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@ -13,175 +13,135 @@ typedef enum { |
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virtual int32_t board_reset() = 0; |
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virtual int32_t board_reset() = 0; |
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#endif
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#endif
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kboard_reset = CMDID(0, 0), // para:{}, ack:{}
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kevent_bus_reg_change_report = CMDID(0, 100), // val{regindex, oldval, toval}
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kmodule_ping = CMDID(1, 0), |
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kmodule_get_status = CMDID(1, 4), |
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kmodule_stop = CMDID(1, 1), |
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kmodule_set_reg = CMDID(1, 5), |
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kmodule_get_reg = CMDID(1, 6), |
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kmodule_get_error = CMDID(1, 10), |
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kmodule_clear_error = CMDID(1, 11), |
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kmodule_active_cfg = CMDID(1, 16), |
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kxymotor_enable = CMDID(3, 1), |
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kxymotor_move_by = CMDID(3, 2), |
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kxymotor_move_to = CMDID(3, 3), |
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kxymotor_move_to_zero = CMDID(3, 4), |
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kxymotor_read_pos = CMDID(3, 6), |
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kxymotor_read_inio_index_in_stm32 = CMDID(3, 7), |
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kxymotor_read_inio = CMDID(3, 8), |
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kxymotor_set_pos = CMDID(3, 9), |
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kxymotor_motor_move_by_direct = CMDID(3, 10), // int32_t motor1_dpos, int32_t motor2_dpos
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kxymotor_read_enc_direct = CMDID(3, 11), // int32_t *enc1, int32_t *enc2
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/***********************************************************************************************************************
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* 光学模组 * |
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***********************************************************************************************************************/ |
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ka8000_optical_module_power_ctrl = CMDID(6, 0), // para:{4}, ack:{}
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ka8000_optical_open_laser = CMDID(6, 1), // para:{4}, ack:{}
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ka8000_optical_close_laser = CMDID(6, 2), // para:{4}, ack:{}
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ka8000_optical_set_laster_gain = CMDID(6, 3), // para:{4,4}, ack:{}
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ka8000_optical_set_scan_amp_gain = CMDID(6, 4), // para:{4,4}, ack:{}
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ka8000_optical_read_scanner_adc_val = CMDID(6, 5), // para:{4}, ack:{4}
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ka8000_optical_read_laster_adc_val = CMDID(6, 6), // para:{4}, ack:{4}
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ka8000_optical_scan_current_point_amp_adc_val = CMDID(6, 7), // para:{4,4,4,4}, ack:{4,4}
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ka8000_optical_start_capture = CMDID(6, 8), // para:{n/a}
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ka8000_optical_read_raw = CMDID(6, 9), // para:{index,size}
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ka8k_opt_v2_t_start_scan = CMDID(7, 0), //(int32_t scanDirection, int32_t lasterGain,int32_t scanGain)
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ka8k_opt_v2_f_start_scan = CMDID(7, 1), //(int32_t scanDirection, int32_t lasterGain,int32_t scanGain)
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ka8k_opt_v2_t_open_laster = CMDID(7, 10), //(int32_t lasterGain,int32_t scanGain) for_debug
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ka8k_opt_v2_t_close_laster = CMDID(7, 11), //() for_debug
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ka8k_opt_v2_t_readVal = CMDID(7, 12), //(int32_t *val0,int32_t *val1) for_debug
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ka8k_opt_v2_f_open_laster = CMDID(7, 13), //(int32_t lasterGain,int32_t scanGain) for_debug
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ka8k_opt_v2_f_close_laster = CMDID(7, 14), //() for_debug
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ka8k_opt_v2_f_readVal = CMDID(7, 15), //(int32_t *val0,int32_t *val1) for_debug
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/***********************************************************************************************************************
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* STEP_MOTOR * |
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***********************************************************************************************************************/ |
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kstep_motor_enable = CMDID(2, 1), // para:{1}, ack:{}
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kstep_motor_read_pos = CMDID(2, 11), // para:{}, ack:{4}
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kstep_motor_easy_rotate = CMDID(2, 17), // para:{4}, ack:{}
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kstep_motor_easy_move_by = CMDID(2, 18), // para:{4}, ack:{}
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kstep_motor_easy_move_to = CMDID(2, 19), // para:{4}, ack:{}
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kstep_motor_easy_move_to_zero = CMDID(2, 20), // para:{1}, ack:{}
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kstep_motor_easy_set_current_pos = CMDID(2, 21), // para:{4}, ack:{}
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kstep_motor_easy_move_to_io = CMDID(2, 22), // para:{4,4}, ack:{}
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kstep_motor_stop = CMDID(2, 40), // para:{4}, ack:{}
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kstep_motor_active_cfg = CMDID(2, 41), // para:{4}, ack:{}
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kstep_motor_read_io_state = CMDID(2, 42), // para:{4}, ack:{}
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kstep_motor_easy_move_to_end_point = CMDID(2, 44), //
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kstep_motor_easy_reciprocating_motion = CMDID(2, 45), //(int32_t startpos, int32_t endpos, int32_t times) = 0;
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kstep_motor_easy_move_to_zero_point_quick = CMDID(2, 46), //(int32_t startpos, int32_t endpos, int32_t times) = 0;
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kstep_motor_read_tmc5130_status = CMDID(2, 50), //
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kstep_motor_read_tmc5130_state = CMDID(2, 51), // 调试使用
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kstep_motor_read_io_index_in_stm32 = CMDID(2, 56), // 调试使用
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kstep_motor_set_subdevice_reg = CMDID(2, 57), // 调试使用
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kstep_motor_get_subdevice_reg = CMDID(2, 58), // 调试使用
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/***********************************************************************************************************************
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* MINI_SERVO * |
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***********************************************************************************************************************/ |
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kmini_servo_enable = CMDID(102, 1), |
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kmini_servo_read_pos = CMDID(102, 2), |
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kmini_servo_active_cfg = CMDID(102, 3), |
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kmini_servo_stop = CMDID(102, 4), |
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kmini_servo_set_mid_point = CMDID(102, 7), |
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kmini_servo_read_io_state = CMDID(102, 8), |
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kmini_servo_move_to = CMDID(102, 9), |
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kmini_servo_rotate = CMDID(102, 10), |
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kmini_servo_rotate_with_torque = CMDID(102, 11), |
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kmini_servo_set_cur_pos = CMDID(102, 12), // {int32_t pos}
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/***********************************************************************************************************************
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* BOARD * |
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***********************************************************************************************************************/ |
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kextboard_read_inio = CMDID(103, 1), // para:{index}, ack:{state}
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kextboard_write_outio = CMDID(103, 2), // para:{index,state}, ack:{}
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kextboard_read_muti_inio = CMDID(103, 3), // para:{}, ack:{states}
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kextboard_read_inio_index_in_stm32 = CMDID(103, 4), // para:{index}, ack:{index_in_stm32}
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kextboard_read_outio_index_in_stm32 = CMDID(103, 5), // para:{index}, ack:{index_in_stm32}
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kextboard_read_outio = CMDID(103, 6), // para:{index}, ack:{state}
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/***********************************************************************************************************************
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* CODE_SCANER * |
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***********************************************************************************************************************/ |
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kcode_scaner_start_scan = CMDID(104, 1), // para:{}, ack:{}
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kcode_scaner_stop_scan = CMDID(104, 2), // para:{}, ack:{}
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kcode_scaner_result_is_ready = CMDID(104, 3), // para:{}, ack:{}
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kcode_scaner_read_scaner_result = CMDID(104, 4), // para:{}, ack:{X}
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kcode_scaner_get_result_length = CMDID(104, 5), // para:{}, ack:{X}
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/***********************************************************************************************************************
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* FAN_CTRL * |
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***********************************************************************************************************************/ |
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kfan_controler_set_speed = CMDID(0x69, 0), |
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/***********************************************************************************************************************
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* WATER_COOLING_TEMPERATURE * |
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***********************************************************************************************************************/ |
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ktemp_controler_start_hearting = CMDID(0x70, 0), |
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ktemp_controler_stop_hearting = CMDID(0x70, 1), |
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ktemp_controler_set_peltier_power_level = CMDID(0x70, 2), // 测试使用 para:{+-level100}
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ktemp_controler_set_pump_level = CMDID(0x70, 3), // 测试使用 para:{+ level100}
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ktemp_controler_set_fan_level = CMDID(0x70, 4), // 测试使用 para:{+ level100}
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ktemp_controler_enable_log = CMDID(0x70, 5), // 测试使用 para:{enable log}
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/***********************************************************************************************************************
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* IDCARD_READER * |
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***********************************************************************************************************************/ |
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ka8000_idcard_reader_read_raw = CMDID(0x71, 0), // para:{index}, ack:{}
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ka8000_idcard_write_raw = CMDID(0x71, 1), // (int32_t add, uint8_t* data, int32_t len)
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ka8000_idcard_erase = CMDID(0x71, 2), //
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ka8000_idcard_earse_unlock = CMDID(0x71, 3), //
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kevent_a8000_idcard_online = CMDID(0x71, 200), //
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kevent_a8000_idcard_offline = CMDID(0x71, 201), //
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/***********************************************************************************************************************
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* 移液枪 * |
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***********************************************************************************************************************/ |
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kpipette_ctrl_init_device = CMDID(0x72, 1), // param:(void)
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kpipette_ctrl_put_tip = CMDID(0x72, 2), // param:(void)
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kpipette_ctrl_move_to_ul = CMDID(0x72, 3), // param:(int32_t ul)
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kpipette_lld_prepare = CMDID(0x72, 4), // param:(void)
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kpipette_plld = CMDID(0x72, 5), // param:(int32_t zdpos, int32_t p_threshold)
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kpipette_clld = CMDID(0x72, 6), // param:(int32_t zdpos, int32_t c_threshold)
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kpipette_mlld = CMDID(0x72, 7), // param:(int32_t zdpos, int32_t c_threshold, int32_t p_threshold)
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kpipette_lld_is_detect_liquid = CMDID(0x72, 8), // param:(void) ack(int32_t isdetect)
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kpipette_aspirate = CMDID(0x72, 9), // param:(int32_t ul)
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kpipette_distribut = CMDID(0x72, 10), // param:(int32_t ul)
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kpipette_shake_up = CMDID(0x72, 11), // param:(int32_t ul, int32_t times)
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kpipette_aspirate_llf = CMDID(0x72, 12), // param:(int32_t ul, int32_t zmotor_v)
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kpipette_distribut_llf = CMDID(0x72, 13), // param:(int32_t ul, int32_t zmotor_v)
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kpipette_shake_up_llf = CMDID(0x72, 14), // param:(int32_t ul, int32_t zmotor_v, int32_t times)
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kpipette_enable_zmotor = CMDID(0x72, 20), // para:{enable}, ack:{}
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kpipette_write_cmd_direct = CMDID(0x72, 21), // para:{strbuf}, ack:{strbuf}
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kpipette_get_sensor_sample_data = CMDID(0x72, 22), // para:{index} , ack:{motor_pos,cval,pval}
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kpipette_get_sensor_sample_data_num = CMDID(0x72, 23), // para:{} , ack:{num}
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kpipette_sensor_sample_data_report = CMDID(0x72, 50), // val{regindex, oldval, toval}
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/***********************************************************************************************************************
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* 板夹仓板夹扫码 * |
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***********************************************************************************************************************/ |
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kplate_code_scaner_push_card_and_scan = CMDID(0x73, 1), // int32_t startpos
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kplate_code_scaner_stop_scan = CMDID(0x73, 2), //
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kplate_code_scaner_read_result = CMDID(0x73, 3), // int32_t packetIndex, uint8_t* data, int32_t* len
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kplate_code_scaner_read_result_point_num = CMDID(0x73, 4), // int32_t* pointNum
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kplate_code_scaner_read_code = CMDID(0x73, 5), // int32_t* rawcode, int32_t* legal, int32_t* item, int32_t* lot
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kplate_code_scaner_adc_readraw = CMDID(0x73, 6), // 硬件测试使用 int32_t* val
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kplate_code_scaner_open_laser = CMDID(0x73, 7), // 硬件测试使用
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kplate_code_scaner_close_laser = CMDID(0x73, 8), // 硬件测试使用
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kboard_reset = 0x0000, //{} {}
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kevent_bus_reg_change_report = 0x0064, //{regindex,oldval,toval}
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kmodule_ping = 0x0100, //{}{}
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kmodule_get_status = 0x0104, //{}{int32_t}
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kmodule_stop = 0x0101, //{}{}
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kmodule_set_reg = 0x0105, //(int32_t index,int32_t val)->()
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kmodule_get_reg = 0x0106, //(int32_t index)->(int32_t val)
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kmodule_get_error = 0x010a, //
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kmodule_clear_error = 0x010b, //
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kmodule_active_cfg = 0x0110, //
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kxymotor_enable = 0x0301, //
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kxymotor_move_by = 0x0302, //
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kxymotor_move_to = 0x0303, //
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kxymotor_move_to_zero = 0x0304, //
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kxymotor_read_pos = 0x0306, //
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kxymotor_read_inio_index_in_stm32 = 0x0307, //
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kxymotor_read_inio = 0x0308, //
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kxymotor_set_pos = 0x0309, //
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kxymotor_motor_move_by_direct = 0x030a, //
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kxymotor_read_enc_direct = 0x030b, //
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kpipette_ctrl_init_device = 0x7201, // param:(void)
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kpipette_ctrl_put_tip = 0x7202, // param:(void)
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kpipette_ctrl_move_to_ul = 0x7203, // param:(int32_t ul)
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kpipette_lld_prepare = 0x7204, // param:(void)
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kpipette_plld = 0x7205, // param:(int32_t zdpos, int32_t p_threshold)
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kpipette_clld = 0x7206, // param:(int32_t zdpos, int32_t c_threshold)
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kpipette_mlld = 0x7207, // param:(int32_t zdpos, int32_t c_threshold, int32_t p_threshold)
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kpipette_lld_is_detect_liquid = 0x7208, // param:(void) ack(int32_t isdetect)
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kpipette_aspirate = 0x7209, // param:(int32_t ul)
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kpipette_distribut = 0x720a, // param:(int32_t ul)
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kpipette_shake_up = 0x720b, // param:(int32_t ul, int32_t times)
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kpipette_enable_zmotor = 0x7214, // param:(int32_t ul, int32_t zmotor_v)
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kpipette_write_cmd_direct = 0x7215, // param:(int32_t ul, int32_t zmotor_v)
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kpipette_get_sensor_sample_data = 0x7216, // param:(int32_t ul, int32_t zmotor_v, int32_t times)
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kpipette_get_sensor_sample_data_num = 0x7217, // para:{enable}, ack:{}
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kpipette_sensor_sample_data_report = 0x7232, // para:{strbuf}, ack:{strbuf}
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kpipette_aspirate_llf = 0x720c, // para:{index} , ack:{motor_pos,cval,pval}
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kpipette_distribut_llf = 0x720d, // para:{} , ack:{num}
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kpipette_shake_up_llf = 0x720e, // val{regindex, oldval, toval}
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ka8000_optical_module_power_ctrl = 0x0600, //
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ka8000_optical_open_laser = 0x0601, //
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ka8000_optical_close_laser = 0x0602, //
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ka8000_optical_set_laster_gain = 0x0603, //
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ka8000_optical_set_scan_amp_gain = 0x0604, //
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ka8000_optical_read_scanner_adc_val = 0x0605, //
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ka8000_optical_read_laster_adc_val = 0x0606, //
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ka8000_optical_scan_current_point_amp_adc_val = 0x0607, //
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ka8000_optical_start_capture = 0x0608, //
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ka8000_optical_read_raw = 0x0609, //
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ka8k_opt_v2_t_start_scan = 0x0700, //(int32_t scanDirection, int32_t lasterGain,int32_t scanGain)
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ka8k_opt_v2_f_start_scan = 0x0701, //(int32_t scanDirection, int32_t lasterGain,int32_t scanGain)
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ka8k_opt_v2_t_open_laster = 0x070a, //(int32_t lasterGain,int32_t scanGain) for_debug
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ka8k_opt_v2_t_close_laster = 0x070b, //() for_debug
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ka8k_opt_v2_t_readVal = 0x070c, //(int32_t *val0,int32_t *val1) for_debug
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ka8k_opt_v2_f_open_laster = 0x070d, //(int32_t lasterGain,int32_t scanGain) for_debug
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ka8k_opt_v2_f_close_laster = 0x070e, //() for_debug
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ka8k_opt_v2_f_readVal = 0x070f, //(int32_t *val0,int32_t *val1) for_debug
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kstep_motor_enable = 0x0201, //
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kstep_motor_read_pos = 0x020b, //
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kstep_motor_easy_rotate = 0x0211, //
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kstep_motor_easy_move_by = 0x0212, //
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kstep_motor_easy_move_to = 0x0213, //
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kstep_motor_easy_move_to_zero = 0x0214, //
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kstep_motor_easy_set_current_pos = 0x0215, //
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kstep_motor_easy_move_to_io = 0x0216, //
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kstep_motor_stop = 0x0228, //
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kstep_motor_active_cfg = 0x0229, //
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kstep_motor_read_io_state = 0x022a, //
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kstep_motor_easy_move_to_end_point = 0x022c, //
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kstep_motor_read_tmc5130_status = 0x0232, //
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kstep_motor_read_tmc5130_state = 0x0233, //
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kstep_motor_read_io_index_in_stm32 = 0x0238, //
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kstep_motor_set_subdevice_reg = 0x0239, //
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kstep_motor_get_subdevice_reg = 0x023a, //
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kstep_motor_easy_reciprocating_motion = 0x022d, //
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kstep_motor_easy_move_to_zero_point_quick = 0x022e, //
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kmini_servo_enable = 0x6601, //
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kmini_servo_read_pos = 0x6602, //
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kmini_servo_active_cfg = 0x6603, //
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kmini_servo_stop = 0x6604, //
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kmini_servo_set_mid_point = 0x6607, //
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kmini_servo_read_io_state = 0x6608, //
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kmini_servo_move_to = 0x6609, //
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kmini_servo_rotate = 0x660a, //
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kmini_servo_rotate_with_torque = 0x660b, //
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kmini_servo_set_cur_pos = 0x660c, //
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kextboard_read_inio = 0x6701, // para:{index}, ack:{state}
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kextboard_write_outio = 0x6702, // para:{index,state}, ack:{}
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kextboard_read_muti_inio = 0x6703, // para:{}, ack:{states}
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kextboard_read_inio_index_in_stm32 = 0x6704, // para:{index}, ack:{index_in_stm32}
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kextboard_read_outio_index_in_stm32 = 0x6705, // para:{index}, ack:{index_in_stm32}
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kextboard_read_outio = 0x6706, // para:{index}, ack:{state}
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kcode_scaner_start_scan = 0x6801, // para:{}, ack:{}
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kcode_scaner_stop_scan = 0x6802, // para:{}, ack:{}
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kcode_scaner_result_is_ready = 0x6803, // para:{}, ack:{}
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kcode_scaner_read_scaner_result = 0x6804, // para:{}, ack:{X}
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kcode_scaner_get_result_length = 0x6805, // para:{}, ack:{X}
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kfan_controler_set_speed = 0x6900, //
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ktemp_controler_start_hearting = 0x7000, //
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ktemp_controler_stop_hearting = 0x7001, //
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ktemp_controler_set_peltier_power_level = 0x7002, //
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ktemp_controler_set_pump_level = 0x7003, //
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ktemp_controler_set_fan_level = 0x7004, //
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ktemp_controler_enable_log = 0x7005, //
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ka8000_idcard_reader_read_raw = 0x7100, //
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ka8000_idcard_write_raw = 0x7101, //
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ka8000_idcard_erase = 0x7102, //
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ka8000_idcard_earse_unlock = 0x7103, //
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kevent_a8000_idcard_online = 0x71c8, //
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kevent_a8000_idcard_offline = 0x71c9, //
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kplate_code_scaner_push_card_and_scan = 0x7301, //
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|
kplate_code_scaner_stop_scan = 0x7302, //
|
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|
kplate_code_scaner_read_result = 0x7303, //
|
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|
|
kplate_code_scaner_read_result_point_num = 0x7304, //
|
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kplate_code_scaner_read_code = 0x7305, //
|
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|
|
kplate_code_scaner_adc_readraw = 0x7306, //
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|
|
kplate_code_scaner_open_laser = 0x7307, //
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|
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|
|
|
kplate_code_scaner_close_laser = 0x7308, //
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|
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} cmdid_t; |
|
|
} cmdid_t; |
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