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a8000_protocol
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update reg and cmdidex

master
zhaohe 4 months ago
parent
64b40447f1
commit
590c891795
4 changed files with 157 additions and 131 deletions
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  1. 230
      protocol/cmdid.cpp
  2. 40
      protocol/cmdid.hpp
  3. 8
      protocol/reg_index.cpp
  4. 10
      protocol/reg_index.hpp

230
protocol/cmdid.cpp
View File

@ -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) {

40
protocol/cmdid.hpp
View File

@ -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, //

8
protocol/reg_index.cpp
View File

@ -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),

10
protocol/reg_index.hpp
View File

@ -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 *

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