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a8000_protocol
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update

change_pipette_api
zhaohe 1 year ago
parent
7bfd98cff4
commit
77eb03279e
3 changed files with 15 additions and 12 deletions
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  1. 1
      api/apibasic/cmdid.cpp
  2. 25
      api/apibasic/cmdid.hpp
  3. 1
      api/zi_motor.hpp

1
api/apibasic/cmdid.cpp
View File

@ -48,6 +48,7 @@ static cmdinfo_t table[] = {
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_move_to_end_point),
CMD_ITERM(kstep_motor_easy_set_current_pos),
CMD_ITERM(kstep_motor_easy_move_to_io),
CMD_ITERM(kstep_motor_active_cfg),

25
api/apibasic/cmdid.hpp
View File

@ -51,18 +51,19 @@ typedef enum {
* 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_read_tmc5130_status = CMDID(2, 43), //
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_read_tmc5130_status = CMDID(2, 43), //
kstep_motor_easy_move_to_end_point = CMDID(2, 44), //
/***********************************************************************************************************************
* MINI_SERVO *

1
api/zi_motor.hpp
View File

@ -37,6 +37,7 @@ class ZIStepMotor {
virtual int32_t step_motor_easy_move_to_io(int32_t ioindex, int32_t direction) = 0;
virtual int32_t step_motor_active_cfg() = 0;
virtual int32_t step_motor_read_io_state(int32_t ioindex, int32_t* state) = 0;
virtual int32_t step_motor_easy_move_to_end_point() = 0;
/***********************************************************************************************************************
* DEBUG *

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