project_boditech_vidas_a8000_v3
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a8000_protocol
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update

change_pipette_api
zhaohe 1 year ago
parent
e6af70ef8f
commit
a4600dcdc2
6 changed files with 66 additions and 28 deletions
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  1. 4
      api/api.hpp
  2. 57
      api/apibasic/cmdid.hpp
  3. 1
      api/apibasic/errorcode.hpp
  4. 2
      api/apibasic/module_type_index.hpp
  5. 14
      api/apibasic/reg_index.hpp
  6. 16
      api/zi_board.hpp

4
api/api.hpp
View File

@ -15,4 +15,6 @@
//
#include "zi_pipette_ctrl_module.hpp"
//
#include "zi_mini_servo.hpp"
#include "zi_mini_servo.hpp"
//
#include "zi_board.hpp"

57
api/apibasic/cmdid.hpp
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@ -2,6 +2,8 @@
#define CMDID(cmdid, cmdSubId) ((cmdid << 8) + cmdSubId)
#define NEW_CMDID(cmdid, cmdSubId) ((cmdid * 100) + cmdSubId)
namespace iflytop {
namespace zcr {
typedef enum {
@ -46,32 +48,49 @@ typedef enum {
ka8000_optical_read_laster_adc_val = CMDID(6, 6), // para:{4}, ack:{4}
ka8000_optical_scan_current_point_amp_adc_val = CMDID(6, 7), // para:{4,4,4,4}, ack:{4,4}
/***********************************************************************************************************************************************
* NEW *
* NEW *
* NEW *
* NEW *
* NEW *
***********************************************************************************************************************************************/
/***********************************************************************************************************************
* STEP_MOTOR *
***********************************************************************************************************************/
kstep_motor_enable = CMDID(10, 1), // para:{1}, ack:{}
kstep_motor_read_pos = CMDID(10, 2), // para:{}, ack:{4}
kstep_motor_easy_rotate = CMDID(10, 3), // para:{4}, ack:{}
kstep_motor_easy_move_by = CMDID(10, 4), // para:{4}, ack:{}
kstep_motor_easy_move_to = CMDID(10, 5), // para:{4}, ack:{}
kstep_motor_easy_move_to_zero = CMDID(10, 6), // para:{1}, ack:{}
kstep_motor_easy_set_current_pos = CMDID(10, 7), // para:{4}, ack:{}
kstep_motor_easy_move_to_io = CMDID(10, 8), // para:{4,4}, ack:{}
kstep_motor_active_cfg = CMDID(10, 9), // para:{4,4}, ack:{}
kstep_motor_stop = CMDID(10, 10), // para:{4}, ack:{}
kstep_motor_read_io_state = CMDID(10, 11), // para:{4}, ack:{}
kstep_motor_enable = NEW_CMDID(101, 1), // para:{1}, ack:{}
kstep_motor_read_pos = NEW_CMDID(101, 2), // para:{}, ack:{4}
kstep_motor_easy_rotate = NEW_CMDID(101, 3), // para:{4}, ack:{}
kstep_motor_easy_move_by = NEW_CMDID(101, 4), // para:{4}, ack:{}
kstep_motor_easy_move_to = NEW_CMDID(101, 5), // para:{4}, ack:{}
kstep_motor_easy_move_to_zero = NEW_CMDID(101, 6), // para:{1}, ack:{}
kstep_motor_easy_set_current_pos = NEW_CMDID(101, 7), // para:{4}, ack:{}
kstep_motor_easy_move_to_io = NEW_CMDID(101, 8), // para:{4,4}, ack:{}
kstep_motor_active_cfg = NEW_CMDID(101, 9), // para:{4,4}, ack:{}
kstep_motor_stop = NEW_CMDID(101, 10), // para:{4}, ack:{}
kstep_motor_read_io_state = NEW_CMDID(101, 11), // para:{4}, ack:{}
/***********************************************************************************************************************
* MINI_SERVO *
***********************************************************************************************************************/
kmini_servo_enable = CMDID(11, 1),
kmini_servo_read_pos = CMDID(11, 2),
kmini_servo_active_cfg = CMDID(11, 3),
kmini_servo_stop = CMDID(11, 4),
kmini_servo_rotate = CMDID(11, 5),
kmini_servo_move_to = CMDID(11, 6),
kmini_servo_set_mid_point = CMDID(11, 7),
kmini_servo_read_io_state = CMDID(11, 8),
kmini_servo_enable = NEW_CMDID(102, 1),
kmini_servo_read_pos = NEW_CMDID(102, 2),
kmini_servo_active_cfg = NEW_CMDID(102, 3),
kmini_servo_stop = NEW_CMDID(102, 4),
kmini_servo_rotate = NEW_CMDID(102, 5),
kmini_servo_move_to = NEW_CMDID(102, 6),
kmini_servo_set_mid_point = NEW_CMDID(102, 7),
kmini_servo_read_io_state = NEW_CMDID(102, 8),
/***********************************************************************************************************************
* BOARD *
***********************************************************************************************************************/
kboard_read_io = NEW_CMDID(103, 1), // para:{}, ack:{4}
kboard_write_io = NEW_CMDID(103, 2), // para:{}, ack:{4}
} cmdid_t;

1
api/apibasic/errorcode.hpp
View File

@ -54,6 +54,7 @@ typedef enum {
kmodule_not_find_config_index = ERROR_CODE(200, 4), // 未找到配置索引
kmodule_not_find_state_index = ERROR_CODE(200, 5), // 未找到配置索引
kmodule_not_support_action = ERROR_CODE(200, 6), // 未找到配置索引
kmodule_not_find_reg = ERROR_CODE(200, 7), // 未找到配置索引
/**
* @brief motor error

2
api/apibasic/module_type_index.hpp
View File

@ -15,6 +15,6 @@ typedef enum {
ktmc_step_motor = 10, // 步进电机
kmini_servo_motor_module = 11, // 舵机
kboard = 12, // 舵机
} module_type_t;
}

14
api/apibasic/reg_index.hpp
View File

@ -13,9 +13,6 @@ typedef enum {
kreg_module_type = REG_INDEX(0, 0, 1), // Ä£¿éÀàÐÍ
kreg_module_status = REG_INDEX(0, 0, 2), // 0idle,1busy,2error
kreg_module_errorcode = REG_INDEX(0, 0, 3), // inited_flag
// kreg_module_raw_sector_size = REG_INDEX(0, 0, 10), // sector_size
// kreg_module_raw_sector_num = REG_INDEX(0, 0, 11), //
/*******************************************************************************
* SENSOR *
*******************************************************************************/
@ -183,11 +180,14 @@ typedef enum {
* MINI_STEP_MOTOR *
***********************************************************************************************************************/
kreg_mini_servo_pos = REG_INDEX(101, 0, 1), // λÖÃ
kreg_mini_servo_limit_velocity = REG_INDEX(101, 50, 1), // ÏÞÖÆËÙ¶È
kreg_mini_servo_limit_torque = REG_INDEX(101, 50, 2), // ÏÞÖÆŤ¾Ø
kreg_mini_servo_protective_torque = REG_INDEX(101, 50, 3), // ±£»¤Å¤¾Ø
kreg_mini_servo_pos = REG_INDEX(102, 0, 1), // λÖÃ
kreg_mini_servo_limit_velocity = REG_INDEX(102, 50, 1), // ÏÞÖÆËÙ¶È
kreg_mini_servo_limit_torque = REG_INDEX(102, 50, 2), // ÏÞÖÆŤ¾Ø
kreg_mini_servo_protective_torque = REG_INDEX(102, 50, 3), // ±£»¤Å¤¾Ø
/***********************************************************************************************************************
* BOARD *
***********************************************************************************************************************/
} reg_index_t;
} // namespace iflytop

16
api/zi_board.hpp
View File

@ -0,0 +1,16 @@
#pragma once
#include <stdint.h>
#include <functional>
#include "apibasic/basic.hpp"
namespace iflytop {
using namespace std;
class ZIBoard {
public:
virtual ~ZIBoard() {}
virtual int32_t board_read_io(int32_t ioindex, int32_t *val) = 0;
virtual int32_t board_write_io(int32_t ioindex, int32_t val) = 0;
};
} // namespace iflytop
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