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a8000_subboard_sdk
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master
zhaohe 2 years ago
parent
22748a617b
commit
0b48a5b088
13 changed files with 872 additions and 383 deletions
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  1. 1
      components/errorcode/errorcode.hpp
  2. 4
      components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
  3. 165
      components/step_motor_ctrl_module/step_motor_speed_ctrl_module.cpp
  4. 44
      components/step_motor_ctrl_module/step_motor_speed_ctrl_module.hpp
  5. 101
      components/zcancmder/cmd/basic.hpp
  6. 148
      components/zcancmder/cmd/basic_bean.hpp
  7. 49
      components/zcancmder/cmd/basic_cmd.hpp
  8. 86
      components/zcancmder/cmd/c1006_module_cmd.hpp
  9. 80
      components/zcancmder/cmd/c1007_module_cmd.hpp
  10. 551
      components/zcancmder/cmd/cmd.hpp
  11. 16
      components/zcancmder_module/zcan_basic_order_module.cpp
  12. 5
      components/zcancmder_module/zcan_xy_robot_module.cpp
  13. 5
      components/zcancmder_module/zcan_xy_robot_module.hpp

1
components/errorcode/errorcode.hpp
View File

@ -68,6 +68,7 @@ typedef enum {
kcommon_error_not_found_y_zero_point = ERROR_CODE(50000, 6), // 未找到零点
kcommon_error_x_leave_away_zero_point_fail = ERROR_CODE(50000, 7), // 离开零点失败
kcommon_error_y_leave_away_zero_point_fail = ERROR_CODE(50000, 8), // 离开零点失败
kcommon_error_operation_not_support = ERROR_CODE(50000, 9), // 操作不支持
} error_t;
} // namespace err

4
components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
View File

@ -313,7 +313,7 @@ void StepMotorCtrlModule::_motor_move_by(int32_t dpos, int32_t maxv, int32_t acc
m_stepM1->setDeceleration(dec);
m_stepM1->moveBy(dpos, maxv);
}
void StepMotorCtrlModule::_motor_stop(int32_t dec = -1) {
void StepMotorCtrlModule::_motor_stop(int32_t dec) {
ZLOGI(TAG, "m%d _motor_stop %d", m_id, dec);
if (dec > 0) {
m_stepM1->setDeceleration(dec);
@ -331,4 +331,4 @@ void StepMotorCtrlModule::forward_kinematics(int32_t x, int32_t& motor_pos) {
if (m_x_shaft) x = -x;
x -= m_zero_shift_x;
motor_pos = x;
}
}

165
components/step_motor_ctrl_module/step_motor_speed_ctrl_module.cpp
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@ -0,0 +1,165 @@
#include "step_motor_speed_ctrl_module.hpp"
#include "sdk/components/errorcode/errorcode.hpp"
using namespace iflytop;
using namespace iflytop::zcr;
#define TAG "StepMotorSpeedCtrlModule"
void StepMotorSpeedCtrlModule::initialize(int id, IStepperMotor *stepM1) {
m_id = id;
m_stepM1 = stepM1;
m_lock.init();
m_thread.init("StepMotorSpeedCtrlModule", 1024, osPriorityNormal);
}
int32_t StepMotorSpeedCtrlModule::set_acc(uint8_t act, int32_t &acc) {
zlock_guard l(m_lock);
ZLOGI(TAG, "set_acc act:%d acc:%d", act, acc);
if (act == 0) { // read
acc = m_cfg_acc;
} else if (act == 1) { // set
m_cfg_acc = acc;
} else {
return err::kcommon_error_operation_not_support;
}
return 0;
}
int32_t StepMotorSpeedCtrlModule::set_dec(uint8_t act, int32_t &dec) {
zlock_guard l(m_lock);
ZLOGI(TAG, "set_dec act:%d dec:%d", act, dec);
if (act == 0) { // read
dec = m_cfg_dec;
} else if (act == 1) { // set
m_cfg_dec = dec;
} else {
return err::kcommon_error_operation_not_support;
}
return 0;
}
int32_t StepMotorSpeedCtrlModule::set_break_dec(uint8_t act, int32_t &dec) {
zlock_guard l(m_lock);
ZLOGI(TAG, "set_break_dec act:%d dec:%d", act, dec);
if (act == 0) { // read
dec = m_cfg_break_dec;
} else if (act == 1) { // set
m_cfg_break_dec = dec;
} else {
return err::kcommon_error_operation_not_support;
}
return 0;
}
int32_t StepMotorSpeedCtrlModule::set_max_speed(uint8_t act, int32_t &speed) {
zlock_guard l(m_lock);
ZLOGI(TAG, "set_max_speed act:%d speed:%d", act, speed);
if (act == 0) { // read
speed = m_cfg_max_speed;
} else if (act == 1) { // set
m_cfg_max_speed = abs(speed);
} else {
return err::kcommon_error_operation_not_support;
}
return 0;
}
int32_t StepMotorSpeedCtrlModule::set_distance_scale(uint8_t act, float &distance_scale) {
zlock_guard l(m_lock);
ZLOGI(TAG, "set_distance_scale act:%d distance_scale:%f", act, distance_scale);
if (act == 0) { // read
distance_scale = m_cfg_distance_scale;
} else if (act == 1) { // set
m_cfg_distance_scale = distance_scale;
} else {
return err::kcommon_error_operation_not_support;
}
return 0;
}
int32_t StepMotorSpeedCtrlModule::set_shaft(uint8_t act, bool &shaft) {
zlock_guard l(m_lock);
ZLOGI(TAG, "set_shaft act:%d shaft:%d", act, shaft);
if (act == 0) { // read
shaft = m_x_shaft;
} else if (act == 1) { // set
m_x_shaft = shaft;
m_stepM1->setMotorShaft(shaft);
} else {
return err::kcommon_error_operation_not_support;
}
return 0;
}
int32_t StepMotorSpeedCtrlModule::enable(bool venable) {
zlock_guard l(m_lock);
ZLOGI(TAG, "enable venable:%d", venable);
m_stepM1->enable(venable);
return 0;
}
int32_t StepMotorSpeedCtrlModule::stop() {
zlock_guard l(m_lock);
ZLOGI(TAG, "stop");
m_thread.stop();
m_stepM1->stop();
return 0;
}
int32_t StepMotorSpeedCtrlModule::brake() {
zlock_guard l(m_lock);
ZLOGI(TAG, "brake");
m_thread.stop();
m_stepM1->setDeceleration(m_cfg_break_dec);
m_stepM1->rotate(0);
return 0;
}
int32_t StepMotorSpeedCtrlModule::rotate(int32_t velocity, int32_t acc, int32_t dec) {
zlock_guard l(m_lock);
ZLOGI(TAG, "rotate velocity:%d acc:%d dec:%d", velocity, acc, dec);
if (acc <= 0) acc = m_cfg_acc;
if (dec <= 0) dec = m_cfg_dec;
if (abs(velocity) > m_cfg_max_speed) {
ZLOGW(TAG, "velocity:%d > m_cfg_max_speed:%d", velocity, m_cfg_max_speed);
velocity = m_cfg_max_speed;
}
m_stepM1->setAcceleration(acc);
m_stepM1->setDeceleration(dec);
m_stepM1->rotate(velocity);
return 0;
}
int32_t StepMotorSpeedCtrlModule::rotate_auto_stop(int32_t velocity, int32_t duration, int32_t acc, int32_t dec,
function<void(bool reachtime, int32_t has_rotate_duration)> callback) {
zlock_guard l(m_lock);
ZLOGI(TAG, "rotate_auto_stop velocity:%d duration:%d acc:%d dec:%d", velocity, duration, acc, dec);
if (duration < 0) {
ZLOGW(TAG, "duration:%d < 0", duration);
return err::kcommon_error_param_out_of_range;
}
if (acc <= 0) acc = m_cfg_acc;
if (dec <= 0) dec = m_cfg_dec;
if (abs(velocity) > m_cfg_max_speed) {
ZLOGW(TAG, "velocity:%d > m_cfg_max_speed:%d", velocity, m_cfg_max_speed);
velocity = m_cfg_max_speed;
}
m_thread.stop();
m_thread.start([this, duration, acc, dec, velocity, callback]() {
m_stepM1->setAcceleration(acc);
m_stepM1->setDeceleration(dec);
m_stepM1->rotate(velocity);
int32_t startticket = zos_get_tick();
bool reachtime = false;
while (!m_thread.getExitFlag()) {
if (zos_haspassedms(startticket) > duration) {
reachtime = true;
m_stepM1->stop();
break;
}
osDelay(1);
}
if (callback) callback(reachtime, zos_haspassedms(startticket));
m_stepM1->stop();
return;
});
return 0;
}

44
components/step_motor_ctrl_module/step_motor_speed_ctrl_module.hpp
View File

@ -0,0 +1,44 @@
#pragma once
//
#include "sdk/os/zos.hpp"
#include "sdk\components\tmc\basic\tmc_ic_interface.hpp"
#include "sdk\components\zcancmder\zcanreceiver.hpp"
namespace iflytop {
class StepMotorSpeedCtrlModule {
public:
private:
IStepperMotor *m_stepM1;
int m_id = 0;
ZThread m_thread;
zmutex m_lock;
int32_t m_cfg_acc = 350;
int32_t m_cfg_dec = 350;
int32_t m_cfg_break_dec = 350;
int32_t m_cfg_max_speed = 1000;
float m_cfg_distance_scale = 853.3333f; // ²½½øµç»ú step/s ת»»³É rpm
bool m_x_shaft = false;
public:
void initialize(int id, IStepperMotor *stepM1);
int32_t set_acc(uint8_t act, int32_t &acc);
int32_t set_dec(uint8_t act, int32_t &dec);
int32_t set_break_dec(uint8_t act, int32_t &dec);
int32_t set_max_speed(uint8_t act, int32_t &speed);
int32_t set_distance_scale(uint8_t act, float &distance_scale);
int32_t set_shaft(uint8_t act, bool &shaft);
int32_t enable(bool venable);
int32_t stop();
int32_t brake();
int32_t rotate(int32_t velocity, int32_t acc, int32_t dec);
int32_t rotate_auto_stop(int32_t velocity, int32_t duration, int32_t acc, int32_t dec,
function<void(bool reachtime, int32_t has_rotate_duration)> callback);
};
} // namespace iflytop

101
components/zcancmder/cmd/basic.hpp
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@ -0,0 +1,101 @@
#pragma once
#include <stdint.h>
#define ZPACKET_STRUCT(ordername, type, ...) \
typedef struct { \
__VA_ARGS__ \
} ordername##_##type##_t
#define ZPACKET_CMD_ACK(ordername, cmdpara, ackpara) \
typedef struct { \
cmdpara \
} ordername##_##cmd##_t; \
typedef struct { \
ackpara \
} ordername##_##ack##_t
#define ZPACKET_CMD_ACK_AND_REPORT(ordername, cmdpara, ackpara, reportpara) \
typedef struct { \
cmdpara \
} ordername##_##cmd##_t; \
typedef struct { \
ackpara \
} ordername##_##ack##_t; \
typedef struct { \
reportpara \
} ordername##_##report##_t
#define PROCESS_PACKET(ordername, varid) \
if (rxcmd->iscmd(ordername)) { \
auto* cmd = rxcmd->get_data_as<ordername##_##cmd##_t>(); \
auto* ack = (ordername##_##ack##_t*)m_txbuf; \
auto cmdheader = rxcmd->get_cmdheader(); \
uint32_t errorcode = 0; \
if (cmd->id == varid) { \
ack->id = cmd->id;
#define END_PROCESS_PACKET() \
if (errorcode == 0) { \
m_cancmder->sendAck(rxcmd->get_cmdheader(), m_txbuf, sizeof(*ack)); \
} else { \
m_cancmder->sendErrorAck(rxcmd->get_cmdheader(), errorcode); \
} \
} \
return; \
}
#define CMD(x) x
#define ACK(x) x
#define REPORT(x) x
namespace iflytop {
namespace zcr {
typedef uint8_t u8;
typedef uint16_t u16;
typedef uint32_t u32;
typedef uint64_t u64;
typedef int8_t s8;
typedef int16_t s16;
typedef int32_t s32;
typedef int64_t s64;
typedef float f32;
typedef double f64;
#pragma pack(push, 1)
typedef struct {
uint16_t packetindex;
uint16_t cmdid;
uint8_t subcmdid;
uint8_t packetType;
uint8_t data[];
} Cmdheader_t;
#pragma pack(pop)
typedef enum {
kpt_cmd = 0,
kpt_ack = 1,
kpt_error_ack = 2,
kpt_cmd_exec_status_report = 3,
} PacketType_t;
typedef enum {
kset_cmd_type_read = 0,
kset_cmd_type_set = 1,
} SetCmdOperationType_t;
typedef enum {
kMotorStopType_stop = 0,
kMotorStopType_break = 1,
} MotorStopType_t;
#define CMDID(cmdid, subcmdid) ((cmdid << 8) + subcmdid)
typedef enum {
kmodule_statu_idle,
kmodule_statu_work,
kmodule_statu_exception,
} module_statu_type_t;
} // namespace zcr
} // namespace iflytop

148
components/zcancmder/cmd/basic_bean.hpp
View File

@ -1,148 +0,0 @@
#pragma once
#include "sdk/os/zos.hpp"
/*******************************************************************************
* MARCO *
*******************************************************************************/
#define ZPACKET_STRUCT(ordername, type, ...) \
typedef struct { \
__VA_ARGS__ \
} ordername##_##type##_t
#define PROCESS_PACKET(ordername, varid) \
if (rxcmd->iscmd(ordername)) { \
auto* cmd = rxcmd->get_data_as<ordername##_##cmd##_t>(); \
auto* ack = (ordername##_##ack##_t*)m_txbuf; \
auto cmdheader = rxcmd->get_cmdheader(); \
uint32_t errorcode = 0; \
if (cmd->id == varid) { \
ack->id = cmd->id;
#define END_PROCESS_PACKET() \
if (errorcode == 0) { \
m_cancmder->sendAck(rxcmd->get_cmdheader(), m_txbuf, sizeof(*ack)); \
} else { \
m_cancmder->sendErrorAck(rxcmd->get_cmdheader(), errorcode); \
} \
} \
return; \
}
typedef uint8_t u8;
typedef uint16_t u16;
typedef uint32_t u32;
typedef uint64_t u64;
typedef int8_t s8;
typedef int16_t s16;
typedef int32_t s32;
typedef int64_t s64;
typedef float f32;
typedef double f64;
/*******************************************************************************
* STRUCT *
*******************************************************************************/
namespace iflytop {
namespace zcr {
#pragma pack(push, 1)
typedef struct {
uint16_t packetindex;
uint16_t cmdid;
uint8_t subcmdid;
uint8_t packetType;
uint8_t data[];
} Cmdheader_t;
#pragma pack(pop)
typedef enum {
kpt_cmd = 0,
kpt_ack = 1,
kpt_error_ack = 2,
kpt_cmd_exec_status_report = 3,
} PacketType_t;
#define CMDID(cmdid, subcmdid) ((cmdid << 8) + subcmdid)
typedef enum {
kcmd_ping = CMDID(0, 0),
kcmd_read_io = CMDID(1, 0),
kcmd_set_io = CMDID(2, 0),
kcmd_readadc_raw = CMDID(3, 0),
kcmd_m211887_operation = CMDID(1000, 0), // 维萨拉臭氧传感器
kcmd_read_presure_sensor = CMDID(1001, 0), // 压力传感器
kcmd_triple_warning_light_ctl = CMDID(1002, 0), // 三色警示灯控制
kcmd_high_power_electrical_ctl = CMDID(1003, 0), // 大功率电源控制
kcmd_peristaltic_pump_ctl = CMDID(1004, 0), // 液泵控制
kcmd_read_huacheng_pressure_sensor = CMDID(1005, 0), // 华诚压力传感器
/*******************************************************************************
* 1006 *
*******************************************************************************/
kcmd_xy_robot_ctrl_enable = CMDID(1006, 0), // 机器人使能
kcmd_xy_robot_ctrl_stop = CMDID(1006, 1), // 机器人停止
kcmd_xy_robot_ctrl_move_to_zero = CMDID(1006, 2), // 机器人回零
kcmd_xy_robot_ctrl_move_to_zero_with_calibrate = CMDID(1006, 3), // 机器人回零并标定
kcmd_xy_robot_ctrl_move_to = CMDID(1006, 4), // 机器人移动到指定位置
kcmd_xy_robot_ctrl_move_by = CMDID(1006, 5), // 机器人移动指定距离
kcmd_xy_robot_ctrl___p1 = CMDID(1006, 6), // 占位指令
kcmd_xy_robot_ctrl_break = CMDID(1006, 7), // 机器人刹车
kcmd_xy_robot_ctrl_read_status = CMDID(1006, 50), // 读取机器人状态
kcmd_xy_robot_ctrl_read_io = CMDID(1006, 51), // 读取机器人IO
kcmd_xy_robot_ctrl_set_robottype = CMDID(1006, 100), // 机器人类型
kcmd_xy_robot_ctrl_set_current_pos = CMDID(1006, 101), // 设置当前位置
kcmd_xy_robot_ctrl_set_distance_scale = CMDID(1006, 102), // 设置距离比例
kcmd_xy_robot_ctrl_set_ihold_irun_iholddelay = CMDID(1006, 103), // 设置电流
kcmd_xy_robot_ctrl_set_acc = CMDID(1006, 104), // 设置加速度
kcmd_xy_robot_ctrl_set_dec = CMDID(1006, 105), // 设置减速度
kcmd_xy_robot_ctrl_set_speed = CMDID(1006, 106), // 设置位置模式速度
kcmd_xy_robot_ctrl_set_shaft = CMDID(1006, 107), // 设置轴是否反向
kcmd_xy_robot_ctrl_set_runtozero_max_distance = CMDID(1006, 108), // 设置回零最大距离
kcmd_xy_robot_ctrl_set_runtozero_speed = CMDID(1006, 109), // 设置回零速度
kcmd_xy_robot_ctrl_set_runtozero_dec = CMDID(1006, 110), // 设置回零减速度
kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_distance = CMDID(1006, 111), // 设置离零点距离
kcmd_xy_robot_ctrl_set_zero_shift = CMDID(1006, 112), // 设置零点偏移
kcmd_xy_robot_ctrl_set_break_dec = CMDID(1006, 113), // 设置刹车减速度
/*******************************************************************************
* 1007:单轴步进电机控制 *
*******************************************************************************/
kcmd_step_motor_ctrl_enable = CMDID(1007, 0), // 步进电机使能
kcmd_step_motor_ctrl_stop = CMDID(1007, 1), // 步进电机停止
kcmd_step_motor_ctrl_move_to_zero = CMDID(1007, 2), // 步进电机回零
kcmd_step_motor_ctrl_move_to_zero_with_calibrate = CMDID(1007, 3), // 步进电机回零并标定
kcmd_step_motor_ctrl_move_to = CMDID(1007, 4), // 步进电机移动到指定位置
kcmd_step_motor_ctrl_move_by = CMDID(1007, 5), // 步进电机移动指定距离
kcmd_step_motor_ctrl_rotate = CMDID(1007, 6), // 步进电机rotate
kcmd_step_motor_ctrl_break = CMDID(1007, 7), // 步进电机刹车
kcmd_step_motor_ctrl_read_status = CMDID(1007, 50), // 读取机器人状态
kcmd_step_motor_ctrl_read_io = CMDID(1007, 51), // 读取机器人IO
kcmd_step_motor_ctrl___p1 = CMDID(1007, 100), // 占位指令
kcmd_step_motor_ctrl_set_current_pos = CMDID(1007, 101), // 设置当前位置
kcmd_step_motor_ctrl_set_distance_scale = CMDID(1007, 102), // 设置距离比例
kcmd_step_motor_ctrl_set_ihold_irun_iholddelay = CMDID(1007, 103), // 设置电流
kcmd_step_motor_ctrl_set_acc = CMDID(1007, 104), // 设置加速度
kcmd_step_motor_ctrl_set_dec = CMDID(1007, 105), // 设置减速度
kcmd_step_motor_ctrl_set_speed = CMDID(1007, 106), // 设置位置模式速度
kcmd_step_motor_ctrl_set_shaft = CMDID(1007, 107), // 设置轴是否反向
kcmd_step_motor_ctrl_set_runtozero_max_distance = CMDID(1007, 108), // 设置回零最大距离
kcmd_step_motor_ctrl_set_runtozero_speed = CMDID(1007, 109), // 设置回零速度
kcmd_step_motor_ctrl_set_runtozero_dec = CMDID(1007, 110), // 设置回零减速度
kcmd_step_motor_ctrl_set_runtozero_leave_away_zero_distance = CMDID(1007, 111), // 设置离零点距离
kcmd_step_motor_ctrl_set_zero_shift = CMDID(1007, 112), // 设置零点偏移
kcmd_step_motor_ctrl_set_break_dec = CMDID(1007, 113), // 设置断电减速度
#if 1
#endif
} CmdID_t;
} // namespace zcr
} // namespace iflytop

49
components/zcancmder/cmd/basic_cmd.hpp
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@ -1,49 +0,0 @@
#pragma once
#include "basic_bean.hpp"
#include "sdk/os/zos.hpp"
namespace iflytop {
namespace zcr {
#pragma pack(push, 1)
typedef struct {
uint8_t boardid;
} kcmd_ping_t;
typedef struct {
uint8_t boardid;
} kcmd_ping_ack_t;
typedef struct {
uint8_t ioid;
} kcmd_read_io_t;
typedef struct {
uint8_t ioid;
uint8_t val;
} kcmd_read_io_ack_t;
typedef struct {
uint8_t ioid;
uint8_t val;
} kcmd_set_io_t;
typedef struct {
uint8_t ioid;
uint8_t val;
} kcmd_set_io_ack_t;
typedef struct {
uint8_t sensorid;
} kcmd_readadc_raw_t;
typedef struct {
uint8_t sensorid;
uint8_t __p; // padding
int32_t val;
} kcmd_readadc_raw_ack_t;
#pragma pack(pop)
} // namespace zcr
} // namespace iflytop

86
components/zcancmder/cmd/c1006_module_cmd.hpp
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@ -1,86 +0,0 @@
#pragma once
#include <stdint.h>
#include "basic_bean.hpp"
namespace iflytop {
namespace zcr {
/*******************************************************************************
* 1006 *
*******************************************************************************/
#pragma pack(push, 1)
/*******************************************************************************
* CMD *
*******************************************************************************/
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_enable, /* */ cmd, u8 id; u8 enable;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_stop, /* */ cmd, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to_zero, /* */ cmd, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate, /* */ cmd, u8 id; u8 _pad; s32 x; s32 y;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to, /* */ cmd, u8 id; u8 _pad; s32 x; s32 y;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_by, /* */ cmd, u8 id; u8 _pad; s32 dx; s32 dy;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl___p1, /* */ cmd, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_break, /* */ cmd, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_read_status, /* */ cmd, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_read_io, /* */ cmd, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_robottype, /* */ cmd, u8 id; u8 _pad; u8 zero_robottype;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_current_pos, /* */ cmd, u8 id; u8 _pad; s32 x; s32 y;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_distance_scale, /* */ cmd, u8 id; u8 _pad; f32 distance_scale;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_ihold_irun_iholddelay, /* */ cmd, u8 id; u8 _pad; u8 ihold; u8 irun; u16 iholddelay;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_acc, /* */ cmd, u8 id; u8 _pad; s32 acc;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_dec, /* */ cmd, u8 id; u8 _pad; s32 dec;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_speed, /* */ cmd, u8 id; u8 _pad; s32 speed;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_shaft, /* */ cmd, u8 id; u8 _pad; u8 x_shaft; u8 y_shaft;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_max_distance, /* */ cmd, u8 id; u8 _pad; s32 maxX; s32 maxY;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_speed, /* */ cmd, u8 id; u8 _pad; s32 speed;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_dec, /* */ cmd, u8 id; u8 _pad; s32 dec;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_distance, /* */ cmd, u8 id; u8 _pad; s32 distance;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_zero_shift, /* */ cmd, u8 id; u8 _pad; s32 x_shift; s32 y_shift;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_break_dec, /* */ cmd, u8 id; u8 _pad; s32 dec;);
/*******************************************************************************
* ACK *
*******************************************************************************/
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_enable, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_stop, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to_zero, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_by, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl___p1, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_break, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_read_status, /* */ ack, u8 id; u8 _pad; u8 module_statu; s32 x; s32 y;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_read_io, /* */ ack, u8 id; u8 _pad; u8 xzero, yzero; u8 xend, yend;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_robottype, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_current_pos, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_distance_scale, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_ihold_irun_iholddelay, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_acc, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_dec, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_speed, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_shaft, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_max_distance, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_speed, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_dec, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_distance, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_zero_shift, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_break_dec, /* */ ack, u8 id; u8 _pad;);
/*******************************************************************************
* status_report *
*******************************************************************************/
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to_zero, /* */ status_report, u8 id; u8 _pad; s32 exec_status; s32 dx; s32 dy;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate, /* */ status_report, u8 id; u8 _pad; s32 exec_status; s32 zero_shift_x;
s32 zero_shift_y;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to, /* */ status_report, u8 id; u8 _pad; s32 exec_status; s32 tox; s32 toy;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_by, /* */ status_report, u8 id; u8 _pad; s32 exec_status; s32 tox; s32 toy;);
#pragma pack(pop)
} // namespace zcr
} // namespace iflytop

80
components/zcancmder/cmd/c1007_module_cmd.hpp
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@ -1,80 +0,0 @@
#pragma once
#include <stdint.h>
#include "basic_bean.hpp"
namespace iflytop {
namespace zcr {
/*******************************************************************************
* 1007 *
*******************************************************************************/
#pragma pack(push, 1)
ZPACKET_STRUCT(kcmd_step_motor_ctrl_enable, /* */ cmd, u8 id; u8 enable;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_stop, /* */ cmd, u8 id;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_move_to_zero, /* */ cmd, u8 id;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_move_to_zero_with_calibrate, /* */ cmd, u8 id;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_move_to, /* */ cmd, u8 id; s32 pos;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_move_by, /* */ cmd, u8 id; s32 distance;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_rotate, /* */ cmd, u8 id; s32 angle;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_break, /* */ cmd, u8 id;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_read_status, /* */ cmd, u8 id;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_read_io, /* */ cmd, u8 id;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl___p1, /* */ cmd, u8 id;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_current_pos, /* */ cmd, u8 id; s32 pos;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_distance_scale, /* */ cmd, u8 id; s32 scale;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_ihold_irun_iholddelay, /* */ cmd, u8 id; u8 ihold; u8 irun; u8 iholddelay;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_acc, /* */ cmd, u8 id; s32 acc;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_dec, /* */ cmd, u8 id; s32 dec;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_speed, /* */ cmd, u8 id; s32 speed;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_shaft, /* */ cmd, u8 id; u8 shaft;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_runtozero_max_distance, /* */ cmd, u8 id; s32 max_distance;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_runtozero_speed, /* */ cmd, u8 id; s32 speed;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_runtozero_dec, /* */ cmd, u8 id; s32 dec;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_runtozero_leave_away_zero_distance, /* */ cmd, u8 id; s32 distance;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_zero_shift, /* */ cmd, u8 id; s32 x_shift; s32 y_shift;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_break_dec, /* */ cmd, u8 id; s32 dec;);
/*******************************************************************************
* ACK *
*******************************************************************************/
ZPACKET_STRUCT(kcmd_step_motor_ctrl_enable, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_stop, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_move_to_zero, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_move_to_zero_with_calibrate, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_move_to, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_move_by, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_rotate, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_break, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_read_status, /* */ ack, u8 id; u8 _pad; u8 module_statu; s32 pos; s32 velocity;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_read_io, /* */ ack, u8 id; u8 _pad; u8 zeroio; u8 endio;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl___p1, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_current_pos, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_distance_scale, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_ihold_irun_iholddelay, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_acc, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_dec, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_speed, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_shaft, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_runtozero_max_distance, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_runtozero_speed, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_runtozero_dec, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_runtozero_leave_away_zero_distance, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_zero_shift, /* */ ack, u8 id; u8 _pad;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_set_break_dec, /* */ ack, u8 id; u8 _pad;);
/*******************************************************************************
* status_report *
*******************************************************************************/
ZPACKET_STRUCT(kcmd_step_motor_ctrl_move_to_zero, /* */ status_report, u8 id; u8 _pad; s32 exec_status; s32 ddistance;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_move_to_zero_with_calibrate, /* */ status_report, u8 id; u8 _pad; s32 exec_status; s32 zero_shift;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_move_to, /* */ status_report, u8 id; u8 _pad; s32 exec_status; s32 npos;);
ZPACKET_STRUCT(kcmd_step_motor_ctrl_move_by, /* */ status_report, u8 id; u8 _pad; s32 exec_status; s32 ddistance;);
#pragma pack(pop)
} // namespace zcr
} // namespace iflytop

551
components/zcancmder/cmd/cmd.hpp
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@ -1,8 +1,547 @@
#pragma once
#include "sdk/os/zos.hpp"
//
#include "basic_bean.hpp"
//
#include "basic_cmd.hpp"
#include "c1006_module_cmd.hpp"
#include <stdint.h>
#include "basic.hpp"
namespace iflytop {
namespace zcr {
typedef enum {
kcmd_ping = CMDID(0, 0),
kcmd_read_io = CMDID(1, 0),
kcmd_set_io = CMDID(2, 0),
kcmd_readadc_raw = CMDID(3, 0),
kcmd_m211887_operation = CMDID(1000, 0), // 维萨拉臭氧传感器
kcmd_read_presure_sensor = CMDID(1001, 0), // 压力传感器
kcmd_triple_warning_light_ctl = CMDID(1002, 0), // 三色警示灯控制
kcmd_high_power_electrical_ctl = CMDID(1003, 0), // 大功率电源控制
kcmd_peristaltic_pump_ctl = CMDID(1004, 0), // 液泵控制
kcmd_read_huacheng_pressure_sensor = CMDID(1005, 0), // 华诚压力传感器
/*******************************************************************************
* |Module_1006:XYRobot机器人控制模组 *
*******************************************************************************/
kcmd_xy_robot_ctrl_enable = CMDID(1006, 0), // 机器人使能
kcmd_xy_robot_ctrl_stop = CMDID(1006, 1), // 机器人停止
kcmd_xy_robot_ctrl_move_to_zero = CMDID(1006, 2), // 机器人回零
kcmd_xy_robot_ctrl_move_to_zero_with_calibrate = CMDID(1006, 3), // 机器人回零并标定
kcmd_xy_robot_ctrl_move_to = CMDID(1006, 4), // 机器人移动到指定位置
kcmd_xy_robot_ctrl_move_by = CMDID(1006, 5), // 机器人移动指定距离
kcmd_xy_robot_ctrl_read_version = CMDID(1006, 50), // 读取模块型号版本信息
kcmd_xy_robot_ctrl_read_status = CMDID(1006, 51), // 读取模块精简状态信息
kcmd_xy_robot_ctrl_read_debug_info = CMDID(1006, 52), // 读取模块详细状态信息
kcmd_xy_robot_ctrl_set_run_param = CMDID(1006, 100), // 设置运行参数
kcmd_xy_robot_ctrl_set_warning_limit_param = CMDID(1006, 101), // 设置控制限制参数
kcmd_xy_robot_ctrl_set_run_to_zero_param = CMDID(1006, 102), // 设置归零参数
/*******************************************************************************
* |Module_1007:步进电机控制模组 *
*******************************************************************************/
kcmd_step_motor_ctrl_enable = CMDID(1007, 0), // 使能
kcmd_step_motor_ctrl_stop = CMDID(1007, 1), // 停止
kcmd_step_motor_ctrl_move_to_zero = CMDID(1007, 2), // 回零
kcmd_step_motor_ctrl_move_to_zero_with_calibrate = CMDID(1007, 3), // 回零并校准
kcmd_step_motor_ctrl_move_to = CMDID(1007, 4), // 移动到
kcmd_step_motor_ctrl_move_by = CMDID(1007, 5), // 相对移动
kcmd_step_motor_ctrl_rotate = CMDID(1007, 6), // 相对移动
kcmd_step_motor_ctrl_read_version = CMDID(1007, 50), // 读取模块型号版本信息
kcmd_step_motor_ctrl_read_status = CMDID(1007, 51), // 读取模块精简状态信息
kcmd_step_motor_ctrl_read_debug_info = CMDID(1007, 52), // 读取模块详细状态信息
kcmd_step_motor_ctrl_set_run_param = CMDID(1007, 100), // 设置运行参数
kcmd_step_motor_ctrl_set_warning_limit_param = CMDID(1007, 101), // 设置警告限制参数
kcmd_step_motor_ctrl_set_run_to_zero_param = CMDID(1007, 102), // 设置归零参数
/*******************************************************************************
* |Module_1008:舵机 *
*******************************************************************************/
kcmd_mini_servo_ctrl_enable = CMDID(1008, 0), // 使能
kcmd_mini_servo_ctrl_stop = CMDID(1008, 1), // 停止
kcmd_mini_servo_ctrl_position_calibrate = CMDID(1008, 2), // 校准
kcmd_mini_servo_ctrl_rotate = CMDID(1008, 3), // 速度模式
kcmd_mini_servo_ctrl_move_to = CMDID(1008, 4), // 位置模式舵机
kcmd_mini_servo_ctrl_move_by = CMDID(1008, 5), // 位置模式舵机
kcmd_mini_servo_ctrl_run_with_torque = CMDID(1008, 6), // 开环扭矩模式
kcmd_mini_servo_ctrl_move_by_nolimit = CMDID(1008, 7), // 相对移动,位置模式无限制,移动不受最大位置和最小位置限制，但无法读取到当前位置
kcmd_mini_servo_ctrl_read_version = CMDID(1008, 50), // 读取模块型号版本信息
kcmd_mini_servo_ctrl_read_status = CMDID(1008, 51), // 读取模块精简状态信息
kcmd_mini_servo_ctrl_read_debug_info = CMDID(1008, 52), // 读取模块详细状态信息
kcmd_mini_servo_ctrl_set_run_param = CMDID(1008, 100), // 位置限制 最大位置，最小位置
kcmd_mini_servo_ctrl_set_warning_limit_param = CMDID(1008, 101), // 过压保护设置 最大电压 最小电压
/*******************************************************************************
* |Module_1009:EEPROM *
*******************************************************************************/
kcmd_eeprom_read_block = CMDID(1009, 0), // 读取EEPROM
kcmd_eeprom_write_block = CMDID(1009, 1), // 写入EEPROM
/*******************************************************************************
* |Module_1010:扫码器 *
*******************************************************************************/
kcmd_barcode_reader_start_scan = CMDID(1010, 0), // 读取扫码器
kcmd_barcode_reader_stop_scan = CMDID(1010, 1), // 停止读取扫码器
/*******************************************************************************
* |Module_1011:帕尔贴-水泵-风扇控温系统 *
*******************************************************************************/
// 设置目标温度
kcmd_heater_ctrl_module_start_ctrl_temperature = CMDID(1011, 0), // 设置目标温度
kcmd_heater_ctrl_module_read_stop_temperature = CMDID(1011, 1), // 读取停止温度
kcmd_heater_ctrl_module_read_version = CMDID(1011, 50), // 读取模块型号版本信息
kcmd_heater_ctrl_module_read_status = CMDID(1011, 51), // 读取模块精简状态信息
kcmd_heater_ctrl_module_read_debug_info = CMDID(1011, 52), // 读取模块详细状态信息
kcmd_heater_ctrl_module_set_run_param = CMDID(1011, 100), // 设置运行参数
kcmd_heater_ctrl_module_set_warning_limit_param = CMDID(1011, 101), // 设置限制参数
/*******************************************************************************
* |Module_1012:光学模组扫码器 *
*******************************************************************************/
kcmd_optical_barcode_reader_start_scan = CMDID(1012, 0), // 开始扫码
kcmd_optical_barcode_reader_stop_scan = CMDID(1012, 1), // 停止扫码
kcmd_optical_barcode_reader_motor_move_to = CMDID(1012, 4), // 水平电机移动到
kcmd_optical_barcode_reader_motor_move_to_zero = CMDID(1012, 6), // 电机校准
kcmd_optical_barcode_reader_motor_move_to_zero_with_calibrate = CMDID(1012, 7), // 电机校准
kcmd_optical_barcode_reader_motor_stop = CMDID(1012, 8), // 电机停止
kcmd_optical_barcode_reader_motor_enable = CMDID(1012, 9), // 电机使能
kcmd_optical_barcode_reader_read_version = CMDID(1012, 50), // 读取模块型号版本信息
kcmd_optical_barcode_reader_read_status = CMDID(1012, 51), // 读取模块精简状态信息
kcmd_optical_barcode_reader_read_debug_info = CMDID(1012, 52), // 读取模块详细状态信息
kcmd_optical_barcode_reader_set_run_param = CMDID(1012, 100), // 设置运行参数
kcmd_optical_barcode_reader_set_warning_limit_param = CMDID(1012, 101), // 设置限制参数
kcmd_optical_barcode_reader_set_run_to_zero_param = CMDID(1012, 102), // 设置归零参数
/*******************************************************************************
* |Module_1013:板夹仓 *
*******************************************************************************/
kcmd_board_clamp_module_push_and_scan = CMDID(1013, 0), // 推出反应板并扫码
kcmd_board_clamp_module_moter_move_to = CMDID(1013, 1), // 电机移动到
kcmd_board_clamp_module_moter_move_by = CMDID(1013, 2), // 电机移动到
kcmd_board_clamp_module_moter_move_to_zero = CMDID(1013, 3), // 电机归零
kcmd_board_clamp_module_moter_move_to_zero_with_calibrate = CMDID(1013, 4), // 电机归零并校准
kcmd_board_clamp_module_moter_stop = CMDID(1013, 5), // 电机停止
kcmd_board_clamp_module_moter_enable = CMDID(1013, 6), // 电机使能
kcmd_board_clamp_module_read_version = CMDID(1013, 50), // 读取模块型号版本信息
kcmd_board_clamp_module_read_status = CMDID(1013, 51), // 读取模块精简状态信息
kcmd_board_clamp_module_read_debug_info = CMDID(1013, 52), // 读取模块详细状态信息
kcmd_board_clamp_module_set_run_param = CMDID(1013, 100), // 设置运行参数
kcmd_board_clamp_module_set_warning_limit_param = CMDID(1013, 101), // 设置限制参数
kcmd_board_clamp_module_set_run_to_zero_param = CMDID(1013, 102), // 设置归零参数
// 风扇
/*******************************************************************************
* |Module_1014:风扇 *
*******************************************************************************/
kcmd_fan_module_fan_ctrl = CMDID(1014, 0), // 风扇控制
kcmd_fan_module_fan_read_status = CMDID(1014, 50), // 读取模块精简状态信息
kcmd_fan_module_fan_read_debug_info = CMDID(1014, 51), // 读取模块详细状态信息
// 串口透传
/*******************************************************************************
* |Module_1015:串口透传 *
*******************************************************************************/
kcmd_serial_module_send_data = CMDID(1015, 0), // 串口透传发送数据
kcmd_serial_module_start_read_data = CMDID(1015, 1), // 串口透传读取数据
kcmd_serial_module_start_stop_data = CMDID(1015, 2), // 串口透传停止读取数据
kcmd_serial_module_read_status = CMDID(1015, 50), // 读取模块状态信息
kcmd_serial_module_set_cfg = CMDID(1015, 100), // 串口透传设置配置
// 移液枪控制
/*******************************************************************************
* |Module_1016:移液枪控制 *
*******************************************************************************/
kcmd_pipette_module_z_motor_enable = CMDID(1016, 0), // 使能
kcmd_pipette_module_z_motor_move_to = CMDID(1016, 1), // 移动到
kcmd_pipette_module_z_motor_move_to_zero = CMDID(1016, 2), // 归零
kcmd_pipette_module_z_motor_move_to_zero_with_calibrate = CMDID(1016, 3), // 归零并校准
kcmd_pipette_module_z_motor_stop = CMDID(1016, 4), // 停止
kcmd_pipette_module_take_liquid = CMDID(1016, 4), // 取液体
kcmd_pipette_module_split_liquid = CMDID(1016, 5), // 吐液体
kcmd_pipette_module_take_tip = CMDID(1016, 6), // 取tip
kcmd_pipette_module_remove_tip = CMDID(1016, 7), // 移除tip
kcmd_pipette_module_read_version = CMDID(1016, 50), // 读取模块型号版本信息
kcmd_pipette_module_read_status = CMDID(1016, 51), // 读取模块精简状态信息
kcmd_pipette_module_read_debug_info = CMDID(1016, 52), // 读取模块详细状态信息
kcmd_pipette_module_set_run_param = CMDID(1016, 100), // 设置运行参数
kcmd_pipette_module_set_warning_limit_param = CMDID(1016, 101), // 设置限制参数
kcmd_pipette_module_set_run_to_zero_param = CMDID(1016, 102), // 设置归零参数
} CmdID_t;
#pragma pack(push, 1)
ZPACKET_CMD_ACK(kcmd_ping, //
CMD(u8 boardid;), //
ACK(u8 boardid;));
ZPACKET_CMD_ACK(kcmd_read_io, //
CMD(u8 ioid;), //
ACK(u8 ioid; u8 val;));
ZPACKET_CMD_ACK(kcmd_set_io, //
CMD(u8 ioid; u8 val;), //
ACK(u8 ioid; u8 val;));
ZPACKET_CMD_ACK(kcmd_readadc_raw, //
CMD(u8 sensorid;), //
ACK(u8 sensorid; s32 val;));
/*******************************************************************************
* |Module_1006:XYRobot机器人控制模组 *
*******************************************************************************/
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_enable,
CMD(u8 id; u8 enable;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_stop,
CMD(u8 id; u8 stop_type;), //
ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero,
CMD(u8 id;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate,
CMD(u8 id; s32 nowx; s32 nowy;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 zero_shift_x; s32 zero_shift_y;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to,
CMD(u8 id; s32 x; s32 y; s32 speed;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 x; s32 y;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_by,
CMD(u8 id; s32 dx; s32 dy; s32 speed;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 dx; s32 dy;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_version, //
CMD(u8 id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_status, //
CMD(u8 id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_debug_info, //
CMD(u8 id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_param, //
CMD(u8 id; u8 opt_type; u8 shaft; s32 distance_scale; s32 shift_x; s32 shift_y; s32 acc; s32 dec; s32 maxspeed; s32 min_x; s32 max_x; s32 min_y;
s32 max_y;), //
ACK(u8 id; u8 opt_type; u8 shaft; s32 distance_scale; s32 shift_x; s32 shift_y; s32 acc; s32 dec; s32 maxspeed; s32 min_x; s32 max_x; s32 min_y;
s32 max_y;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_warning_limit_param, //
CMD(u8 id; u8 opt_type;), //
ACK(u8 id; u8 opt_type;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_to_zero_param, //
CMD(u8 id; u8 opt_type; u32 move_to_zero_max_d; u32 leave_from_zero_max_d; u32 speed; u32 dec;), //
ACK(u8 id; u8 opt_type; u32 move_to_zero_max_d; u32 leave_from_zero_max_d; u32 speed; u32 dec;));
/*******************************************************************************
* |Module_1007:步进电机控制模组 *
*******************************************************************************/
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_enable,
CMD(u8 id; u8 enable;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_stop,
CMD(u8 id; u8 stop_type;), //
ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero,
CMD(u8 id;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero_with_calibrate,
CMD(u8 id; s32 nowx; s32 nowy;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 zero_shift_x;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to,
CMD(u8 id; s32 x; s32 speed;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; u32 x;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_by,
CMD(u8 id; s32 dx; s32 speed;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 dx;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_rotate,
CMD(u8 id; s32 speed; s32 run_time;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 has_run_time;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_version, //
CMD(u8 id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_status, //
CMD(u8 id;), //
ACK(u8 id; u8 status; s32 x; s32 velocity;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_debug_info, //
CMD(u8 id;), //
ACK(u8 id; u8 status; s32 x; s32 velocity; s32 acc; s32 dec; s32 speed;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_run_param, //
CMD(u8 id; u8 opt_type; u8 shaft; s32 d_scale; s32 x_shift; s32 acc; s32 dec; s32 breakdec; s32 maxv; s32 minpos; s32 maxpos;), //
ACK(u8 id; u8 opt_type; u8 shaft; s32 d_scale; s32 x_shift; s32 acc; s32 dec; s32 breakdec; s32 maxv; s32 minpos; s32 maxpos;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_warning_limit_param, //
CMD(u8 id; u8 opt_type; s32 pad;), //
ACK(u8 id; u8 opt_type; s32 pad;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_run_to_zero_param, //
CMD(u8 id; u8 opt_type; u32 move_to_zero_max_d; u32 leave_from_zero_max_d; u32 speed; u32 dec;), //
ACK(u8 id; u8 opt_type; u32 move_to_zero_max_d; u32 leave_from_zero_max_d; u32 speed; u32 dec;));
/*******************************************************************************
* |Module_1008:舵机 *
*******************************************************************************/
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_enable,
CMD(u8 id; u8 enable;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_stop,
CMD(u8 id; u8 stop_type;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_position_calibrate,
CMD(u8 id; s32 calibrate_pos;), //
ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_rotate,
CMD(u8 id; s32 speed; s32 run_time;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 has_run_time;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_to,
CMD(u8 id; s32 pos; s32 speed; s32 torque;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by,
CMD(u8 id; s32 pos; s32 speed; s32 torque;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_run_with_torque,
CMD(u8 id; s32 torque; s32 run_time;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 has_run_time;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by_nolimit,
CMD(u8 id; s32 pos; s32 speed; s32 torque;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 pos;));
/*******************************************************************************
* |Module_1009:EEPROM *
*******************************************************************************/
ZPACKET_CMD_ACK(kcmd_eeprom_read_block,
CMD(u8 id; u16 addr; u16 len;), //
ACK(u8 id; u16 addr; u16 len; u8 data[0];));
ZPACKET_CMD_ACK(kcmd_eeprom_write_block,
CMD(u8 id; u16 addr; u16 len; u8 data[0];), //
ACK(u8 id; u16 addr; u16 len;));
/*******************************************************************************
* |Module_1010:扫码器 *
*******************************************************************************/
ZPACKET_CMD_ACK_AND_REPORT(kcmd_barcode_reader_start_scan,
CMD(u8 id;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; u16 barcodelen; u8 barcode[0];));
ZPACKET_CMD_ACK(kcmd_barcode_reader_stop_scan,
CMD(u8 id;), //
ACK(u8 id;));
/*******************************************************************************
* |Module_1011:帕尔贴-水泵-风扇控温系统 *
*******************************************************************************/
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_start_ctrl_temperature,
CMD(u8 id; s32 target_temperature;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_stop_temperature,
CMD(u8 id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_version,
CMD(u8 id;), //
ACK(u8 id; uint32_t version;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; s32 temperature;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_debug_info,
CMD(u8 id;), //
ACK(u8 id; u8 status; s32 temperature;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_set_run_param,
CMD(u8 id; u8 opt_type; s32 kp; s32 ki; s32 kd; s32 max_pwm; s32 min_temperature; s32 max_temperature;), //
ACK(u8 id; u8 opt_type; s32 kp; s32 ki; s32 kd; s32 max_pwm; s32 min_temperature; s32 max_temperature;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_set_warning_limit_param,
CMD(u8 id; u8 opt_type;), //
ACK(u8 id; u8 opt_type;));
/*******************************************************************************
* |Module_1012:光学模组扫码器 *
*******************************************************************************/
ZPACKET_CMD_ACK_AND_REPORT(kcmd_optical_barcode_reader_start_scan,
CMD(u8 id;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; u16 codelen; u16 code[0];));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_stop_scan,
CMD(u8 id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_optical_barcode_reader_motor_move_to,
CMD(u8 id; u8 motor_id; s32 pos; s32 speed;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_optical_barcode_reader_motor_move_to_zero,
CMD(u8 id; u8 motor_id;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_optical_barcode_reader_motor_move_to_zero_with_calibrate,
CMD(u8 id; u8 motor_id; s32 now_pos;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 zero_shift;));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_motor_stop,
CMD(u8 id; u8 motor_id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_version,
CMD(u8 id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2];));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_debug_info,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2]; s32 acc[2]; s32 speed[2];));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_set_run_param, //
CMD(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];), //
ACK(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_set_warning_limit_param,
CMD(u8 id; u8 opt_type; s32 pad;), //
ACK(u8 id; u8 opt_type; s32 pad;));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_set_run_to_zero_param,
CMD(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];), //
ACK(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];));
/*******************************************************************************
* Module_1013:板夹仓 *
*******************************************************************************/
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_push_and_scan,
CMD(u8 id;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; u16 barcodelen; u8 barcode[0];));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_moter_move_to,
CMD(u8 id; u8 motor_id; s32 pos; s32 speed;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_moter_move_by,
CMD(u8 id; u8 motor_id; s32 pos; s32 speed;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_moter_move_to_zero,
CMD(u8 id; u8 motor_id;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_moter_move_to_zero_with_calibrate,
CMD(u8 id; u8 motor_id; s32 now_pos;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 zero_shift;));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_moter_stop,
CMD(u8 id; u8 motor_id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_version,
CMD(u8 id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2];));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_debug_info,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2]; s32 acc[2]; s32 speed[2];));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_set_run_param, //
CMD(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];), //
ACK(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_set_warning_limit_param,
CMD(u8 id; u8 opt_type; s32 pad;), //
ACK(u8 id; u8 opt_type; s32 pad;));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_set_run_to_zero_param,
CMD(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];), //
ACK(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];));
/*******************************************************************************
* |Module_1014:风扇 *
*******************************************************************************/
ZPACKET_CMD_ACK(kcmd_fan_module_fan_ctrl,
CMD(u8 id; u8 level;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 level;));
ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_debug_info,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 level; int16_t fbcount;));
/*******************************************************************************
* |Module_1016:移液枪控制 *
*******************************************************************************/
ZPACKET_CMD_ACK(kcmd_pipette_module_motor_enable,
CMD(u8 id; u8 enable;), //
ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_motor_move_to,
CMD(u8 id; u8 motor_id; s32 pos; s32 speed;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_motor_move_to_zero,
CMD(u8 id; u8 motor_id;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_motor_move_to_zero_with_calibrate,
CMD(u8 id; u8 motor_id; s32 now_pos;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 zero_shift;));
ZPACKET_CMD_ACK(kcmd_pipette_module_motor_stop,
CMD(u8 id; u8 motor_id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_take_liquid,
CMD(u8 id; u8 motor_id; s32 speed; s32 pos;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_split_liquid,
CMD(u8 id; u8 motor_id; s32 speed; s32 pos;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_take_tip,
CMD(u8 id; u8 motor_id; s32 speed; s32 pos;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_remove_tip,
CMD(u8 id; u8 motor_id; s32 speed; s32 pos;), //
ACK(u8 id;));
#if 0
kcmd_pipette_module_read_status = CMDID(1016, 51), // 读取模块精简状态信息
kcmd_pipette_module_read_debug_info = CMDID(1016, 52), // 读取模块详细状态信息
kcmd_pipette_module_set_run_param = CMDID(1016, 100), // 设置运行参数
kcmd_pipette_module_set_warning_limit_param = CMDID(1016, 101), // 设置限制参数
kcmd_pipette_module_set_run_to_zero_param = CMDID(1016, 102), // 设置归零参数
#endif
ZPACKET_CMD_ACK(kcmd_pipette_module_read_version,
CMD(u8 id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_pipette_module_read_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; s32 pos[2];));
ZPACKET_CMD_ACK(kcmd_pipette_module_read_debug_info,
CMD(u8 id;), //
ACK(u8 id; u8 status; s32 pos[2]; s32 acc[2]; s32 speed[2];));
ZPACKET_CMD_ACK(kcmd_pipette_module_set_run_param,
CMD(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];), //
ACK(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];));
ZPACKET_CMD_ACK(kcmd_pipette_module_set_warning_limit_param,
CMD(u8 id; u8 opt_type; s32 pad;), //
ACK(u8 id; u8 opt_type; s32 pad;));
#pragma pack(pop)
} // namespace zcr
} // namespace iflytop

16
components/zcancmder_module/zcan_basic_order_module.cpp
View File

@ -22,7 +22,7 @@ void ZCanBasicOrderModule::reg_read_adc(uint8_t id, readadcval_t fn) { m_readAdc
void ZCanBasicOrderModule::onRceivePacket(CanPacketRxBuffer* rxbuf) {
if (rxbuf->iscmd(kcmd_ping)) {
kcmd_ping_t* pingcmd = rxbuf->get_data_as<kcmd_ping_t>();
kcmd_ping_cmd_t* pingcmd = rxbuf->get_data_as<kcmd_ping_cmd_t>();
kcmd_ping_ack_t* ack = (kcmd_ping_ack_t*)txbuff;
if (pingcmd->boardid == m_zcanReceiver->getDeviceId()) {
@ -31,7 +31,7 @@ void ZCanBasicOrderModule::onRceivePacket(CanPacketRxBuffer* rxbuf) {
return;
}
} else if (rxbuf->iscmd(kcmd_read_io)) {
kcmd_read_io_t* cmd = rxbuf->get_data_as<kcmd_read_io_t>();
kcmd_read_io_cmd_t* cmd = rxbuf->get_data_as<kcmd_read_io_cmd_t>();
kcmd_read_io_ack_t* ack = (kcmd_read_io_ack_t*)txbuff;
bool val = false;
@ -43,9 +43,9 @@ void ZCanBasicOrderModule::onRceivePacket(CanPacketRxBuffer* rxbuf) {
}
} else if (rxbuf->iscmd(kcmd_set_io)) {
kcmd_set_io_t* cmd = rxbuf->get_data_as<kcmd_set_io_t>();
kcmd_set_io_ack_t ack;
bool val = cmd->val;
kcmd_set_io_cmd_t* cmd = rxbuf->get_data_as<kcmd_set_io_cmd_t>();
kcmd_set_io_ack_t ack;
bool val = cmd->val;
if (m_outCtlMap.find(cmd->ioid) != m_outCtlMap.end()) {
m_outCtlMap[cmd->ioid](val);
@ -56,9 +56,9 @@ void ZCanBasicOrderModule::onRceivePacket(CanPacketRxBuffer* rxbuf) {
}
} else if (rxbuf->iscmd(kcmd_readadc_raw)) {
kcmd_readadc_raw_t* cmd = rxbuf->get_data_as<kcmd_readadc_raw_t>();
kcmd_readadc_raw_ack_t ack;
int32_t val = 0;
kcmd_readadc_raw_cmd_t* cmd = rxbuf->get_data_as<kcmd_readadc_raw_cmd_t>();
kcmd_readadc_raw_ack_t ack;
int32_t val = 0;
if (m_readAdcValMap.find(cmd->sensorid) != m_readAdcValMap.end()) {
val = m_readAdcValMap[cmd->sensorid]();
ack.sensorid = cmd->sensorid;

5
components/zcancmder_module/zcan_xy_robot_module.cpp
View File

@ -2,7 +2,7 @@
using namespace iflytop;
#define TAG "ZCANXYRobotCtrlModule"
#if 0
void ZCANXYRobotCtrlModule::initialize(ZCanCmder* cancmder, int id, XYRobotCtrlModule* xyRobotCtrlModule) {
m_cancmder = cancmder;
m_id = id;
@ -140,4 +140,5 @@ void ZCANXYRobotCtrlModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {
errorcode = m_xyRobotCtrlModule->set_runtozero_leave_away_zero_distance(cmd->distance);
}
END_PROCESS_PACKET();
}
}
#endif

5
components/zcancmder_module/zcan_xy_robot_module.hpp
View File

@ -1,7 +1,7 @@
#pragma once
#include "sdk\components\xy_robot_ctrl_module\xy_robot_ctrl_module.hpp"
#include "sdk\components\zcancmder\zcanreceiver.hpp"
#if 0
namespace iflytop {
class ZCANXYRobotCtrlModule : public ZCanCmderListener {
ZCanCmder* m_cancmder = nullptr;
@ -14,4 +14,5 @@ class ZCANXYRobotCtrlModule : public ZCanCmderListener {
void initialize(ZCanCmder* cancmder, int id, XYRobotCtrlModule* xyRobotCtrlModule);
virtual void onRceivePacket(CanPacketRxBuffer* rxcmd);
};
} // namespace iflytop
} // namespace iflytop
#endif
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