project_boditech_vidas_a8000_v3
/
a8000_protocol
2
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

change_pipette_api
zhaohe 1 year ago
parent
df10e6c255
commit
e6af70ef8f
6 changed files with 98 additions and 99 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      api/api.hpp
  2. 94
      api/apibasic/cmdid.hpp
  3. 5
      api/apibasic/errorcode.hpp
  4. 4
      api/apibasic/module_type_index.hpp
  5. 65
      api/apibasic/reg_index.hpp
  6. 25
      api/zi_mini_servo.hpp

4
api/api.hpp
View File

@ -13,4 +13,6 @@
//
#include "zi_a8000_optical_module.hpp"
//
#include "zi_pipette_ctrl_module.hpp"
#include "zi_pipette_ctrl_module.hpp"
//
#include "zi_mini_servo.hpp"

94
api/apibasic/cmdid.hpp
View File

@ -13,43 +13,14 @@ typedef enum {
kboard_reset = CMDID(0, 0), // para:{}, ack:{}
kevent_bus_reg_change_report = CMDID(0, 100), // para:{}, ack:{}
#if 0
virtual int32_t module_get_state(int32_t state_id, int32_t *state_value) { return err::koperation_not_support; }
virtual int32_t module_read_raw(int32_t startadd, int32_t *data, int32_t *len) { return err::koperation_not_support; }
virtual int32_t module_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t module_start() { return err::koperation_not_support; }
#endif
kmodule_ping = CMDID(1, 0), // para:{}, ack:{}
// kmodule_stop = CMDID(1, 1), // para:{}, ack:{}
// kmodule_break = CMDID(1, 2), // para:{}, ack:{}
// kmodule_get_last_exec_status = CMDID(1, 3), // para:{}, ack:{4}
kmodule_get_status = CMDID(1, 4), // para:{}, ack:{4}
kmodule_set_reg = CMDID(1, 5), // para:{4,4}, ack:{}
kmodule_get_reg = CMDID(1, 6), // para:{4}, ack:{4}I
// kmodule_readio = CMDID(1, 7), // para:{}, ack:{4}
// kmodule_writeio = CMDID(1, 8), // para:{4}, ack:{}
// kmodule_read_adc = CMDID(1, 9), // para:{4}, ack:{4}
kmodule_ping = CMDID(1, 0), // para:{}, ack:{}
kmodule_get_status = CMDID(1, 4), // para:{}, ack:{4}
kmodule_set_reg = CMDID(1, 5), // para:{4,4}, ack:{}
kmodule_get_reg = CMDID(1, 6), // para:{4}, ack:{4}I
kmodule_get_error = CMDID(1, 10), // para:{}, ack:{1}
kmodule_clear_error = CMDID(1, 11), // para:{}, ack:{}
// kmodule_set_inited_flag = CMDID(1, 12), // para:{4}, ack:{}
// kmodule_get_inited_flag = CMDID(1, 13), // para:{}, ack:{4}
// kmodule_factory_reset = CMDID(1, 14), // para:{}, ack:{}
// kmodule_flush_cfg = CMDID(1, 15), // para:{}, ack:{}
// kmodule_active_cfg = CMDID(1, 16), // para:{}, ack:{}
// kmodule_read_raw = CMDID(1, 19), // para:{4,4}, ack:{4}
// kmodule_enable = CMDID(1, 20), // para:{4}, ack:{}
// kmodule_start = CMDID(1, 21), // para:{4}, ack:{}
#if 0
virtual ~ZIXYMotor() {}
virtual int32_t xymotor_enable(int32_t enable) { return err::koperation_not_support; }
virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) { return err::koperation_not_support; }
virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) { return err::koperation_not_support; }
virtual int32_t xymotor_move_to_zero() { return err::koperation_not_support; }
virtual int32_t xymotor_move_to_zero_and_calculated_shift() { return err::koperation_not_support; }
virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) { return err::koperation_not_support; }
virtual int32_t xymotor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
#endif
kxymotor_enable = CMDID(3, 1), // para:{1}, ack:{}
kxymotor_move_by = CMDID(3, 2), // para:{4,4,4}, ack:{}
kxymotor_move_to = CMDID(3, 3), // para:{4,4,4}, ack:{}
@ -58,36 +29,14 @@ typedef enum {
kxymotor_read_pos = CMDID(3, 6), // para:{}, ack:{4,4}
kxymotor_calculated_pos_by_move_to_zero = CMDID(3, 7), // para:{}, ack:{}
#if 0
virtual int32_t code_scaner_start_scan() { return err::koperation_not_support; }
virtual int32_t code_scaner_stop_scan() { return err::koperation_not_support; }
virtual int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t *data, int32_t *len) { return err::koperation_not_support; }
#endif
kcode_scaner_start_scan = CMDID(4, 1), // para:{}, ack:{}
kcode_scaner_stop_scan = CMDID(4, 2), // para:{}, ack:{}
kcode_scaner_read_scaner_result = CMDID(4, 3), // para:{4,4}, ack:{4}
#if 0
virtual int32_t pipette_ctrl_init_device() { return err::koperation_not_support; };
virtual int32_t pipette_ctrl_put_tip() { return err::koperation_not_support; };
virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) { return err::koperation_not_support; };
#endif
kpipette_ctrl_init_device = CMDID(5, 1), // para:{}, ack:{}
kpipette_ctrl_put_tip = CMDID(5, 2), // para:{}, ack:{}
kpipette_ctrl_move_to_ul = CMDID(5, 3), // para:{4}, ack:{}
#if 0
virtual int32_t a8000_optical_module_power_ctrl(int32_t state) = 0;
virtual int32_t a8000_optical_open_laser(int32_t type) = 0;
virtual int32_t a8000_optical_close_laser(int32_t type) = 0;
virtual int32_t a8000_optical_set_laster_gain(int32_t type, int32_t gain) = 0;
virtual int32_t a8000_optical_set_scan_amp_gain(int32_t type, int32_t gain) = 0;
virtual int32_t a8000_optical_read_scanner_adc_val(int32_t type, int32_t* adcval) = 0;
virtual int32_t a8000_optical_read_laster_adc_val(int32_t type, int32_t* adcval) = 0;
virtual int32_t a8000_optical_scan_current_point_amp_adc_val(int32_t type, int32_t lastergain, int32_t ampgain, int32_t* laster_fb_val, int32_t* adcval) = 0;
#endif
ka8000_optical_module_power_ctrl = CMDID(6, 0), // para:{4}, ack:{}
ka8000_optical_open_laser = CMDID(6, 1), // para:{4}, ack:{}
ka8000_optical_close_laser = CMDID(6, 2), // para:{4}, ack:{}
@ -100,18 +49,29 @@ typedef enum {
/***********************************************************************************************************************
* 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 = 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_active_cfg = CMDID(2, 23), // para:{4,4}, ack:{}
kstep_motor_stop = CMDID(2, 24), // para:{4}, ack:{}
kstep_motor_read_io_state = CMDID(2, 25), // 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),
} cmdid_t;

5
api/apibasic/errorcode.hpp
View File

@ -114,6 +114,11 @@ typedef enum {
kstep_motor_not_enable = ERROR_CODE(600, 5), // 电机未使能
kstep_motor_ioindex_out_of_range = ERROR_CODE(600, 6), // IO超出范围
/**
* @brief mini servo error
*/
kmini_servo_not_enable = ERROR_CODE(700, 0), // 未找到零点
} error_t;
const char* error2str(int32_t code);

4
api/apibasic/module_type_index.hpp
View File

@ -7,14 +7,14 @@ typedef enum {
khbot_module = 1, // hbot模块
kmotor_module = 2, // 电机控制
ktemperature_ctrl_module = 3, // 温度控制
kmini_servo_motor_module = 4, // 舵机
kfan_ctrl_module = 5, // 风扇控制
kcode_scaner = 6, // 风扇控制
kpipette_ctrl_module = 7, // 移液体枪控制
ka8000_optical_module = 8, // a8000光学模组
klaster_scaner_module = 9, // a8000光学模组
ktmc_step_motor = 10,
ktmc_step_motor = 10, // 步进电机
kmini_servo_motor_module = 11, // 舵机
} module_type_t;
}

65
api/apibasic/reg_index.hpp
View File

@ -122,35 +122,6 @@ typedef enum {
kreg_laster_scaner_adc_result_overflow = REG_INDEX(43, 0, 13),
kreg_laster_scaner_laster_intensity = REG_INDEX(43, 0, 14),
/*******************************************************************************
* MOTOR_DEFAULT *
*******************************************************************************/
kreg_step_motor_pos = REG_INDEX(10, 0, 1), // 机器人x坐标
kreg_step_motor_io_state = REG_INDEX(10, 0, 2), // IO状态
kreg_step_motor_dpos = REG_INDEX(10, 0, 3), // 执行完上一条指令后的相对位移
kreg_step_motor_shift = REG_INDEX(10, 50, 0), // x偏移
kreg_step_motor_shaft = REG_INDEX(10, 50, 1), // x轴是否反转
kreg_step_motor_one_circle_pulse = REG_INDEX(10, 50, 2), // x轴一圈脉冲数
kreg_step_motor_one_circle_pulse_denominator = REG_INDEX(10, 50, 3), // 设置一圈脉冲数的分母
kreg_step_motor_default_velocity = REG_INDEX(10, 50, 4), // 默认速度
kreg_step_motor_default_acc = REG_INDEX(10, 50, 5), // 默认加速度
kreg_step_motor_default_dec = REG_INDEX(10, 50, 6), // 默认减速度
kreg_step_motor_default_break_dec = REG_INDEX(10, 50, 7), // 默认减速度
kreg_step_motor_ihold = REG_INDEX(10, 50, 8), // 步进电机电流配置
kreg_step_motor_irun = REG_INDEX(10, 50, 9), // 步进电机电流配置
kreg_step_motor_iholddelay = REG_INDEX(10, 50, 10), // 步进电机电流配置
kreg_step_motor_iglobalscaler = REG_INDEX(10, 50, 11), // 步进电机电流配置
kreg_step_motor_run_to_zero_max_d = REG_INDEX(10, 50, 21), // x轴回零最大距离
kreg_step_motor_look_zero_edge_max_d = REG_INDEX(10, 50, 22), // x轴找零边缘最大距离
kreg_step_motor_run_to_zero_speed = REG_INDEX(10, 50, 23), // 回零速度
kreg_step_motor_run_to_zero_dec = REG_INDEX(10, 50, 24), // 回零减速度
kreg_step_motor_look_zero_edge_speed = REG_INDEX(10, 50, 25), // 找零边缘速度
kreg_step_motor_look_zero_edge_dec = REG_INDEX(10, 50, 26), // 找零边缘减速度
kreg_step_motor_default_torque = REG_INDEX(10, 50, 27), // 默认扭矩
kreg_step_motor_max_d = REG_INDEX(10, 50, 28), // 最大限制距离
kreg_step_motor_min_d = REG_INDEX(10, 50, 29), // 最小限制距离
/***********************************************************************************************************************
* XYROBOT *
***********************************************************************************************************************/
@ -181,6 +152,42 @@ typedef enum {
kreg_xyrobot_io_state0 = REG_INDEX(100, 50, 11), // IO状态
kreg_xyrobot_io_state1 = REG_INDEX(100, 50, 12), // IO状态
/***********************************************************************************************************************
* 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_shift = REG_INDEX(101, 50, 0), // x偏移
kreg_step_motor_shaft = REG_INDEX(101, 50, 1), // x轴是否反转
kreg_step_motor_one_circle_pulse = REG_INDEX(101, 50, 2), // x轴一圈脉冲数
kreg_step_motor_one_circle_pulse_denominator = REG_INDEX(101, 50, 3), // 设置一圈脉冲数的分母
kreg_step_motor_default_velocity = REG_INDEX(101, 50, 4), // 默认速度
kreg_step_motor_default_acc = REG_INDEX(101, 50, 5), // 默认加速度
kreg_step_motor_default_dec = REG_INDEX(101, 50, 6), // 默认减速度
kreg_step_motor_default_break_dec = REG_INDEX(101, 50, 7), // 默认减速度
kreg_step_motor_ihold = REG_INDEX(101, 50, 8), // 步进电机电流配置
kreg_step_motor_irun = REG_INDEX(101, 50, 9), // 步进电机电流配置
kreg_step_motor_iholddelay = REG_INDEX(101, 50, 10), // 步进电机电流配置
kreg_step_motor_iglobalscaler = REG_INDEX(101, 50, 11), // 步进电机电流配置
kreg_step_motor_run_to_zero_max_d = REG_INDEX(101, 50, 21), // x轴回零最大距离
kreg_step_motor_look_zero_edge_max_d = REG_INDEX(101, 50, 22), // x轴找零边缘最大距离
kreg_step_motor_run_to_zero_speed = REG_INDEX(101, 50, 23), // 回零速度
kreg_step_motor_run_to_zero_dec = REG_INDEX(101, 50, 24), // 回零减速度
kreg_step_motor_look_zero_edge_speed = REG_INDEX(101, 50, 25), // 找零边缘速度
kreg_step_motor_look_zero_edge_dec = REG_INDEX(101, 50, 26), // 找零边缘减速度
kreg_step_motor_max_d = REG_INDEX(101, 50, 28), // 最大限制距离
kreg_step_motor_min_d = REG_INDEX(101, 50, 29), // 最小限制距离
/***********************************************************************************************************************
* MINI_STEP_MOTOR *
***********************************************************************************************************************/
kreg_mini_servo_pos = REG_INDEX(101, 0, 1), // 位置
kreg_mini_servo_limit_velocity = REG_INDEX(101, 50, 1), // 限制速度
kreg_mini_servo_limit_torque = REG_INDEX(101, 50, 2), // 限制扭矩
kreg_mini_servo_protective_torque = REG_INDEX(101, 50, 3), // 保护扭矩
} reg_index_t;
} // namespace iflytop

25
api/zi_mini_servo.hpp
View File

@ -0,0 +1,25 @@
#pragma once
#include <stdint.h>
#include <functional>
#include "apibasic/basic.hpp"
namespace iflytop {
using namespace std;
class ZIMiniServo {
public:
virtual ~ZIMiniServo() {}
virtual int32_t mini_servo_enable(int32_t enable) = 0;
virtual int32_t mini_servo_read_pos(int32_t* pos) = 0;
virtual int32_t mini_servo_active_cfg() = 0;
virtual int32_t mini_servo_stop(int32_t breakstop) = 0;
virtual int32_t mini_servo_rotate(int32_t direction) = 0;
virtual int32_t mini_servo_move_to(int32_t position) = 0;
virtual int32_t mini_servo_set_mid_point() = 0;
virtual int32_t mini_servo_read_io_state(int32_t ioindex) = 0;
};
} // namespace iflytop
Write Preview
Loading…
Cancel
Save