diff --git a/protocol/cmdid.cpp b/protocol/cmdid.cpp index b2f01d2..3970cb2 100644 --- a/protocol/cmdid.cpp +++ b/protocol/cmdid.cpp @@ -23,7 +23,6 @@ static cmdinfo_t table[] = { CMD_ITERM(kmodule_get_type), // CMD_ITERM(kmodule_get_status), // - CMD_ITERM(kxymotor_enable), // CMD_ITERM(kxymotor_move_by), // CMD_ITERM(kxymotor_move_to), // @@ -58,6 +57,10 @@ static cmdinfo_t table[] = { 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_move_by), // + CMD_ITERM(kstep_motor_move_to), // + CMD_ITERM(kstep_motor_move_to_zero_point_quick), // + CMD_ITERM(kstep_motor_rotate), // CMD_ITERM(kstep_motor_read_tmc5130_status), // CMD_ITERM(kstep_motor_read_tmc5130_state), // CMD_ITERM(kstep_motor_read_io_index_in_stm32), // diff --git a/protocol/cmdid.hpp b/protocol/cmdid.hpp index 9a8f481..8b3f4dc 100644 --- a/protocol/cmdid.hpp +++ b/protocol/cmdid.hpp @@ -13,36 +13,21 @@ typedef enum { kevent_bus_reg_change_report = 0x0064, //{regindex,oldval,toval} - kmodule_ping = 0x0101, - kmodule_stop = 0x0102, + kmodule_ping = 0x0101, + kmodule_stop = 0x0102, kmodule_get_error = 0x0110, kmodule_get_detail_errorcode = 0x0111, kmodule_clear_error = 0x0112, - kmodule_set_reg = 0x0120, - kmodule_get_reg = 0x0121, - kmodule_reset_reg = 0x0123, + kmodule_set_reg = 0x0120, + kmodule_get_reg = 0x0121, + kmodule_reset_reg = 0x0123, kmodule_get_version = 0x0130, kmodule_get_type = 0x0131, kmodule_get_status = 0x0132, - // kmodule_ping = 0x0100, // - // kmodule_stop = 0x0101, // - // kmodule_enable = 0x0102, // - // kmodule_clear_error = 0x0103, // - // kmodule_active_cfg = 0x0104, // - // kmodule_reset_reg = 0x0105, // - // kmodule_set_reg = 0x0106, //(int32_t index,int32_t val)->() - // kmodule_get_reg = 0x0107, //(int32_t index)->(int32_t val) - - // kmodule_get_version = 0x0150, //()->int32_t - // kmodule_get_type = 0x0151, //()->int32_t - // kmodule_get_status = 0x0153, //{}{int32_t} - // kmodule_get_error = 0x0154, // - // kmodule_get_detail_errorcode = 0x0155, //()->int32_t - // kxymotor_enable = 0x0301, // kxymotor_move_by = 0x0302, // @@ -81,6 +66,10 @@ typedef enum { kstep_motor_active_cfg = 0x0229, // kstep_motor_read_io_state = 0x022a, // kstep_motor_easy_move_to_end_point = 0x022c, // + kstep_motor_move_by = 0x021d, // (dpos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high) + kstep_motor_move_to = 0x021e, // (pos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high) + kstep_motor_move_to_zero_point_quick = 0x021f, // (speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high) + kstep_motor_rotate = 0x0220, // kstep_motor_read_tmc5130_status = 0x0232, // kstep_motor_read_tmc5130_state = 0x0233, // kstep_motor_read_io_index_in_stm32 = 0x0238, // @@ -88,16 +77,17 @@ typedef enum { kstep_motor_get_subdevice_reg = 0x023a, // kstep_motor_easy_reciprocating_motion = 0x022d, // kstep_motor_easy_move_to_zero_point_quick = 0x022e, // - kmini_servo_enable = 0x6601, // - kmini_servo_read_pos = 0x6602, // - kmini_servo_active_cfg = 0x6603, // - kmini_servo_stop = 0x6604, // - kmini_servo_set_mid_point = 0x6607, // - kmini_servo_read_io_state = 0x6608, // - kmini_servo_move_to = 0x6609, // - kmini_servo_rotate = 0x660a, // - kmini_servo_rotate_with_torque = 0x660b, // - kmini_servo_set_cur_pos = 0x660c, // + + kmini_servo_enable = 0x6601, // + kmini_servo_read_pos = 0x6602, // + kmini_servo_active_cfg = 0x6603, // + kmini_servo_stop = 0x6604, // + kmini_servo_set_mid_point = 0x6607, // + kmini_servo_read_io_state = 0x6608, // + kmini_servo_move_to = 0x6609, // + kmini_servo_rotate = 0x660a, // + kmini_servo_rotate_with_torque = 0x660b, // + kmini_servo_set_cur_pos = 0x660c, // kextboard_read_inio = 0x6701, // para:{index}, ack:{state} kextboard_write_outio = 0x6702, // para:{index,state}, ack:{} diff --git a/protocol/reg_index.cpp b/protocol/reg_index.cpp index 4aab193..767cb43 100644 --- a/protocol/reg_index.cpp +++ b/protocol/reg_index.cpp @@ -147,6 +147,9 @@ static reginfo_t table[] = { REG_ITERM(kreg_step_motor_one_circle_pulse), REG_ITERM(kreg_step_motor_one_circle_pulse_denominator), REG_ITERM(kreg_step_motor_default_velocity), + REG_ITERM(kreg_step_motor_low_velocity), + REG_ITERM(kreg_step_motor_mid_velocity), + REG_ITERM(kreg_step_motor_high_velocity), REG_ITERM(kreg_step_motor_ihold), REG_ITERM(kreg_step_motor_irun), REG_ITERM(kreg_step_motor_iholddelay), diff --git a/protocol/reg_index.hpp b/protocol/reg_index.hpp index d31bcfc..074b006 100644 --- a/protocol/reg_index.hpp +++ b/protocol/reg_index.hpp @@ -166,6 +166,9 @@ typedef enum { kreg_step_motor_one_circle_pulse = 10152, // x轴一圈脉冲数 kreg_step_motor_one_circle_pulse_denominator = 10153, // 设置一圈脉冲数的分母 kreg_step_motor_default_velocity = 10154, // 默认速度 + kreg_step_motor_low_velocity = 10155, // 低速 + kreg_step_motor_mid_velocity = 10156, // 中速 + kreg_step_motor_high_velocity = 10157, // 高速 kreg_step_motor_ihold = 10158, // 步进电机电流配置 kreg_step_motor_irun = 10159, // 步进电机电流配置 kreg_step_motor_iholddelay = 10160, // 步进电机电流配置