update

a8000_protocol

@@ -1 +1 @@
-Subproject commit 508a8f8be82e5272ae21140cafbf7aee274f1367
+Subproject commit 86281b73f485c01783197227b58d0a19699c7198

sdk/components/api/zi_module.cpp

@@ -0,0 +1,96 @@
+
+#include "zi_module.hpp"
+
+#include <stdint.h>
+
+#include <functional>
+
+using namespace iflytop;
+
+int32_t ZIModule::getid() {
+  int32_t id = 0;
+  getid(&id);
+  return id;
+};
+
+int32_t ZIModule::module_ping() { return 0; };
+int32_t ZIModule::module_set_reg(int32_t param_id, int32_t param_value) { return _module_xxx_reg(param_id, false, param_value); }
+int32_t ZIModule::module_get_reg(int32_t param_id, int32_t *param_value) { return _module_xxx_reg(param_id, true, *param_value); }
+
+int32_t ZIModule::_module_xxx_reg(int32_t param_id, bool read, int32_t &val) {
+  if (param_id == kreg_module_version) {
+    if (read) {
+      module_get_version(&val);
+      return 0;
+    } else {
+      return 0;
+    }
+  }
+
+  else if (param_id == kreg_module_type) {
+    if (read) {
+      module_get_type(&val);
+      return 0;
+    } else {
+      return 0;
+    }
+  }
+
+  else if (param_id == kreg_module_status) {
+    if (read) {
+      module_get_status(&val);
+      return 0;
+    } else {
+      return 0;
+    }
+  }
+
+  else if (param_id == kreg_module_errorcode) {
+    if (read) {
+      val = creg.module_errorcode;
+      return 0;
+    } else {
+      return 0;
+    }
+  }
+
+  return module_xxx_reg(param_id, read, val);
+}
+
+int32_t ZIModule::_module_set_reg(int32_t regoff, int32_t *regval, int32_t val, int32_t min, int32_t max) {
+  if (val < min || val > max) {
+    return err::kparam_out_of_range;
+  }
+  *regval = val;
+  return 0;
+}
+int32_t ZIModule::_module_get_reg(int32_t regoff, int32_t regval, int32_t &val) {
+  val = regval;
+  return 0;
+}
+int32_t ZIModule::_module_set_reg_float(int32_t regoff, float *regval, int32_t val, float precision, int32_t min, int32_t max) {
+  if (val < min || val > max) {
+    return err::kparam_out_of_range;
+  }
+  *regval = val * precision;
+  return 0;
+}
+int32_t ZIModule::_module_get_reg_float(int32_t regoff, float regval, int32_t &val, float precision) {
+  val = regval / precision;
+  return 0;
+}
+
+int32_t ZIModule::module_get_error(int32_t *iserror) {
+  *iserror = creg.module_errorcode;
+  return 0;
+}
+int32_t ZIModule::module_clear_error() {
+  creg.module_errorcode = 0;
+  creg.module_status  = 0;
+  return 0;
+}
+
+int32_t ZIModule::module_get_status(int32_t *status) {
+  *status = creg.module_status;
+  return 0;
+}

sdk/components/api/zi_module.hpp

@@ -0,0 +1,87 @@
+#pragma once
+#include <stdint.h>
+
+#include <functional>
+
+#include "a8000_protocol\protocol.hpp"
+namespace iflytop {
+using namespace std;
+
+#define REG_SET(reg, ...) _module_set_reg(param_id, &reg, val, ##__VA_ARGS__)
+#define REG_GET(reg)      _module_get_reg(param_id, reg, val)
+
+#define REG_SET_FLOAT(reg, precision, ...) _module_set_reg_float(param_id, &reg, val, precision, ##__VA_ARGS__)
+#define REG_GET_FLOAT(reg, precision)      _module_get_reg_float(param_id, reg, val, precision)
+
+#define ACTION_NONE 0
+#define PROCESS_REG(param_id, readaction, writeacton) \
+  case param_id: {                                    \
+    if (read) {                                       \
+      return readaction;                              \
+    } else {                                          \
+      return writeacton;                              \
+    }                                                 \
+  } break;
+
+#define ENABLE_MODULE(name, type, version)           \
+ public:                                             \
+  virtual int32_t module_get_version(int32_t *val) { \
+    *val = version;                                  \
+    return 0;                                        \
+  }                                                  \
+  virtual int32_t module_get_type(int32_t *val) {    \
+    *val = type;                                     \
+    return 0;                                        \
+  }
+
+#define MODULE_COMMON_PROCESS_REG_CB()
+
+typedef struct {
+  int32_t module_errorcode;
+  int32_t module_status;
+} module_common_reg_t;
+
+class ZIModule {
+  int32_t m_inited_flag = 0;
+
+ protected:
+  module_common_reg_t creg;
+
+ public:
+  virtual ~ZIModule() {}
+
+ public:
+  virtual int32_t getid();
+  virtual int32_t module_ping();
+  virtual int32_t module_get_error(int32_t *iserror);
+  virtual int32_t module_clear_error();
+  virtual int32_t module_set_reg(int32_t param_id, int32_t param_value);
+  virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value);
+  virtual int32_t module_get_status(int32_t *status);
+  virtual int32_t module_get_version(int32_t *val) = 0;
+  virtual int32_t module_get_type(int32_t *val)    = 0;
+  virtual int32_t module_stop() { return 0; }
+  virtual int32_t module_active_cfg() { return 0; }
+
+  /***********************************************************************************************************************
+   *                                                      用户实现                                                       *
+   ***********************************************************************************************************************/
+  virtual int32_t getid(int32_t *id)                                        = 0;
+  virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val) = 0;
+
+ public:
+  // slice
+  virtual int32_t bfcall(int32_t cmdid, uint8_t *param, int32_t len) { return 0; };
+  virtual void    aftercall(int32_t cmdid, uint8_t *param, int32_t len, uint8_t *ack, int32_t acklen, int32_t ret) {};
+
+ protected:
+  virtual int32_t _module_set_reg(int32_t regoff, int32_t *regval, int32_t val, int32_t min = INT32_MIN, int32_t max = INT32_MAX);
+  virtual int32_t _module_get_reg(int32_t regoff, int32_t regval, int32_t &val);
+  virtual int32_t _module_set_reg_float(int32_t regoff, float *regval, int32_t val, float precision, int32_t min = INT32_MIN, int32_t max = INT32_MAX);
+  virtual int32_t _module_get_reg_float(int32_t regoff, float regval, int32_t &val, float precision);
+  virtual int32_t _module_xxx_reg(int32_t param_id, bool read, int32_t &val);
+
+ public:
+ public:
+};
+}  // namespace iflytop

sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp

@@ -4,6 +4,7 @@
 //
 #include "feite_servo_motor.hpp"
 #include "sdk\components\zcancmder\zcanreceiver.hpp"
+#include "sdk\components\api\zi_module.hpp"
 
 namespace iflytop {
 class MiniServoCtrlModule : public ZIModule{

sdk/components/pipette_module/pipette_ctrl_module_v2.hpp

@@ -6,6 +6,8 @@
 #include "sdk\components\tmc\basic\tmc_ic_interface.hpp"
 #include "sdk\components\tmc\ic\ztmc5130.hpp"
 #include "sdk\components\zcancmder\zcanreceiver.hpp"
+#include "sdk\components\api\zi_module.hpp"
+
 // #include "StepMotorCtrlModule"
 
 /**

sdk/components/sensors/m3078/m3078_code_scaner.hpp

@@ -5,6 +5,7 @@
 #pragma once
 #include "a8000_protocol\protocol.hpp"
 #include "sdk/os/zos.hpp"
+#include "sdk\components\api\zi_module.hpp"
 
 /**
  * @brief

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp

@@ -4,6 +4,9 @@
 #include "sdk\components\tmc\basic\tmc_ic_interface.hpp"
 #include "sdk\components\tmc\ic\ztmc5130.hpp"
 #include "sdk\components\zcancmder\zcanreceiver.hpp"
+#include "sdk\components\api\zi_module.hpp"
+#include "sdk\components\api\zi_module.hpp"
+
 namespace iflytop {
 class StepMotorCtrlModule : public ZIModule {
   ENABLE_MODULE(StepMotorCtrlModule, ktmc_step_motor, PC_VERSION);

sdk/components/tmc/ic/ztmc5130.cpp

@@ -1,6 +1,6 @@
 #include "ztmc5130.hpp"
 
-#include "a8000_protocol\api\apibasic\errorcode.hpp"
+#include "a8000_protocol\protocol.hpp"
 #include "sdk/os/zos.hpp"
 #ifdef HAL_SPI_MODULE_ENABLED
 

sdk/components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.hpp

@@ -22,10 +22,11 @@
 #include "sdk\components\api\zi_pwm_fan_ctrl_module.hpp"
 #include "sdk\components\api\zi_pwm_pump_ctrl_module.hpp"
 //
-#include "a8000_protocol\api\zi_module.hpp"
+#include "sdk\components\api\zi_module.hpp"
 #include "pid_module.hpp"
 #include "sdk\components\api\zi_temperature_sensor.hpp"
 #include "sdk\components\ti\drv8710.hpp"
+#include "sdk\components\api\zi_module.hpp"
 
 namespace iflytop {
 /**

sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp

@@ -5,6 +5,7 @@
 #include "sdk\components\tmc\basic\tmc_ic_interface.hpp"
 #include "sdk\components\tmc\ic\ztmc5130.hpp"
 #include "sdk\components\zcancmder\zcanreceiver.hpp"
+#include "sdk\components\api\zi_module.hpp"
 
 namespace iflytop {
 

sdk/components/zcancmder/protocol_event_bus_sender.hpp

@@ -4,6 +4,7 @@
 #include "basic.hpp"
 #include "sdk/os/zos.hpp"
 #include "sdk\components\zcancmder\zcanreceiver.hpp"
+#include "sdk\components\api\zi_module.hpp"
 
 namespace iflytop {
 using namespace std;

sdk/components/zcancmder/zcan_board_module.hpp

@@ -9,6 +9,7 @@
 #include "sdk/chip/api/zi_temperature.hpp"
 #include "sdk\chip\api\zi_adc.hpp"
 #include "a8000_protocol\protocol.hpp"
+#include "sdk\components\api\zi_module.hpp"
 
 /**
  * @brief

sdk/components/zcancmder/zcan_protocol_parser.hpp

@@ -3,6 +3,7 @@
 
 #include "a8000_protocol\protocol.hpp"
 #include "sdk\components\zcancmder\zcanreceiver.hpp"
+#include "sdk\components\api\zi_module.hpp"
 
 #define CMDFN(name)      static int32_t name(cmdcontxt_t* cxt)
 #define CMDFN_IMPL(name) int32_t ZCanProtocolParser::name(cmdcontxt_t* cxt)

sdk/components/zcancmder/zcanreceiver.hpp

@@ -6,6 +6,8 @@
 #include "a8000_protocol\protocol.hpp"
 #include "basic.hpp"
 #include "sdk/os/zos.hpp"
+#include "sdk\components\api\zi_module.hpp"
+
 #ifdef HAL_CAN_MODULE_ENABLED
 namespace iflytop {
 using namespace zcr;

usrc/public_service/ext_board_impl.hpp

@@ -8,6 +8,8 @@
 #include "instance_init.hpp"
 #include "sdk/chip/chip.hpp"
 #include "sdk/os/zos.hpp"
+#include "sdk\components\api\zi_module.hpp"
+
 //
 
 namespace iflytop {

usrc/subboards/subboard100_idcard_reader/eeprom_service.hpp

@@ -5,6 +5,7 @@
 #include "sdk\components\zcancmder\protocol_event_bus_sender.hpp"
 //
 #include "sdk\os\zos.hpp"
+#include "sdk\components\api\zi_module.hpp"
 
 #ifdef HAL_I2C_MODULE_ENABLED
 namespace iflytop {

usrc/subboards/subboard20_plate_clamp_case/plate_code_scaner_module.hpp

@@ -6,6 +6,7 @@
 #include "sdk\chip\api\zi_adc.hpp"
 #include "sdk\components\hardware\adc\z_simple_adc.hpp"
 #include "sdk\components\step_motor_ctrl_module\step_motor_ctrl_module.hpp"
+#include "sdk\components\api\zi_module.hpp"
 
 namespace iflytop {
 using namespace std;

usrc/subboards/subboard40_and_50_temperature_ctrl/zcan_fan_ctrl_module.hpp

@@ -18,6 +18,7 @@
 //
 #include "a8000_protocol\protocol.hpp"
 #include "sdk\components\api\zi_pwm_fan_ctrl_module.hpp"
+#include "sdk\components\api\zi_module.hpp"
 
 namespace iflytop {
 /**

usrc/subboards/subboard90_optical_module/optical_module_v2.hpp

@@ -6,6 +6,7 @@
 #include "sdk\chip\api\zi_adc.hpp"
 #include "sdk\components\hardware\adc\z_simple_adc.hpp"
 #include "sdk\components\step_motor_ctrl_module\step_motor_ctrl_module.hpp"
+#include "sdk\components\api\zi_module.hpp"
 
 namespace iflytop {
 using namespace std;