#pragma once #include #define CMDID(cmdid, cmdSubId) ((cmdid << 8) + cmdSubId) #define NEW_CMDID(cmdid, cmdSubId) ((cmdid * 100) + cmdSubId) namespace iflytop { namespace zcr { typedef enum { #if 0 virtual int32_t board_reset() = 0; #endif kboard_reset = CMDID(0, 0), // para:{}, ack:{} kevent_bus_reg_change_report = CMDID(0, 100), // val{regindex, oldval, toval} kmodule_ping = CMDID(1, 0), kmodule_get_status = CMDID(1, 4), kmodule_stop = CMDID(1, 1), kmodule_set_reg = CMDID(1, 5), kmodule_get_reg = CMDID(1, 6), kmodule_get_error = CMDID(1, 10), kmodule_clear_error = CMDID(1, 11), kmodule_active_cfg = CMDID(1, 16), kxymotor_enable = CMDID(3, 1), kxymotor_move_by = CMDID(3, 2), kxymotor_move_to = CMDID(3, 3), kxymotor_move_to_zero = CMDID(3, 4), kxymotor_read_pos = CMDID(3, 6), /*********************************************************************************************************************** * 光学模组 * ***********************************************************************************************************************/ 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:{} ka8000_optical_set_laster_gain = CMDID(6, 3), // para:{4,4}, ack:{} ka8000_optical_set_scan_amp_gain = CMDID(6, 4), // para:{4,4}, ack:{} ka8000_optical_read_scanner_adc_val = CMDID(6, 5), // para:{4}, ack:{4} 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} ka8000_optical_start_capture = CMDID(6, 8), // para:{n/a} ka8000_optical_read_raw = CMDID(6, 9), // para:{index,size} /*********************************************************************************************************************** * 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_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 /*********************************************************************************************************************** * MINI_SERVO * ***********************************************************************************************************************/ kmini_servo_enable = CMDID(102, 1), kmini_servo_read_pos = CMDID(102, 2), kmini_servo_active_cfg = CMDID(102, 3), kmini_servo_stop = CMDID(102, 4), kmini_servo_set_mid_point = CMDID(102, 7), kmini_servo_read_io_state = CMDID(102, 8), kmini_servo_move_to = CMDID(102, 9), kmini_servo_rotate = CMDID(102, 10), kmini_servo_rotate_with_torque = CMDID(102, 11), /*********************************************************************************************************************** * BOARD * ***********************************************************************************************************************/ kextboard_read_inio = CMDID(103, 1), // para:{index}, ack:{state} kextboard_write_outio = CMDID(103, 2), // para:{index,state}, ack:{} kextboard_read_muti_inio = CMDID(103, 3), // para:{}, ack:{states} kextboard_read_inio_index_in_stm32 = CMDID(103, 4), // para:{index}, ack:{index_in_stm32} kextboard_read_outio_index_in_stm32 = CMDID(103, 5), // para:{index}, ack:{index_in_stm32} kextboard_read_outio = CMDID(103, 6), // para:{index}, ack:{state} /*********************************************************************************************************************** * CODE_SCANER * ***********************************************************************************************************************/ kcode_scaner_start_scan = CMDID(104, 1), // para:{}, ack:{} kcode_scaner_stop_scan = CMDID(104, 2), // para:{}, ack:{} kcode_scaner_result_is_ready = CMDID(104, 3), // para:{}, ack:{} kcode_scaner_read_scaner_result = CMDID(104, 4), // para:{}, ack:{X} kcode_scaner_get_result_length = CMDID(104, 5), // para:{}, ack:{X} /*********************************************************************************************************************** * FAN_CTRL * ***********************************************************************************************************************/ kfan_controler_set_speed = CMDID(0x69, 0), /*********************************************************************************************************************** * WATER_COOLING_TEMPERATURE * ***********************************************************************************************************************/ ktemp_controler_start_hearting = CMDID(0x70, 0), ktemp_controler_stop_hearting = CMDID(0x70, 1), ktemp_controler_set_peltier_power_level = CMDID(0x70, 2), // 测试使用 para:{+-level100} ktemp_controler_set_pump_level = CMDID(0x70, 3), // 测试使用 para:{+ level100} ktemp_controler_set_fan_level = CMDID(0x70, 4), // 测试使用 para:{+ level100} ktemp_controler_enable_log = CMDID(0x70, 5), // 测试使用 para:{enable log} /*********************************************************************************************************************** * IDCARD_READER * ***********************************************************************************************************************/ ka8000_idcard_reader_read_raw = CMDID(0x71, 0), // para:{index}, ack:{} /*********************************************************************************************************************** * 移液枪 * ***********************************************************************************************************************/ kpipette_ctrl_init_device = CMDID(0x72, 1), // para:{} , ack:{} kpipette_ctrl_put_tip = CMDID(0x72, 2), // para:{} , ack:{} kpipette_ctrl_move_to_ul = CMDID(0x72, 3), // para:{ul} , ack:{} kpipette_clld_test = CMDID(0x72, 4), // para:{zdpos}, ack:{} kpipette_plld_test = CMDID(0x72, 5), // para:{zdpos}, ack:{} kpipette_enable_zmotor = CMDID(0x72, 20), // para:{enable}, ack:{} kpipette_write_cmd_direct = CMDID(0x72, 21), // para:{strbuf}, ack:{strbuf} kpipette_get_sensor_sample_data = CMDID(0x72, 22), // para:{index} , ack:{motor_pos,cval,pval} kpipette_get_sensor_sample_data_num = CMDID(0x72, 23), // para:{} , ack:{num} kpipette_sensor_sample_data_report = CMDID(0x72, 50), // val{regindex, oldval, toval} } cmdid_t; typedef struct { int index; const char* fnname; } cmdinfo_t; const char* cmdid2str(int32_t code); cmdinfo_t* cmdid_get_table(); int cmdid_get_table_size(); } // namespace zcr } // namespace iflytop