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239 lines
14 KiB
239 lines
14 KiB
#pragma once
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#include <stdint.h>
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namespace iflytop {
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using namespace std;
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#define REG_INDEX(type, offset, subconfigindex) (type * 100 + offset + subconfigindex)
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typedef enum {
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/*******************************************************************************
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* 模块通用配置和状态 *
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*******************************************************************************/
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kreg_module_version = 0, // 模块版本
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kreg_module_type = 1, // 模块类型
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kreg_module_status = 2, // 0idle,1busy,2error
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kreg_module_errorcode = 3, // inited_flag
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/*******************************************************************************
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* 板子模块 *
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*******************************************************************************/
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kreg_extboard_resetflag = 100, // 板子复位标识
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/***********************************************************************************************************************
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* 水冷温度控制器 *
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***********************************************************************************************************************/
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kreg_water_cooling_tmp_controler_pid_target = 3000, // 目标数值
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kreg_water_cooling_tmp_controler_pid_nowoutput = 3001, // 当前输出
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kreg_water_cooling_tmp_controler_pid_feedbackval = 3002, // 当前输出
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kreg_water_cooling_tmp_controler_temp0 = 3003, // 温度1
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kreg_water_cooling_tmp_controler_temp1 = 3004, // 温度2
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kreg_water_cooling_tmp_controler_temp2 = 3005, // 温度3
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kreg_water_cooling_tmp_controler_temp3 = 3006, // 温度4
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kreg_water_cooling_tmp_controler_pid_kp = 3050, // kp
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kreg_water_cooling_tmp_controler_pid_ki = 3051, // ki
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kreg_water_cooling_tmp_controler_pid_kd = 3052, // kd
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kreg_water_cooling_tmp_controler_pid_max_output = 3053, // 最大输出
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kreg_water_cooling_tmp_controler_pid_min_output = 3054, // 最小输出
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kreg_water_cooling_tmp_controler_pid_max_integral = 3055, // 最大积分
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kreg_water_cooling_tmp_controler_pid_min_integral = 3056, // 最小积分
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kreg_water_cooling_tmp_controler_pid_error_limit = 3057, // 误差限制
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kreg_water_cooling_tmp_controler_pid_compute_interval = 3058, // 计算间隔
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/*******************************************************************************
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* 移液枪状态 *
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*******************************************************************************/
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kreg_pipette_pos_nl = 4000, // 移液枪位置
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kreg_pipette_capactitance_val = 4001, // 移液枪电容值
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kreg_pipette_tip_state = 4002, // 移动液枪tip状态
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// kreg_pipette_limit_ul = 4051, //
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// kreg_pipette_pump_acc = 4052, //
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// kreg_pipette_pump_dec = 4053, //
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// kreg_pipette_pump_vstart = 4054, //
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// kreg_pipette_pump_vstop = 4055, //
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// kreg_pipette_pump_vmax = 4056, //
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// kreg_pipette_aspirate_pump_vel = 4057, //
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// kreg_pipette_lld_pump_vel = 4058, //
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// kreg_pipette_lld_motor_vel_rpm = 4059, //
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// kreg_pipette_lld_detect_period_ms = 4060, //
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// kreg_pipette_lld_prepare_pos = 4061, //
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// kreg_pipette_lld_prepare_pre_distribut_ul = 4062, //
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// kreg_pipette_lld_enable_record_data = 4063, //
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// kreg_pipette_distribu_pump_vel = 4064, //
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kreg_pipette_zm_pos = 4101,
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kreg_pipette_zm_is_enable = 4102,
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kreg_pipette_zm_dpos = 4103,
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kreg_pipette_zm_shift = 4105,
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kreg_pipette_zm_shaft = 4106,
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kreg_pipette_zm_one_circle_pulse = 4107,
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kreg_pipette_zm_one_circle_pulse_denominator = 4108,
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kreg_pipette_zm_default_velocity = 4109,
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kreg_pipette_zm_ihold = 4110,
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kreg_pipette_zm_irun = 4111,
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kreg_pipette_zm_iholddelay = 4112,
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kreg_pipette_zm_iglobalscaler = 4113,
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kreg_pipette_zm_run_to_zero_speed = 4114,
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kreg_pipette_zm_look_zero_edge_speed = 4115,
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kreg_pipette_zm_max_d = 4116,
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kreg_pipette_zm_min_d = 4117,
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kreg_pipette_zm_in_debug_mode = 4118,
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kreg_pipette_zm_vstart = 4119,
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kreg_pipette_zm_a1 = 4120,
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kreg_pipette_zm_amax = 4121,
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kreg_pipette_zm_v1 = 4122,
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kreg_pipette_zm_dmax = 4123,
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kreg_pipette_zm_d1 = 4124,
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kreg_pipette_zm_vstop = 4125,
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kreg_pipette_zm_tzerowait = 4126,
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kreg_pipette_zm_enc_resolution = 4127,
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kreg_pipette_zm_enable_enc = 4128,
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kreg_pipette_zm_dzero = 4129,
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kreg_pipette_zm_pos_devi_tolerance = 4130,
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kreg_pipette_zm_io_trigger_append_distance = 4131,
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/**
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* @brief
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*
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* ------------------------------------------------------
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*
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*
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* 扫描零点偏移:（F光学向左扫描的起始位置）
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* 扫描方向:1:板卡箭头方向，-1板卡箭头反方向
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* 扫描点数:固定为1200
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* 扫描步距:固定为1
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*
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* 返回点数:(1200)
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*
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*
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*/
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// 坐标参数
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kreg_a8k_opt_t_pos_offset = 4501, // T光学正向扫描，扫描起始位距离零点的偏移
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kreg_a8k_opt_f_pos_offset = 4502, // F光学正向扫描，扫描起始位距离零点的偏移
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kreg_a8k_opt_t_reverse_scan_pos_offset = 4503, // T光学逆向扫描，扫描起始位距离零点的偏移
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kreg_a8k_opt_f_reverse_scan_pos_offset = 4504, // F光学逆向扫描，扫描起始位距离零点的偏移
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kreg_a8k_opt_scan_step_interval = 4505, // 参数固定:为1
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kreg_a8k_opt_scan_pointnum = 4506, // 参数固定:为1200个点
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/***********************************************************************************************************************
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* XYROBOT *
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***********************************************************************************************************************/
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kreg_xyrobot_io_state = 9900, //
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kreg_xyrobot_is_enable = 9901, //
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kreg_xyrobot_has_move_to_zero = 9902, //
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kreg_xyrobot_robot_type = 9950, //
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kreg_xyrobot_one_circle_pulse = 9951, //
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kreg_xyrobot_one_circle_pulse_denominator = 9952, //
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kreg_xyrobot_ihold = 9954, //
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kreg_xyrobot_irun = 9955, //
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kreg_xyrobot_iholddelay = 9956, //
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kreg_xyrobot_iglobalscaler = 9957, //
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kreg_xyrobot_vstart = 9958, //
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kreg_xyrobot_a1 = 9959, //
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kreg_xyrobot_amax = 9960, //
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kreg_xyrobot_v1 = 9961, //
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kreg_xyrobot_dmax = 9962, //
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kreg_xyrobot_d1 = 9963, //
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kreg_xyrobot_vstop = 9964, //
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kreg_xyrobot_tzerowait = 9965, //
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kreg_xyrobot_enc_resolution = 9966, //
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kreg_xyrobot_enable_enc = 9967, //
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kreg_xyrobot_x_shaft = 9968, //
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kreg_xyrobot_y_shaft = 9969, //
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kreg_xyrobot_min_x = 9972, //
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kreg_xyrobot_min_y = 9973, //
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kreg_xyrobot_max_x = 9974, //
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kreg_xyrobot_max_y = 9975, //
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kreg_xyrobot_run_to_zero_speed = 9976, //
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kreg_xyrobot_look_zero_edge_speed = 9977, //
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kreg_xyrobot_shift_x = 9978, //
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kreg_xyrobot_shift_y = 9979, //
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kreg_xyrobot_pos_devi_tolerance = 9980, //
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kreg_xyrobot_io_trigger_append_distance = 9981, //
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kreg_xyrobot_default_velocity = 10000, //
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/***********************************************************************************************************************
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* step_motor *
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***********************************************************************************************************************/
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kreg_step_motor_pos = 10101, // 机器人x坐标
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kreg_step_motor_is_enable = 10102, // 步进电机是否使能
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kreg_step_motor_dpos = 10103, // 执行完上一条指令后的相对位移
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kreg_step_motor_has_move_zero = 10104, // 是否回零
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kreg_step_motor_shift = 10150, // x偏移
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kreg_step_motor_shaft = 10151, // x轴是否反转
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kreg_step_motor_one_circle_pulse = 10152, // x轴一圈脉冲数
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kreg_step_motor_one_circle_pulse_denominator = 10153, // 设置一圈脉冲数的分母
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kreg_step_motor_default_velocity = 10154, // 默认速度
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kreg_step_motor_ihold = 10158, // 步进电机电流配置
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kreg_step_motor_irun = 10159, // 步进电机电流配置
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kreg_step_motor_iholddelay = 10160, // 步进电机电流配置
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kreg_step_motor_iglobalscaler = 10161, // 步进电机电流配置
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kreg_step_motor_run_to_zero_speed = 10173, // 回零速度
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kreg_step_motor_look_zero_edge_speed = 10175, // 找零边缘速度
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kreg_step_motor_max_d = 10178, // 最大限制距离
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kreg_step_motor_min_d = 10179, // 最小限制距离
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kreg_step_motor_in_debug_mode = 10180, // 驱动器处于调试模式
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kreg_step_motor_vstart = 10181, // a1起作用的速度
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kreg_step_motor_a1 = 10182, //
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kreg_step_motor_amax = 10183, //
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kreg_step_motor_v1 = 10184, //
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kreg_step_motor_dmax = 10185, //
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kreg_step_motor_d1 = 10186, //
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kreg_step_motor_vstop = 10187, //
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kreg_step_motor_tzerowait = 10188, //
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kreg_step_motor_enc_resolution = 10189, // 编码器分辨率 1000,1024,4000,4096,16384
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kreg_step_motor_enable_enc = 10190, //
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kreg_step_motor_dzero_pos = 10191, // 驱动器处于调试模式
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kreg_step_motor_pos_devi_tolerance = 10192, // 位置偏差容忍度
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kreg_step_motor_io_trigger_append_distance = 10193, // 移动到IO时，会在原点触发的边沿，稍稍里面移动一点，用来保证IO稳定触发
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/***********************************************************************************************************************
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* step_motor *
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***********************************************************************************************************************/
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kreg_mini_servo_pos = 10201, // 位置
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kreg_mini_servo_is_enable = 10202,
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kreg_mini_servo_limit_velocity = 10251, // 限制速度
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kreg_mini_servo_limit_torque = 10252, // 限制扭矩
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kreg_mini_servo_protective_torque = 10253, // 保护扭矩
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kreg_mini_servo_is_move = 10254, // isMove
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/***********************************************************************************************************************
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* ID_CARD_READER *
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***********************************************************************************************************************/
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kreg_id_card_reader_raw_sector_size = 10301, //
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kreg_id_card_reader_raw_sector_num = 10302, //
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kreg_id_card_reader_is_online = 10303, //
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/***********************************************************************************************************************
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* 板夹仓扫码 *
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***********************************************************************************************************************/
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kreg_plate_code_scaner_laster_intensity = 10401, //
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kreg_plate_code_scaner_scan_gain = 10402, //
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kreg_plate_code_scaner_scan_velocity = 10403, //
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kreg_plate_code_scaner_scan_start_pos = 10404, //
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kreg_plate_code_scaner_final_stop_pos = 10405, //
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kreg_plate_code_scaner_code_judgment_threshold = 10406, //
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kreg_plate_code_scaner_item = 10407, //
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kreg_plate_code_scaner_lot = 10408, //
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kreg_plate_code_scaner_rawcode = 10409, //
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kreg_plate_code_scaner_code_legal = 10410, //
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} reg_index_t;
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typedef struct {
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int index;
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const char* regname;
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} reginfo_t;
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const char* regindex2str(int32_t code);
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reginfo_t* reg_get_table();
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int reg_get_table_size();
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} // namespace iflytop
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