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a8000_protocol
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update

change_pipette_api
zhaohe 1 year ago
parent
4f4db2708e
commit
b35c396670
5 changed files with 31 additions and 24 deletions
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  1. 9
      api/apibasic/cmdid.cpp
  2. 6
      api/apibasic/cmdid.hpp
  3. 4
      api/apibasic/reg_index.cpp
  4. 24
      api/apibasic/reg_index.hpp
  5. 12
      api/zi_motor.hpp

9
api/apibasic/cmdid.cpp
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@ -66,12 +66,17 @@ 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),
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(kmini_servo_enable),
CMD_ITERM(kmini_servo_read_pos),

6
api/apibasic/cmdid.hpp
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@ -65,11 +65,9 @@ typedef enum {
kstep_motor_read_tmc5130_status = CMDID(2, 50), //
kstep_motor_read_tmc5130_state = CMDID(2, 51), // 调试使用
kstep_motor_read_tmc4361a_status = CMDID(2, 52), // 调试使用
kstep_motor_read_tmc4361a_state = CMDID(2, 53), // 调试使用
kstep_motor_read_tmc2160_status = CMDID(2, 54), // 调试使用
kstep_motor_read_tmc2160_state = CMDID(2, 55), // 调试使用
kstep_motor_read_io_index_in_stm32 = CMDID(2, 56), // 调试使用
kstep_motor_set_subdevice_reg = CMDID(2, 57), // 调试使用
kstep_motor_get_subdevice_reg = CMDID(2, 58), // 调试使用
/***********************************************************************************************************************
* MINI_SERVO *

4
api/apibasic/reg_index.cpp
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@ -110,6 +110,8 @@ static reginfo_t table[] = {
REG_ITERM(kreg_xyrobot_io_state1),
REG_ITERM(kreg_step_motor_pos),
REG_ITERM(kreg_step_motor_dpos),
REG_ITERM(kreg_step_motor_enc_val),
REG_ITERM(kreg_step_motor_denc_val),
REG_ITERM(kreg_step_motor_shift),
REG_ITERM(kreg_step_motor_shaft),
REG_ITERM(kreg_step_motor_one_circle_pulse),
@ -132,6 +134,8 @@ static reginfo_t table[] = {
REG_ITERM(kreg_step_motor_d1),
REG_ITERM(kreg_step_motor_vstop),
REG_ITERM(kreg_step_motor_tzerowait),
REG_ITERM(kreg_step_motor_enc_resolution),
REG_ITERM(kreg_step_motor_enable_enc),
REG_ITERM(kreg_mini_servo_pos),
REG_ITERM(kreg_mini_servo_limit_velocity),
REG_ITERM(kreg_mini_servo_limit_torque),

24
api/apibasic/reg_index.hpp
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@ -138,8 +138,10 @@ typedef enum {
/***********************************************************************************************************************
* step_motor *
***********************************************************************************************************************/
kreg_step_motor_pos = REG_INDEX(101, 0, 1), // 机器人x坐标
kreg_step_motor_dpos = REG_INDEX(101, 0, 3), // 执行完上一条指令后的相对位移
kreg_step_motor_pos = REG_INDEX(101, 0, 1), // 机器人x坐标
kreg_step_motor_dpos = REG_INDEX(101, 0, 3), // 执行完上一条指令后的相对位移
kreg_step_motor_enc_val = REG_INDEX(101, 0, 4),
kreg_step_motor_denc_val = REG_INDEX(101, 0, 5),
kreg_step_motor_shift = REG_INDEX(101, 50, 0), // x偏移
kreg_step_motor_shaft = REG_INDEX(101, 50, 1), // x轴是否反转
@ -156,14 +158,16 @@ typedef enum {
kreg_step_motor_min_d = REG_INDEX(101, 50, 29), // 最小限制距离
kreg_step_motor_in_debug_mode = REG_INDEX(101, 50, 30), // 驱动器处于调试模式
kreg_step_motor_vstart = REG_INDEX(101, 50, 31), // a1起作用的速度
kreg_step_motor_a1 = REG_INDEX(101, 50, 32), //
kreg_step_motor_amax = REG_INDEX(101, 50, 33),
kreg_step_motor_v1 = REG_INDEX(101, 50, 34),
kreg_step_motor_dmax = REG_INDEX(101, 50, 35),
kreg_step_motor_d1 = REG_INDEX(101, 50, 36),
kreg_step_motor_vstop = REG_INDEX(101, 50, 37),
kreg_step_motor_tzerowait = REG_INDEX(101, 50, 38),
kreg_step_motor_vstart = REG_INDEX(101, 50, 31), // a1起作用的速度
kreg_step_motor_a1 = REG_INDEX(101, 50, 32), //
kreg_step_motor_amax = REG_INDEX(101, 50, 33),
kreg_step_motor_v1 = REG_INDEX(101, 50, 34),
kreg_step_motor_dmax = REG_INDEX(101, 50, 35),
kreg_step_motor_d1 = REG_INDEX(101, 50, 36),
kreg_step_motor_vstop = REG_INDEX(101, 50, 37),
kreg_step_motor_tzerowait = REG_INDEX(101, 50, 38),
kreg_step_motor_enc_resolution = REG_INDEX(101, 50, 39), // 编码器分辨率 1000,1024,4000,4096,16384
kreg_step_motor_enable_enc = REG_INDEX(101, 50, 40), //
/***********************************************************************************************************************
* MINI_STEP_MOTOR *

12
api/zi_motor.hpp
View File

@ -138,17 +138,13 @@ class ZIStepMotor {
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 *
***********************************************************************************************************************/
virtual int32_t step_motor_read_tmc5130_status(int32_t* status) = 0;
virtual int32_t step_motor_read_tmc5130_state(int32_t* status) = 0;
virtual int32_t step_motor_read_tmc4361a_status(int32_t* status) = 0;
virtual int32_t step_motor_read_tmc4361a_state(int32_t* gstate) = 0;
virtual int32_t step_motor_read_tmc2160_status(int32_t* status) = 0;
virtual int32_t step_motor_read_tmc2160_state(int32_t* status) = 0;
virtual int32_t step_motor_read_tmc5130_status(int32_t* status) = 0;
virtual int32_t step_motor_read_tmc5130_state(int32_t* status) = 0;
virtual int32_t step_motor_read_io_index_in_stm32(int32_t ioindex, int32_t* index_in_stm32) = 0;
virtual int32_t step_motor_set_subdevice_reg(int32_t reg_addr, int32_t reg_val) = 0;
virtual int32_t step_motor_get_subdevice_reg(int32_t reg_addr, int32_t* reg_val) = 0;
};
} // namespace iflytop
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