kreg_pipette_lld_prepare_pos), REG_ITERM(kreg_pipette_lld_prepare_distribut_pos), -#if 0 - // - REG_ITERM(kreg_boditech_optical_module_raw_sector_size), - REG_ITERM(kreg_boditech_optical_module_raw_sector_num), - REG_ITERM(kreg_boditech_optical_scan_type), - REG_ITERM(kreg_boditech_optical_scan_start_pos), - REG_ITERM(kreg_boditech_optical_scan_direction), - REG_ITERM(kreg_boditech_optical_scan_step_interval), - REG_ITERM(kreg_boditech_optical_scan_pointnum), - REG_ITERM(kreg_boditech_optical_channel_select_num), - REG_ITERM(kreg_boditech_optical_laster_gain_potentiometer_val), - REG_ITERM(kreg_boditech_optical_scan_gain_potentiometer), - REG_ITERM(kreg_boditech_optical_trf_uvled_on_duration_us), - REG_ITERM(kreg_boditech_optical_trf_uvled_off_duration_us), - REG_ITERM(kreg_boditech_optical_trf_scan_delay_us), - REG_ITERM(kreg_boditech_optical_trf_scan_duration_us), - REG_ITERM(kreg_boditech_optical_scan_gain_potentiometer_adjust_suggestion), - REG_ITERM(kreg_boditech_optical_adc_result_overflow), - REG_ITERM(kreg_boditech_optical_laster_intensity), - REG_ITERM(kreg_laster_scaner_scan_type), - REG_ITERM(kreg_laster_scaner_scan_start_pos), - REG_ITERM(kreg_laster_scaner_scan_direction), - REG_ITERM(kreg_laster_scaner_scan_step_interval), - REG_ITERM(kreg_laster_scaner_scan_pointnum), - REG_ITERM(kreg_laster_scaner_laster_gain), - REG_ITERM(kreg_laster_scaner_scan_gain), - REG_ITERM(kreg_laster_scaner_scan_gain_adjust_suggestion), - REG_ITERM(kreg_laster_scaner_adc_result_overflow), - REG_ITERM(kreg_laster_scaner_laster_intensity), -#endif - REG_ITERM(kreg_a8k_opt_t_pos_offset), REG_ITERM(kreg_a8k_opt_f_pos_offset), REG_ITERM(kreg_a8k_opt_t_reverse_scan_pos_offset), @@ -118,6 +84,8 @@ static reginfo_t table[] = { REG_ITERM(kreg_xyrobot_shift_x), REG_ITERM(kreg_xyrobot_shift_y), REG_ITERM(kreg_xyrobot_default_velocity), + REG_ITERM(kreg_xyrobot_pos_devi_tolerance), + REG_ITERM(kreg_xyrobot_io_trigger_append_distance), REG_ITERM(kreg_step_motor_pos), REG_ITERM(kreg_step_motor_dpos), @@ -146,9 +114,8 @@ static reginfo_t table[] = { REG_ITERM(kreg_step_motor_enc_resolution), REG_ITERM(kreg_step_motor_enable_enc), REG_ITERM(kreg_step_motor_dzero_pos), - REG_ITERM(kret_step_motor_pos_devi_tolerance), - REG_ITERM(kret_step_motor_io_trigger_append_distance), - + REG_ITERM(kreg_step_motor_pos_devi_tolerance), + REG_ITERM(kreg_step_motor_io_trigger_append_distance), REG_ITERM(kreg_mini_servo_pos), REG_ITERM(kreg_mini_servo_limit_velocity), diff --git a/api/apibasic/reg_index.hpp b/api/apibasic/reg_index.hpp index 68377e1..f364619 100644 --- a/api/apibasic/reg_index.hpp +++ b/api/apibasic/reg_index.hpp @@ -111,6 +111,8 @@ typedef enum { kreg_xyrobot_look_zero_edge_speed = 9977, // kreg_xyrobot_shift_x = 9978, // kreg_xyrobot_shift_y = 9979, // + kreg_xyrobot_pos_devi_tolerance = 9980, // + kreg_xyrobot_io_trigger_append_distance = 9981, // kreg_xyrobot_default_velocity = 10000, // /*********************************************************************************************************************** @@ -144,8 +146,8 @@ typedef enum { 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 - kret_step_motor_pos_devi_tolerance = 10192, // 位置偏差容忍度 - kret_step_motor_io_trigger_append_distance = 10193, // 移动到IO时，会在原点触发的边沿，稍稍里面移动一点，用来保证IO稳定触发 + kreg_step_motor_pos_devi_tolerance = 10192, // 位置偏差容忍度 + kreg_step_motor_io_trigger_append_distance = 10193, // 移动到IO时，会在原点触发的边沿，稍稍里面移动一点，用来保证IO稳定触发 /*********************************************************************************************************************** * step_motor *