project_boditech_vidas_a8000_v3
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a8000_protocol
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update

update_protocol
zhaohe 4 months ago
parent
508a8f8be8
commit
86281b73f4
22 changed files with 1141 additions and 1355 deletions
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  1. 7
      api/api.hpp
  2. 12
      api/apibasic/basic.hpp
  3. 18
      api/apibasic/module_type_index.hpp
  4. 49
      api/apibasic/packet_interface.hpp
  5. 96
      api/zi_module.cpp
  6. 88
      api/zi_module.hpp
  7. 7
      protocol.hpp
  8. 0
      protocol/cmdid.cpp
  9. 0
      protocol/cmdid.hpp
  10. 0
      protocol/errorcode.cpp
  11. 0
      protocol/errorcode.hpp
  12. 53
      protocol/packet.hpp
  13. 0
      protocol/reg_index.cpp
  14. 0
      protocol/reg_index.hpp
  15. 2
      protocol/zmotor_struct.hpp

7
api/api.hpp
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@ -1,7 +0,0 @@
#pragma once
#include "apibasic/basic.hpp"
//
#include "zi_module.hpp"
//
#include "zi_motor.hpp"
//

12
api/apibasic/basic.hpp
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@ -1,12 +0,0 @@
#pragma once
#include "cmdid.hpp"
//
#include "errorcode.hpp"
//
#include "packet_interface.hpp"
//
#include "module_type_index.hpp"
//
#include "reg_index.hpp"
//

18
api/apibasic/module_type_index.hpp
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@ -1,18 +0,0 @@
#pragma once
#include <stdint.h>
namespace iflytop {
typedef enum {
khbot_module = 1, // hbot模块
ktemperature_ctrl_module = 3, // 温度控制
kfan_ctrl_module = 5, // 风扇控制
kcode_scaner = 6, // 扫码器
kpipette_ctrl_module = 7, // 移液体枪控制
ka8000_optical_module = 8, // a8000光学模组
ktmc_step_motor = 10, // 步进电机
kmini_servo_motor_module = 11, // 舵机
kboard = 12, // 板子
ka8000_idcard_reader = 13, // id卡读卡器
ka8000_plate_code_scaner = 14, // 反应板条扫码器
} module_type_t;
}

49
api/apibasic/packet_interface.hpp
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@ -1,49 +0,0 @@
#pragma once
#include <stdint.h>
#define ZCANCMD_PACKET_MAX_LEN 64
namespace iflytop {
namespace zcr {
#pragma pack(push, 1)
typedef struct {
uint8_t packetType;
uint16_t cmdid;
uint8_t moduleId;
uint8_t index;
uint8_t datalen;
uint8_t data[];
/* int8_t checksum;*/
} zcr_cmd_header_t;
#pragma pack(pop)
typedef enum {
kptv2_cmd = 0xA0,
kptv2_ack = 0xA1,
kptv2_error_ack = 0xA2,
kptv2_event = 0xA3,
} zcan_cmd_packet_type_t;
static inline bool zcr_cmd_checkpacket(const zcr_cmd_header_t* header, int len) {
if (len < sizeof(zcr_cmd_header_t)) {
return false;
}
if ((header->datalen + sizeof(zcr_cmd_header_t) + 1) != len) {
return false;
}
uint8_t* rawpacket = (uint8_t*)header;
uint8_t checksum = 0;
for (int i = 0; i < len - 1; i++) {
checksum += rawpacket[i];
}
if (checksum != rawpacket[len - 1]) {
return false;
}
return true;
}
} // namespace zcr
} // namespace iflytop

96
api/zi_module.cpp
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@ -1,96 +0,0 @@
#include "zi_module.hpp"
#include <stdint.h>
#include <functional>
using namespace iflytop;
int32_t ZIModule::getid() {
int32_t id = 0;
getid(&id);
return id;
};
int32_t ZIModule::module_ping() { return 0; };
int32_t ZIModule::module_set_reg(int32_t param_id, int32_t param_value) { return _module_xxx_reg(param_id, false, param_value); }
int32_t ZIModule::module_get_reg(int32_t param_id, int32_t *param_value) { return _module_xxx_reg(param_id, true, *param_value); }
int32_t ZIModule::_module_xxx_reg(int32_t param_id, bool read, int32_t &val) {
if (param_id == kreg_module_version) {
if (read) {
module_get_version(&val);
return 0;
} else {
return 0;
}
}
else if (param_id == kreg_module_type) {
if (read) {
module_get_type(&val);
return 0;
} else {
return 0;
}
}
else if (param_id == kreg_module_status) {
if (read) {
module_get_status(&val);
return 0;
} else {
return 0;
}
}
else if (param_id == kreg_module_errorcode) {
if (read) {
val = creg.module_errorcode;
return 0;
} else {
return 0;
}
}
return module_xxx_reg(param_id, read, val);
}
int32_t ZIModule::_module_set_reg(int32_t regoff, int32_t *regval, int32_t val, int32_t min, int32_t max) {
if (val < min || val > max) {
return err::kparam_out_of_range;
}
*regval = val;
return 0;
}
int32_t ZIModule::_module_get_reg(int32_t regoff, int32_t regval, int32_t &val) {
val = regval;
return 0;
}
int32_t ZIModule::_module_set_reg_float(int32_t regoff, float *regval, int32_t val, float precision, int32_t min, int32_t max) {
if (val < min || val > max) {
return err::kparam_out_of_range;
}
*regval = val * precision;
return 0;
}
int32_t ZIModule::_module_get_reg_float(int32_t regoff, float regval, int32_t &val, float precision) {
val = regval / precision;
return 0;
}
int32_t ZIModule::module_get_error(int32_t *iserror) {
*iserror = creg.module_errorcode;
return 0;
}
int32_t ZIModule::module_clear_error() {
creg.module_errorcode = 0;
creg.module_status = 0;
return 0;
}
int32_t ZIModule::module_get_status(int32_t *status) {
*status = creg.module_status;
return 0;
}

88
api/zi_module.hpp
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@ -1,88 +0,0 @@
#pragma once
#include <stdint.h>
#include <functional>
#include "apibasic/basic.hpp"
namespace iflytop {
using namespace std;
#define REG_SET(reg, ...) _module_set_reg(param_id, &reg, val, ##__VA_ARGS__)
#define REG_GET(reg) _module_get_reg(param_id, reg, val)
#define REG_SET_FLOAT(reg, precision, ...) _module_set_reg_float(param_id, &reg, val, precision, ##__VA_ARGS__)
#define REG_GET_FLOAT(reg, precision) _module_get_reg_float(param_id, reg, val, precision)
#define ACTION_NONE 0
#define PROCESS_REG(param_id, readaction, writeacton) \
case param_id: { \
if (read) { \
return readaction; \
} else { \
return writeacton; \
} \
} break;
#define ENABLE_MODULE(name, type, version) \
public: \
virtual int32_t module_get_version(int32_t *val) { \
*val = version; \
return 0; \
} \
virtual int32_t module_get_type(int32_t *val) { \
*val = type; \
return 0; \
}
#define MODULE_COMMON_PROCESS_REG_CB()
typedef struct {
int32_t module_errorcode;
int32_t module_status;
} module_common_reg_t;
class ZIModule {
int32_t m_inited_flag = 0;
protected:
module_common_reg_t creg;
public:
virtual ~ZIModule() {}
public:
virtual int32_t getid();
virtual int32_t module_ping();
virtual int32_t module_get_error(int32_t *iserror);
virtual int32_t module_clear_error();
virtual int32_t module_set_reg(int32_t param_id, int32_t param_value);
virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value);
virtual int32_t module_get_status(int32_t *status);
virtual int32_t module_get_version(int32_t *val) = 0;
virtual int32_t module_get_type(int32_t *val) = 0;
virtual int32_t module_stop() { return 0; }
virtual int32_t module_active_cfg() { return 0; }
/***********************************************************************************************************************
* 用户实现 *
***********************************************************************************************************************/
virtual int32_t getid(int32_t *id) = 0;
virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val) = 0;
public:
// slice
virtual int32_t bfcall(int32_t cmdid, uint8_t *param, int32_t len) { return 0; };
virtual void aftercall(int32_t cmdid, uint8_t *param, int32_t len, uint8_t *ack, int32_t acklen, int32_t ret) {};
protected:
virtual int32_t _module_set_reg(int32_t regoff, int32_t *regval, int32_t val, int32_t min = INT32_MIN, int32_t max = INT32_MAX);
virtual int32_t _module_get_reg(int32_t regoff, int32_t regval, int32_t &val);
virtual int32_t _module_set_reg_float(int32_t regoff, float *regval, int32_t val, float precision, int32_t min = INT32_MIN, int32_t max = INT32_MAX);
virtual int32_t _module_get_reg_float(int32_t regoff, float regval, int32_t &val, float precision);
virtual int32_t _module_xxx_reg(int32_t param_id, bool read, int32_t &val);
public:
public:
};
} // namespace iflytop

7
protocol.hpp
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@ -1,2 +1,7 @@
#pragma once
#include "api/api.hpp"
#include "protocol\cmdid.hpp"
#include "protocol\errorcode.hpp"
#include "protocol\packet.hpp"
#include "protocol\reg_index.hpp"
//
#include "protocol\zmotor_struct.hpp"

0
api/apibasic/cmdid.cpp → protocol/cmdid.cpp
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0
api/apibasic/cmdid.hpp → protocol/cmdid.hpp
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0
api/apibasic/errorcode.cpp → protocol/errorcode.cpp
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0
api/apibasic/errorcode.hpp → protocol/errorcode.hpp
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53
protocol/packet.hpp
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@ -0,0 +1,53 @@
#pragma once
#include <stdint.h>
#define ZCANCMD_PACKET_MAX_LEN 64
namespace iflytop {
typedef enum {
khbot_module = 1, // hbot模块
ktemperature_ctrl_module = 3, // 温度控制
kfan_ctrl_module = 5, // 风扇控制
kcode_scaner = 6, // 扫码器
kpipette_ctrl_module = 7, // 移液体枪控制
ka8000_optical_module = 8, // a8000光学模组
ktmc_step_motor = 10, // 步进电机
kmini_servo_motor_module = 11, // 舵机
kboard = 12, // 板子
ka8000_idcard_reader = 13, // id卡读卡器
ka8000_plate_code_scaner = 14, // 反应板条扫码器
} module_type_t;
namespace zcr {
#pragma pack(push, 1)
typedef struct {
uint8_t packetType;
uint16_t cmdid;
uint8_t moduleId;
uint8_t index;
uint8_t datalen;
uint8_t data[];
/* int8_t checksum;*/
} zcr_cmd_header_t;
#pragma pack(pop)
typedef enum {
kptv2_cmd = 0xA0,
kptv2_ack = 0xA1,
kptv2_error_ack = 0xA2,
kptv2_event = 0xA3,
} zcan_cmd_packet_type_t;
static inline bool zcr_cmd_checkpacket(const zcr_cmd_header_t* header, int len) {
if (len < sizeof(zcr_cmd_header_t)) return false;
if ((header->datalen + sizeof(zcr_cmd_header_t) + 1) != len) return false;
uint8_t checksum = 0;
for (int i = 0; i < len - 1; i++) checksum += ((uint8_t*)header)[i];
return checksum == ((uint8_t*)header)[len - 1];
}
} // namespace zcr
} // namespace iflytop

0
api/apibasic/reg_index.cpp → protocol/reg_index.cpp
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0
api/apibasic/reg_index.hpp → protocol/reg_index.hpp
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2
api/zi_motor.hpp → protocol/zmotor_struct.hpp
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@ -3,8 +3,6 @@
#include <functional>
#include "apibasic/basic.hpp"
typedef struct {
uint32_t sg_result : 10;
uint32_t reserved0 : 5;
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