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198 lines
13 KiB
198 lines
13 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 = REG_INDEX(0, 0, 0), // 模块版本
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kreg_module_type = REG_INDEX(0, 0, 1), // 模块类型
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kreg_module_status = REG_INDEX(0, 0, 2), // 0idle,1busy,2error
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kreg_module_errorcode = REG_INDEX(0, 0, 3), // inited_flag
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/***********************************************************************************************************************
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* 光学模组私有方法 *
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***********************************************************************************************************************/
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kreg_opt_module_do_action0 = REG_INDEX(0, 0, 40), // 方法0
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kreg_opt_module_action_param1 = REG_INDEX(0, 0, 41), // 方法1
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kreg_opt_module_action_param2 = REG_INDEX(0, 0, 42), // 方法2
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kreg_opt_module_action_param3 = REG_INDEX(0, 0, 43), // 方法3
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kreg_opt_module_action_ack1 = REG_INDEX(0, 0, 51), // ACK1
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kreg_opt_module_action_ack2 = REG_INDEX(0, 0, 52), // ACK2
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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 = REG_INDEX(30, 0, 0), // 目标数值
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kreg_water_cooling_tmp_controler_pid_nowoutput = REG_INDEX(30, 0, 1), // 当前输出
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kreg_water_cooling_tmp_controler_pid_feedbackval = REG_INDEX(30, 0, 2), // 当前输出
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kreg_water_cooling_tmp_controler_temp0 = REG_INDEX(30, 0, 3), // 温度1
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kreg_water_cooling_tmp_controler_temp1 = REG_INDEX(30, 0, 4), // 温度2
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kreg_water_cooling_tmp_controler_temp2 = REG_INDEX(30, 0, 5), // 温度3
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kreg_water_cooling_tmp_controler_temp3 = REG_INDEX(30, 0, 6), // 温度4
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kreg_water_cooling_tmp_controler_pid_kp = REG_INDEX(30, 50, 0), // kp
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kreg_water_cooling_tmp_controler_pid_ki = REG_INDEX(30, 50, 1), // ki
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kreg_water_cooling_tmp_controler_pid_kd = REG_INDEX(30, 50, 2), // kd
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kreg_water_cooling_tmp_controler_pid_max_output = REG_INDEX(30, 50, 3), // 最大输出
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kreg_water_cooling_tmp_controler_pid_min_output = REG_INDEX(30, 50, 4), // 最小输出
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kreg_water_cooling_tmp_controler_pid_max_integral = REG_INDEX(30, 50, 5), // 最大积分
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kreg_water_cooling_tmp_controler_pid_min_integral = REG_INDEX(30, 50, 6), // 最小积分
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kreg_water_cooling_tmp_controler_pid_error_limit = REG_INDEX(30, 50, 7), // 误差限制
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kreg_water_cooling_tmp_controler_pid_compute_interval = REG_INDEX(30, 50, 8), // 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_ul = REG_INDEX(40, 0, 0), // 移液枪位置
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kreg_pipette_capactitance_val = REG_INDEX(40, 0, 1), // 移液枪电容值
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kreg_pipette_tip_state = REG_INDEX(40, 0, 2), // 移动液枪tip状态
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kreg_pipette_limit_ul = REG_INDEX(40, 50, 1),
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kreg_pipette_pump_acc = REG_INDEX(40, 50, 2),
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kreg_pipette_pump_dec = REG_INDEX(40, 50, 3),
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kreg_pipette_pump_vstart = REG_INDEX(40, 50, 4),
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kreg_pipette_pump_vstop = REG_INDEX(40, 50, 5),
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kreg_pipette_pump_vmax = REG_INDEX(40, 50, 6),
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kreg_pipette_aspirate_distribut_pump_vel = REG_INDEX(40, 50, 7),
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kreg_pipette_lld_pump_vel = REG_INDEX(40, 50, 8),
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kreg_pipette_lld_motor_vel_rpm = REG_INDEX(40, 50, 9),
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kreg_pipette_lld_detect_period_ms = REG_INDEX(40, 50, 10),
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kreg_pipette_lld_prepare_pos = REG_INDEX(40, 50, 11),
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kreg_pipette_lld_prepare_distribut_pos = REG_INDEX(40, 50, 12),
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/***********************************************************************************************************************
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* 光学模组 *
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***********************************************************************************************************************/
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kreg_boditech_optical_module_raw_sector_size = REG_INDEX(41, 0, 0), // sector_size
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kreg_boditech_optical_module_raw_sector_num = REG_INDEX(41, 0, 1), //
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// scan action
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kreg_boditech_optical_scan_type = REG_INDEX(42, 0, 0), // 0 t光学，1 f光学
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kreg_boditech_optical_scan_start_pos = REG_INDEX(42, 0, 1),
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kreg_boditech_optical_scan_direction = REG_INDEX(42, 0, 2),
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kreg_boditech_optical_scan_step_interval = REG_INDEX(42, 0, 3),
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kreg_boditech_optical_scan_pointnum = REG_INDEX(42, 0, 4),
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kreg_boditech_optical_channel_select_num = REG_INDEX(42, 0, 5),
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kreg_boditech_optical_laster_gain_potentiometer_val = REG_INDEX(42, 0, 6),
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kreg_boditech_optical_scan_gain_potentiometer = REG_INDEX(42, 0, 7),
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kreg_boditech_optical_trf_uvled_on_duration_us = REG_INDEX(42, 0, 8),
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kreg_boditech_optical_trf_uvled_off_duration_us = REG_INDEX(42, 0, 9),
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kreg_boditech_optical_trf_scan_delay_us = REG_INDEX(42, 0, 10),
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kreg_boditech_optical_trf_scan_duration_us = REG_INDEX(42, 0, 11),
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kreg_boditech_optical_scan_gain_potentiometer_adjust_suggestion = REG_INDEX(42, 0, 12),
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kreg_boditech_optical_adc_result_overflow = REG_INDEX(42, 0, 13),
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kreg_boditech_optical_laster_intensity = REG_INDEX(42, 0, 14),
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//
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kreg_laster_scaner_scan_type = REG_INDEX(43, 0, 0), // 0 t光学，1 f光学
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kreg_laster_scaner_scan_start_pos = REG_INDEX(43, 0, 1),
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kreg_laster_scaner_scan_direction = REG_INDEX(43, 0, 2),
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kreg_laster_scaner_scan_step_interval = REG_INDEX(43, 0, 3),
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kreg_laster_scaner_scan_pointnum = REG_INDEX(43, 0, 4),
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kreg_laster_scaner_laster_gain = REG_INDEX(43, 0, 5),
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kreg_laster_scaner_scan_gain = REG_INDEX(43, 0, 6),
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kreg_laster_scaner_scan_gain_adjust_suggestion = REG_INDEX(43, 0, 12),
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kreg_laster_scaner_adc_result_overflow = REG_INDEX(43, 0, 13),
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kreg_laster_scaner_laster_intensity = REG_INDEX(43, 0, 14),
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kreg_laster_scaner_raw_sector_size = REG_INDEX(44, 0, 1),
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kreg_laster_scaner_raw_sector_num = REG_INDEX(44, 0, 2),
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/***********************************************************************************************************************
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* XYROBOT *
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***********************************************************************************************************************/
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kreg_xyrobot_default_velocity = REG_INDEX(100, 0, 0),
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kreg_xyrobot_default_acc = REG_INDEX(100, 0, 1),
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kreg_xyrobot_default_dec = REG_INDEX(100, 0, 2),
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kreg_xyrobot_default_break_dec = REG_INDEX(100, 0, 3),
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kreg_xyrobot_run_to_zero_speed = REG_INDEX(100, 0, 4),
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kreg_xyrobot_run_to_zero_dec = REG_INDEX(100, 0, 5),
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kreg_xyrobot_look_zero_edge_speed = REG_INDEX(100, 0, 6),
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kreg_xyrobot_look_zero_edge_dec = REG_INDEX(100, 0, 7),
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kreg_xyrobot_ihold = REG_INDEX(100, 0, 8),
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kreg_xyrobot_irun = REG_INDEX(100, 0, 9),
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kreg_xyrobot_iholddelay = REG_INDEX(100, 0, 10),
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kreg_xyrobot_robot_type = REG_INDEX(100, 50, 0), // 机器人类型 0:hbot 1:corexy
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kreg_xyrobot_x_shift = REG_INDEX(100, 50, 1), // x偏移
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kreg_xyrobot_y_shift = REG_INDEX(100, 50, 2), // y偏移
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kreg_xyrobot_x_shaft = REG_INDEX(100, 50, 3), // x轴是否反转
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kreg_xyrobot_y_shaft = REG_INDEX(100, 50, 4), // y轴是否反转
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kreg_xyrobot_x_one_circle_pulse = REG_INDEX(100, 50, 5), // x轴一圈脉冲数
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kreg_xyrobot_y_one_circle_pulse = REG_INDEX(100, 50, 6), // y轴一圈脉冲数
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kreg_xyrobot_run_to_zero_max_x_d = REG_INDEX(100, 50, 7), // x轴回零最大距离
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kreg_xyrobot_run_to_zero_max_y_d = REG_INDEX(100, 50, 8), // y轴回零最大距离
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kreg_xyrobot_look_zero_edge_max_x_d = REG_INDEX(100, 50, 9), // x轴找零边缘最大距离
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kreg_xyrobot_look_zero_edge_max_y_d = REG_INDEX(100, 50, 10), // y轴找零边缘最大距离
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kreg_xyrobot_io_state0 = REG_INDEX(100, 50, 11), // IO状态
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kreg_xyrobot_io_state1 = REG_INDEX(100, 50, 12), // IO状态
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/***********************************************************************************************************************
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* step_motor *
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***********************************************************************************************************************/
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kreg_step_motor_pos = REG_INDEX(101, 0, 1), // 机器人x坐标
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kreg_step_motor_dpos = REG_INDEX(101, 0, 3), // 执行完上一条指令后的相对位移
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kreg_step_motor_shift = REG_INDEX(101, 50, 0), // x偏移
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kreg_step_motor_shaft = REG_INDEX(101, 50, 1), // x轴是否反转
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kreg_step_motor_one_circle_pulse = REG_INDEX(101, 50, 2), // x轴一圈脉冲数
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kreg_step_motor_one_circle_pulse_denominator = REG_INDEX(101, 50, 3), // 设置一圈脉冲数的分母
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kreg_step_motor_default_velocity = REG_INDEX(101, 50, 4), // 默认速度
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kreg_step_motor_ihold = REG_INDEX(101, 50, 8), // 步进电机电流配置
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kreg_step_motor_irun = REG_INDEX(101, 50, 9), // 步进电机电流配置
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kreg_step_motor_iholddelay = REG_INDEX(101, 50, 10), // 步进电机电流配置
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kreg_step_motor_iglobalscaler = REG_INDEX(101, 50, 11), // 步进电机电流配置
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kreg_step_motor_run_to_zero_speed = REG_INDEX(101, 50, 23), // 回零速度
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kreg_step_motor_look_zero_edge_speed = REG_INDEX(101, 50, 25), // 找零边缘速度
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kreg_step_motor_max_d = REG_INDEX(101, 50, 28), // 最大限制距离
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kreg_step_motor_min_d = REG_INDEX(101, 50, 29), // 最小限制距离
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kreg_step_motor_in_debug_mode = REG_INDEX(101, 50, 30), // 驱动器处于调试模式
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kreg_step_motor_vstart = REG_INDEX(101, 50, 31), // a1起作用的速度
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kreg_step_motor_a1 = REG_INDEX(101, 50, 32), //
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kreg_step_motor_amax = REG_INDEX(101, 50, 33),
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kreg_step_motor_v1 = REG_INDEX(101, 50, 34),
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kreg_step_motor_dmax = REG_INDEX(101, 50, 35),
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kreg_step_motor_d1 = REG_INDEX(101, 50, 36),
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kreg_step_motor_vstop = REG_INDEX(101, 50, 37),
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kreg_step_motor_tzerowait = REG_INDEX(101, 50, 38),
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/***********************************************************************************************************************
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* MINI_STEP_MOTOR *
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***********************************************************************************************************************/
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kreg_mini_servo_pos = REG_INDEX(102, 0, 1), // 位置
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kreg_mini_servo_limit_velocity = REG_INDEX(102, 50, 1), // 限制速度
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kreg_mini_servo_limit_torque = REG_INDEX(102, 50, 2), // 限制扭矩
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kreg_mini_servo_protective_torque = REG_INDEX(102, 50, 3), // 保护扭矩
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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 = REG_INDEX(103, 0, 1),
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kreg_id_card_reader_raw_sector_num = REG_INDEX(103, 0, 2),
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kreg_id_card_reader_is_online = REG_INDEX(103, 0, 3),
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/***********************************************************************************************************************
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* BOARD *
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***********************************************************************************************************************/
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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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