From 590c89179513d49d36fd9ad9cb678e3d9e34be7a Mon Sep 17 00:00:00 2001 From: zhaohe Date: Fri, 18 Apr 2025 15:13:42 +0800 Subject: [PATCH] update reg and cmdidex --- protocol/cmdid.cpp | 230 +++++++++++++++++++++++++------------------------ protocol/cmdid.hpp | 40 +++++++-- protocol/reg_index.cpp | 8 +- protocol/reg_index.hpp | 10 +-- 4 files changed, 157 insertions(+), 131 deletions(-) diff --git a/protocol/cmdid.cpp b/protocol/cmdid.cpp index 562bd52..b2f01d2 100644 --- a/protocol/cmdid.cpp +++ b/protocol/cmdid.cpp @@ -7,118 +7,122 @@ namespace zcr { #define CMD_ITERM(enum) {enum, #enum} static cmdinfo_t table[] = { - CMD_ITERM(kboard_reset), - - CMD_ITERM(kevent_bus_reg_change_report), - - CMD_ITERM(kmodule_ping), - CMD_ITERM(kmodule_get_status), - CMD_ITERM(kmodule_stop), - CMD_ITERM(kmodule_set_reg), - CMD_ITERM(kmodule_get_reg), - CMD_ITERM(kmodule_get_error), - CMD_ITERM(kmodule_clear_error), - CMD_ITERM(kmodule_active_cfg), - - CMD_ITERM(kxymotor_enable), - CMD_ITERM(kxymotor_move_by), - CMD_ITERM(kxymotor_move_to), - CMD_ITERM(kxymotor_move_to_zero), - CMD_ITERM(kxymotor_read_pos), - CMD_ITERM(kxymotor_read_inio_index_in_stm32), - CMD_ITERM(kxymotor_read_inio), - CMD_ITERM(kxymotor_set_pos), - CMD_ITERM(kxymotor_motor_move_by_direct), - CMD_ITERM(kxymotor_read_enc_direct), - - CMD_ITERM(ka8k_opt_v2_t_start_scan), - CMD_ITERM(ka8k_opt_v2_f_start_scan), - CMD_ITERM(ka8k_opt_v2_barcode_start_scan), - CMD_ITERM(ka8k_opt_v2_t_open_laster), - CMD_ITERM(ka8k_opt_v2_t_close_laster), - CMD_ITERM(ka8k_opt_v2_t_readVal), - CMD_ITERM(ka8k_opt_v2_f_open_laster), - CMD_ITERM(ka8k_opt_v2_f_close_laster), - CMD_ITERM(ka8k_opt_v2_f_readVal), - - CMD_ITERM(kstep_motor_enable), - CMD_ITERM(kstep_motor_read_pos), - CMD_ITERM(kstep_motor_read_enc_pos), - CMD_ITERM(kstep_motor_easy_rotate), - CMD_ITERM(kstep_motor_easy_move_by), - CMD_ITERM(kstep_motor_easy_move_to), - CMD_ITERM(kstep_motor_easy_move_to_zero), - CMD_ITERM(kstep_motor_easy_set_current_pos), - CMD_ITERM(kstep_motor_easy_move_to_io), - CMD_ITERM(kstep_motor_stop), - CMD_ITERM(kstep_motor_active_cfg), - CMD_ITERM(kstep_motor_read_io_state), - CMD_ITERM(kstep_motor_easy_move_to_end_point), - CMD_ITERM(kstep_motor_read_tmc5130_status), - CMD_ITERM(kstep_motor_read_tmc5130_state), - CMD_ITERM(kstep_motor_read_io_index_in_stm32), - CMD_ITERM(kstep_motor_set_subdevice_reg), - CMD_ITERM(kstep_motor_get_subdevice_reg), - CMD_ITERM(kstep_motor_easy_reciprocating_motion), - CMD_ITERM(kstep_motor_easy_move_to_zero_point_quick), - - CMD_ITERM(kmini_servo_enable), - CMD_ITERM(kmini_servo_read_pos), - CMD_ITERM(kmini_servo_active_cfg), - CMD_ITERM(kmini_servo_stop), - CMD_ITERM(kmini_servo_set_mid_point), - CMD_ITERM(kmini_servo_read_io_state), - - CMD_ITERM(kmini_servo_move_to), - CMD_ITERM(kmini_servo_rotate), - CMD_ITERM(kmini_servo_rotate_with_torque), - CMD_ITERM(kmini_servo_set_cur_pos), - - CMD_ITERM(kextboard_read_inio), - CMD_ITERM(kextboard_write_outio), - CMD_ITERM(kextboard_read_muti_inio), - CMD_ITERM(kextboard_read_inio_index_in_stm32), - CMD_ITERM(kextboard_read_outio_index_in_stm32), - CMD_ITERM(kextboard_read_outio), - - CMD_ITERM(kcode_scaner_start_scan), - CMD_ITERM(kcode_scaner_stop_scan), - CMD_ITERM(kcode_scaner_result_is_ready), - CMD_ITERM(kcode_scaner_read_scaner_result), - CMD_ITERM(kcode_scaner_get_result_length), - - CMD_ITERM(kfan_controler_set_speed), - - CMD_ITERM(ktemp_controler_start_hearting), - CMD_ITERM(ktemp_controler_stop_hearting), - CMD_ITERM(ktemp_controler_set_peltier_power_level), - CMD_ITERM(ktemp_controler_set_pump_level), - CMD_ITERM(ktemp_controler_set_fan_level), - CMD_ITERM(ktemp_controler_enable_log), - - CMD_ITERM(ka8000_idcard_reader_read_raw), - CMD_ITERM(ka8000_idcard_write_raw), - CMD_ITERM(ka8000_idcard_erase), - CMD_ITERM(ka8000_idcard_earse_unlock), - CMD_ITERM(kevent_a8000_idcard_online), - CMD_ITERM(kevent_a8000_idcard_offline), - - CMD_ITERM(kplate_code_scaner_push_card_and_scan), - CMD_ITERM(kplate_code_scaner_stop_scan), - CMD_ITERM(kplate_code_scaner_read_result), - CMD_ITERM(kplate_code_scaner_read_result_point_num), - CMD_ITERM(kplate_code_scaner_read_code), - CMD_ITERM(kplate_code_scaner_adc_readraw), - CMD_ITERM(kplate_code_scaner_open_laser), - CMD_ITERM(kplate_code_scaner_close_laser), - - CMD_ITERM(kpipette_zmotor_enable), - CMD_ITERM(kpipette_zmotor_move_zero), - CMD_ITERM(kpipette_zmotor_move_to_zero_point_quick), - CMD_ITERM(kpipette_zmotor_measure_distance), - CMD_ITERM(kpipette_zmotor_read_measure_distance_result), - CMD_ITERM(kpipette_zmotor_move_by), - CMD_ITERM(kpipette_zmotor_move_to), + CMD_ITERM(kboard_reset), // + + CMD_ITERM(kevent_bus_reg_change_report), // + + CMD_ITERM(kmodule_ping), // + CMD_ITERM(kmodule_stop), // + CMD_ITERM(kmodule_get_error), // + CMD_ITERM(kmodule_get_detail_errorcode), // + CMD_ITERM(kmodule_clear_error), // + CMD_ITERM(kmodule_set_reg), // + CMD_ITERM(kmodule_get_reg), // + CMD_ITERM(kmodule_reset_reg), // + CMD_ITERM(kmodule_get_version), // + CMD_ITERM(kmodule_get_type), // + CMD_ITERM(kmodule_get_status), // + + + CMD_ITERM(kxymotor_enable), // + CMD_ITERM(kxymotor_move_by), // + CMD_ITERM(kxymotor_move_to), // + CMD_ITERM(kxymotor_move_to_zero), // + CMD_ITERM(kxymotor_read_pos), // + CMD_ITERM(kxymotor_read_inio_index_in_stm32), // + CMD_ITERM(kxymotor_read_inio), // + CMD_ITERM(kxymotor_set_pos), // + CMD_ITERM(kxymotor_motor_move_by_direct), // + CMD_ITERM(kxymotor_read_enc_direct), // + + CMD_ITERM(ka8k_opt_v2_t_start_scan), // + CMD_ITERM(ka8k_opt_v2_f_start_scan), // + CMD_ITERM(ka8k_opt_v2_barcode_start_scan), // + CMD_ITERM(ka8k_opt_v2_t_open_laster), // + CMD_ITERM(ka8k_opt_v2_t_close_laster), // + CMD_ITERM(ka8k_opt_v2_t_readVal), // + CMD_ITERM(ka8k_opt_v2_f_open_laster), // + CMD_ITERM(ka8k_opt_v2_f_close_laster), // + CMD_ITERM(ka8k_opt_v2_f_readVal), // + + CMD_ITERM(kstep_motor_enable), // + CMD_ITERM(kstep_motor_read_pos), // + CMD_ITERM(kstep_motor_read_enc_pos), // + CMD_ITERM(kstep_motor_easy_rotate), // + CMD_ITERM(kstep_motor_easy_move_by), // + CMD_ITERM(kstep_motor_easy_move_to), // + CMD_ITERM(kstep_motor_easy_move_to_zero), // + CMD_ITERM(kstep_motor_easy_set_current_pos), // + CMD_ITERM(kstep_motor_easy_move_to_io), // + CMD_ITERM(kstep_motor_stop), // + CMD_ITERM(kstep_motor_active_cfg), // + CMD_ITERM(kstep_motor_read_io_state), // + CMD_ITERM(kstep_motor_easy_move_to_end_point), // + CMD_ITERM(kstep_motor_read_tmc5130_status), // + CMD_ITERM(kstep_motor_read_tmc5130_state), // + CMD_ITERM(kstep_motor_read_io_index_in_stm32), // + CMD_ITERM(kstep_motor_set_subdevice_reg), // + CMD_ITERM(kstep_motor_get_subdevice_reg), // + CMD_ITERM(kstep_motor_easy_reciprocating_motion), // + CMD_ITERM(kstep_motor_easy_move_to_zero_point_quick), // + + CMD_ITERM(kmini_servo_enable), // + CMD_ITERM(kmini_servo_read_pos), // + CMD_ITERM(kmini_servo_active_cfg), // + CMD_ITERM(kmini_servo_stop), // + CMD_ITERM(kmini_servo_set_mid_point), // + CMD_ITERM(kmini_servo_read_io_state), // + + CMD_ITERM(kmini_servo_move_to), // + CMD_ITERM(kmini_servo_rotate), // + CMD_ITERM(kmini_servo_rotate_with_torque), // + CMD_ITERM(kmini_servo_set_cur_pos), // + + CMD_ITERM(kextboard_read_inio), // + CMD_ITERM(kextboard_write_outio), // + CMD_ITERM(kextboard_read_muti_inio), // + CMD_ITERM(kextboard_read_inio_index_in_stm32), // + CMD_ITERM(kextboard_read_outio_index_in_stm32), // + CMD_ITERM(kextboard_read_outio), // + + CMD_ITERM(kcode_scaner_start_scan), // + CMD_ITERM(kcode_scaner_stop_scan), // + CMD_ITERM(kcode_scaner_result_is_ready), // + CMD_ITERM(kcode_scaner_read_scaner_result), // + CMD_ITERM(kcode_scaner_get_result_length), // + + CMD_ITERM(kfan_controler_set_speed), // + + CMD_ITERM(ktemp_controler_start_hearting), // + CMD_ITERM(ktemp_controler_stop_hearting), // + CMD_ITERM(ktemp_controler_set_peltier_power_level), // + CMD_ITERM(ktemp_controler_set_pump_level), // + CMD_ITERM(ktemp_controler_set_fan_level), // + CMD_ITERM(ktemp_controler_enable_log), // + + CMD_ITERM(ka8000_idcard_reader_read_raw), // + CMD_ITERM(ka8000_idcard_write_raw), // + CMD_ITERM(ka8000_idcard_erase), // + CMD_ITERM(ka8000_idcard_earse_unlock), // + CMD_ITERM(kevent_a8000_idcard_online), // + CMD_ITERM(kevent_a8000_idcard_offline), // + + CMD_ITERM(kplate_code_scaner_push_card_and_scan), // + CMD_ITERM(kplate_code_scaner_stop_scan), // + CMD_ITERM(kplate_code_scaner_read_result), // + CMD_ITERM(kplate_code_scaner_read_result_point_num), // + CMD_ITERM(kplate_code_scaner_read_code), // + CMD_ITERM(kplate_code_scaner_adc_readraw), // + CMD_ITERM(kplate_code_scaner_open_laser), // + CMD_ITERM(kplate_code_scaner_close_laser), // + + CMD_ITERM(kpipette_zmotor_enable), // + CMD_ITERM(kpipette_zmotor_move_zero), // + CMD_ITERM(kpipette_zmotor_move_to_zero_point_quick), // + CMD_ITERM(kpipette_zmotor_measure_distance), // + CMD_ITERM(kpipette_zmotor_read_measure_distance_result), // + CMD_ITERM(kpipette_zmotor_move_by), // + CMD_ITERM(kpipette_zmotor_move_to), // CMD_ITERM(kliquid_operation_clear_params), // CMD_ITERM(kliquid_operation_set_gun_runparams), // @@ -138,7 +142,7 @@ static cmdinfo_t table[] = { CMD_ITERM(kpipette_get_sensor_sample_data), // CMD_ITERM(kpipette_get_sensor_sample_data_num), // CMD_ITERM(kpipette_zmotor_read_zero_point_state), // - CMD_ITERM(kpipette_zmotor_read_dev_status_cache) // + CMD_ITERM(kpipette_zmotor_read_dev_status_cache), // }; const char* cmdid2str(int32_t code) { diff --git a/protocol/cmdid.hpp b/protocol/cmdid.hpp index 8642790..9a8f481 100644 --- a/protocol/cmdid.hpp +++ b/protocol/cmdid.hpp @@ -13,15 +13,37 @@ typedef enum { 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_reset_reg = 0x0107, //{}{} - kmodule_get_error = 0x010a, // - kmodule_clear_error = 0x010b, // - kmodule_active_cfg = 0x0110, // + kmodule_ping = 0x0101, + kmodule_stop = 0x0102, + + kmodule_get_error = 0x0110, + kmodule_get_detail_errorcode = 0x0111, + kmodule_clear_error = 0x0112, + + kmodule_set_reg = 0x0120, + kmodule_get_reg = 0x0121, + kmodule_reset_reg = 0x0123, + + kmodule_get_version = 0x0130, + kmodule_get_type = 0x0131, + kmodule_get_status = 0x0132, + + // kmodule_ping = 0x0100, // + // kmodule_stop = 0x0101, // + // kmodule_enable = 0x0102, // + // kmodule_clear_error = 0x0103, // + // kmodule_active_cfg = 0x0104, // + // kmodule_reset_reg = 0x0105, // + // kmodule_set_reg = 0x0106, //(int32_t index,int32_t val)->() + // kmodule_get_reg = 0x0107, //(int32_t index)->(int32_t val) + + // kmodule_get_version = 0x0150, //()->int32_t + // kmodule_get_type = 0x0151, //()->int32_t + // kmodule_get_status = 0x0153, //{}{int32_t} + // kmodule_get_error = 0x0154, // + // kmodule_get_detail_errorcode = 0x0155, //()->int32_t + + // kxymotor_enable = 0x0301, // kxymotor_move_by = 0x0302, // kxymotor_move_to = 0x0303, // diff --git a/protocol/reg_index.cpp b/protocol/reg_index.cpp index 20eb1a3..4aab193 100644 --- a/protocol/reg_index.cpp +++ b/protocol/reg_index.cpp @@ -8,10 +8,10 @@ namespace iflytop { #define REG_ITERM(enum) {enum, #enum} static reginfo_t table[] = { - REG_ITERM(kreg_module_version), - REG_ITERM(kreg_module_type), - REG_ITERM(kreg_module_status), - REG_ITERM(kreg_module_errorcode), + // REG_ITERM(kreg_module_version), + // REG_ITERM(kreg_module_type), + // REG_ITERM(kreg_module_status), + // REG_ITERM(kreg_module_errorcode), REG_ITERM(kreg_extboard_resetflag), diff --git a/protocol/reg_index.hpp b/protocol/reg_index.hpp index eadb9ae..d31bcfc 100644 --- a/protocol/reg_index.hpp +++ b/protocol/reg_index.hpp @@ -8,11 +8,11 @@ typedef enum { /******************************************************************************* * 模块通用配置和状态 * *******************************************************************************/ - 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 - kreg_module_detail_errorcode = 4, // 详细的错误信息,该位置的定义根据module_errorcode的不同，而不同 + // 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 + // kreg_module_detail_errorcode = 4, // 详细的错误信息,该位置的定义根据module_errorcode的不同，而不同 /******************************************************************************* * 板子模块 *