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a8000_protocol
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update

change_pipette_api
zhaohe 1 year ago
parent
e2eaf4ce20
commit
aebbdf0ca5
2 changed files with 15 additions and 12 deletions
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  1. 25
      api/apibasic/cmdid.hpp
  2. 2
      api/zi_motor.hpp

25
api/apibasic/cmdid.hpp
View File

@ -64,18 +64,19 @@ typedef enum {
* STEP_MOTOR * * 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_easy_move_to_end_point = CMDID(2, 44), //
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_easy_move_to_end_point = CMDID(2, 44), //
kstep_motor_easy_reciprocating_motion = CMDID(2, 45), //(int32_t startpos, int32_t endpos, int32_t times) = 0;
kstep_motor_read_tmc5130_status = CMDID(2, 50), // kstep_motor_read_tmc5130_status = CMDID(2, 50), //
kstep_motor_read_tmc5130_state = CMDID(2, 51), // 调试使用 kstep_motor_read_tmc5130_state = CMDID(2, 51), // 调试使用

2
api/zi_motor.hpp
View File

@ -139,6 +139,8 @@ class ZIStepMotor {
virtual int32_t step_motor_read_io_state(int32_t ioindex, int32_t* state) = 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; virtual int32_t step_motor_easy_move_to_end_point() = 0;
virtual int32_t step_motor_easy_reciprocating_motion(int32_t startpos, int32_t endpos, int32_t times) = 0;
/*********************************************************************************************************************** /***********************************************************************************************************************
* DEBUG * * DEBUG *
***********************************************************************************************************************/ ***********************************************************************************************************************/

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