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a8000_subboard_sdk
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update

master
zhaohe 2 years ago
parent
1db17e3903
commit
18d70a8b2e
4 changed files with 210 additions and 83 deletions
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  1. 132
      components/eq_20_asb_motor/eq20_servomotor.cpp
  2. 89
      components/eq_20_asb_motor/eq20_servomotor.hpp
  3. 48
      components/eq_20_asb_motor/script_cmder_eq20_servomotor.cpp
  4. 24
      components/eq_20_asb_motor/script_cmder_eq20_servomotor.hpp

132
components/eq_20_asb_motor/eq20_servomotor.cpp
View File

@ -35,13 +35,13 @@ write_pn 1 617 100 #Pn617
write_pn_bit 1 1501 0 0 write_pn_bit 1 1501 0 0
write_pn_bit 1 1501 0 1 write_pn_bit 1 1501 0 1
#endif #endif
DO(write_pn(m_deviceId, 610, 0x0001));
DO(write_pn(m_deviceId, 615, rpm));
DO(write_pn(m_deviceId, 614, topos));
DO(write_pn(m_deviceId, 616, acctime));
DO(write_pn(m_deviceId, 617, acctime));
DO(write_pn_bit(m_deviceId, 1501, 0, 0));
DO(write_pn_bit(m_deviceId, 1501, 0, 1));
DO(write_pn(610, 0x0001));
DO(write_pn(615, rpm));
DO(write_pn(614, topos));
DO(write_pn(616, acctime));
DO(write_pn(617, acctime));
DO(write_pn_bit(1501, 0, 0));
DO(write_pn_bit(1501, 0, 1));
return 0; return 0;
} }
int32_t Eq20ServoMotor::move_by(int32_t pos, int32_t rpm, int32_t acctime) { int32_t Eq20ServoMotor::move_by(int32_t pos, int32_t rpm, int32_t acctime) {
@ -54,13 +54,13 @@ write_pn 1 617 100 #Pn617
write_pn_bit 1 1501 0 0 write_pn_bit 1 1501 0 0
write_pn_bit 1 1501 0 1 write_pn_bit 1 1501 0 1
#endif #endif
DO(write_pn(m_deviceId, 610, 0x0011));
DO(write_pn(m_deviceId, 614, pos));
DO(write_pn(m_deviceId, 615, rpm));
DO(write_pn(m_deviceId, 616, acctime));
DO(write_pn(m_deviceId, 617, acctime));
DO(write_pn_bit(m_deviceId, 1501, 0, 0));
DO(write_pn_bit(m_deviceId, 1501, 0, 1));
DO(write_pn(610, 0x0011));
DO(write_pn(614, pos));
DO(write_pn(615, rpm));
DO(write_pn(616, acctime));
DO(write_pn(617, acctime));
DO(write_pn_bit(1501, 0, 0));
DO(write_pn_bit(1501, 0, 1));
return 0; return 0;
} }
int32_t Eq20ServoMotor::rotate(int32_t rpm, int32_t acctime) { return move_by(100000 * 10000, rpm, acctime); } int32_t Eq20ServoMotor::rotate(int32_t rpm, int32_t acctime) { return move_by(100000 * 10000, rpm, acctime); }
@ -77,46 +77,50 @@ write_pn 1 606 0 #
write_pn_bit 1 1501 1 0 write_pn_bit 1 1501 1 0
write_pn_bit 1 1501 1 1 write_pn_bit 1 1501 1 1
#endif #endif
DO(write_pn(m_deviceId, 600, 11));
DO(write_pn(m_deviceId, 601, lookzeropoint_rpm));
DO(write_pn(m_deviceId, 602, findzero_edge_rpm));
DO(write_pn(m_deviceId, 603, lookzeropoint_acc_time));
DO(write_pn(m_deviceId, 604, 0));
DO(write_pn(m_deviceId, 605, 0));
DO(write_pn(m_deviceId, 606, 0));
DO(write_pn_bit(m_deviceId, 1501, 1, 0));
DO(write_pn_bit(m_deviceId, 1501, 1, 1));
DO(write_pn(600, 11));
DO(write_pn(601, lookzeropoint_rpm));
DO(write_pn(602, findzero_edge_rpm));
DO(write_pn(603, lookzeropoint_acc_time));
DO(write_pn(604, 0));
DO(write_pn(605, 0));
DO(write_pn(606, 0));
DO(write_pn_bit(1501, 1, 0));
DO(write_pn_bit(1501, 1, 1));
return 0; return 0;
} }
int32_t Eq20ServoMotor::move_to_zero_backward(int32_t lookzeropoint_rpm, int32_t findzero_edge_rpm, int32_t lookzeropoint_acc_time) { int32_t Eq20ServoMotor::move_to_zero_backward(int32_t lookzeropoint_rpm, int32_t findzero_edge_rpm, int32_t lookzeropoint_acc_time) {
DO(write_pn(m_deviceId, 600, 8));
DO(write_pn(m_deviceId, 601, lookzeropoint_rpm));
DO(write_pn(m_deviceId, 602, findzero_edge_rpm));
DO(write_pn(m_deviceId, 603, lookzeropoint_acc_time));
DO(write_pn(m_deviceId, 604, 0)); // 零点偏移
DO(write_pn(m_deviceId, 605, 0)); // 回零动作超时时间
DO(write_pn(m_deviceId, 606, 0)); // 回零动作中止使能
DO(write_pn_bit(m_deviceId, 1501, 1, 0));
DO(write_pn_bit(m_deviceId, 1501, 1, 1));
DO(write_pn(600, 8));
DO(write_pn(601, lookzeropoint_rpm));
DO(write_pn(602, findzero_edge_rpm));
DO(write_pn(603, lookzeropoint_acc_time));
DO(write_pn(604, 0)); // 零点偏移
DO(write_pn(605, 0)); // 回零动作超时时间
DO(write_pn(606, 0)); // 回零动作中止使能
DO(write_pn_bit(1501, 1, 0));
DO(write_pn_bit(1501, 1, 1));
return 0; return 0;
} }
int32_t Eq20ServoMotor::getpos(int32_t &pos) {
DO(readreg(m_deviceId, 2036, pos));
int32_t Eq20ServoMotor::get_pos(int32_t &pos) {
DO(readreg(2036, pos));
return 0; return 0;
} }
int32_t Eq20ServoMotor::enable(int32_t enable) { int32_t Eq20ServoMotor::enable(int32_t enable) {
DO(write_pn_bit(m_deviceId, 1501, 2, enable));
DO(write_pn_bit(1501, 2, enable));
return 0; return 0;
} }
int32_t Eq20ServoMotor::stop() { int32_t Eq20ServoMotor::stop() {
DO(write_pn_bit(m_deviceId, 1501, 0, 0));
DO(write_pn_bit(m_deviceId, 1501, 1, 0));
DO(write_pn_bit(1501, 0, 0));
DO(write_pn_bit(1501, 1, 0));
return 0;
}
int32_t Eq20ServoMotor::get_servo_internal_state(servo_internal_status_t &state) {
DO(read_pn(1065, state.status));
return 0; return 0;
} }
int32_t Eq20ServoMotor::isReachTarget(uint8_t &isReachTarget) {}
#define AUTO_RESEND(exptr) \ #define AUTO_RESEND(exptr) \
int ret = 0; \ int ret = 0; \
@ -127,57 +131,57 @@ int32_t Eq20ServoMotor::isReachTarget(uint8_t &isReachTarget) {}
} \ } \
} }
int32_t Eq20ServoMotor::writereg(int deviceid, uint32_t regadd, int32_t value) { //
AUTO_RESEND(_writereg(deviceid, regadd, value));
int32_t Eq20ServoMotor::writereg(uint32_t regadd, int32_t value) { //
AUTO_RESEND(_writereg(regadd, value));
} }
int32_t Eq20ServoMotor::readreg(int deviceid, uint32_t regadd, int32_t &value) { //
AUTO_RESEND(_readreg(deviceid, regadd, value));
int32_t Eq20ServoMotor::readreg(uint32_t regadd, int32_t &value) { //
AUTO_RESEND(_readreg(regadd, value));
} }
int32_t Eq20ServoMotor::write_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t value) { //
AUTO_RESEND(_write_reg_bit(deviceid, regadd, off, value));
int32_t Eq20ServoMotor::write_reg_bit(uint32_t regadd, int32_t off, int32_t value) { //
AUTO_RESEND(_write_reg_bit(regadd, off, value));
} }
int32_t Eq20ServoMotor::write_pn(int deviceid, uint32_t pnadd, int32_t value) { //
AUTO_RESEND(_write_pn(deviceid, pnadd, value));
int32_t Eq20ServoMotor::write_pn(uint32_t pnadd, int32_t value) { //
AUTO_RESEND(_write_pn(pnadd, value));
} }
int32_t Eq20ServoMotor::read_pn(int deviceid, uint32_t pnadd, int32_t &value) { //
AUTO_RESEND(_read_pn(deviceid, pnadd, value));
int32_t Eq20ServoMotor::read_pn(uint32_t pnadd, int32_t &value) { //
AUTO_RESEND(_read_pn(pnadd, value));
} }
int32_t Eq20ServoMotor::write_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t value) { AUTO_RESEND(_write_pn_bit(deviceid, pnadd, off, value)); }
int32_t Eq20ServoMotor::read_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t &value) { AUTO_RESEND(_read_reg_bit(deviceid, regadd, off, value)); }
int32_t Eq20ServoMotor::read_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t &value) { AUTO_RESEND(_read_pn_bit(deviceid, pnadd, off, value)); }
int32_t Eq20ServoMotor::write_pn_bit(uint32_t pnadd, int32_t off, int32_t value) { AUTO_RESEND(_write_pn_bit(pnadd, off, value)); }
int32_t Eq20ServoMotor::read_reg_bit(uint32_t regadd, int32_t off, int32_t &value) { AUTO_RESEND(_read_reg_bit(regadd, off, value)); }
int32_t Eq20ServoMotor::read_pn_bit(uint32_t pnadd, int32_t off, int32_t &value) { AUTO_RESEND(_read_pn_bit(pnadd, off, value)); }
/******************************************************************************* /*******************************************************************************
* BASIC_API * * BASIC_API *
*******************************************************************************/ *******************************************************************************/
int32_t Eq20ServoMotor::_write_pn(int deviceid, uint32_t pnadd, int32_t value) { return _writereg(deviceid, pnadd * 2, value); }
int32_t Eq20ServoMotor::_read_pn(int deviceid, uint32_t pnadd, int32_t &value) { return _readreg(deviceid, pnadd * 2, value); }
int32_t Eq20ServoMotor::_write_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t value) { return _write_reg_bit(deviceid, pnadd * 2, off, value); }
int32_t Eq20ServoMotor::_read_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t &value) { return _read_reg_bit(deviceid, pnadd * 2, off, value); }
int32_t Eq20ServoMotor::_write_pn(uint32_t pnadd, int32_t value) { return _writereg(pnadd * 2, value); }
int32_t Eq20ServoMotor::_read_pn(uint32_t pnadd, int32_t &value) { return _readreg(pnadd * 2, value); }
int32_t Eq20ServoMotor::_write_pn_bit(uint32_t pnadd, int32_t off, int32_t value) { return _write_reg_bit(pnadd * 2, off, value); }
int32_t Eq20ServoMotor::_read_pn_bit(uint32_t pnadd, int32_t off, int32_t &value) { return _read_reg_bit(pnadd * 2, off, value); }
/******************************************************************************* /*******************************************************************************
* REG * * REG *
*******************************************************************************/ *******************************************************************************/
int32_t Eq20ServoMotor::_writereg(int deviceid, uint32_t regadd, int32_t value) { //
DO(m_modbusBlockHost->writeReg10Muti(deviceid, regadd, (uint16_t *)&value, 2, 100));
int32_t Eq20ServoMotor::_writereg(uint32_t regadd, int32_t value) { //
DO(m_modbusBlockHost->writeReg10Muti(m_deviceId, regadd, (uint16_t *)&value, 2, 100));
return 0; return 0;
} }
int32_t Eq20ServoMotor::_readreg(int deviceid, uint32_t regadd, int32_t &value) { //
DO(m_modbusBlockHost->readReg03Muti(deviceid, regadd, (uint16_t *)&value, 2, 100));
int32_t Eq20ServoMotor::_readreg(uint32_t regadd, int32_t &value) { //
DO(m_modbusBlockHost->readReg03Muti(m_deviceId, regadd, (uint16_t *)&value, 2, 100));
return 0; return 0;
} }
int32_t Eq20ServoMotor::_write_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t value) {
int32_t Eq20ServoMotor::_write_reg_bit(uint32_t regadd, int32_t off, int32_t value) {
int32_t regval; int32_t regval;
DO(_readreg(deviceid, regadd, regval));
DO(_readreg(regadd, regval));
if (value) { if (value) {
regval |= (1 << off); regval |= (1 << off);
} else { } else {
regval &= ~(1 << off); regval &= ~(1 << off);
} }
DO(_writereg(deviceid, regadd, regval));
DO(_writereg(regadd, regval));
return 0; return 0;
} }
int32_t Eq20ServoMotor::_read_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t &value) {
int32_t Eq20ServoMotor::_read_reg_bit(uint32_t regadd, int32_t off, int32_t &value) {
int32_t regval; int32_t regval;
DO(_readreg(deviceid, regadd, regval));
DO(_readreg(regadd, regval));
value = (regval >> off) & 0x01; value = (regval >> off) & 0x01;
return 0; return 0;
} }

89
components/eq_20_asb_motor/eq20_servomotor.hpp
View File

@ -9,6 +9,55 @@ using namespace std;
class Eq20ServoMotor { class Eq20ServoMotor {
public: public:
typedef struct {
int32_t status;
} servo_internal_status_t;
// bit0:同服准备好
// bitl:伺服报警
// bit2:电机旋转
// bit3:定位完成
// bit4:速度一致
// bit5:电机零速
// bit6: 制动器(抱闸)
// bit7:定位接近
// bit8:转矩受限
// bit9:速度受限
// bit10:转矩检测
// bit11:伺服警告
// bit12:伺服故障代码 1
// bit13:伺服故障代码 2
// bit14:伺服故障代码 3
// bit15:回零完成
// bit16:编码器 C 脉冲有效
// bit17:电机励磁
// bit18:超程状态
// bit19 编码器电池警告
// bit20:编码器电池报数
typedef struct {
uint32_t servo_is_ready : 1;
uint32_t servo_warning : 1;
uint32_t motor_is_rotating : 1;
uint32_t is_reach_target : 1;
uint32_t is_speed_consistent : 1;
uint32_t motor_is_zero_speed : 1;
uint32_t brake_is_on : 1;
uint32_t is_pos_close : 1;
uint32_t torque_is_limited : 1;
uint32_t speed_is_limited : 1;
uint32_t torque_is_detected : 1;
uint32_t servo_warning2 : 1;
uint32_t servo_error_code1 : 1;
uint32_t servo_error_code2 : 1;
uint32_t servo_error_code3 : 1;
uint32_t is_zero_complete : 1;
uint32_t encoder_c_pulse_is_valid : 1;
uint32_t motor_is_excited : 1;
uint32_t is_over_travel : 1;
uint32_t encoder_battery_warning : 1;
uint32_t encoder_battery_report : 1;
} status_bit;
private: private:
ModbusBlockHost *m_modbusBlockHost; ModbusBlockHost *m_modbusBlockHost;
int32_t m_deviceId = 0; int32_t m_deviceId = 0;
@ -30,31 +79,33 @@ class Eq20ServoMotor {
int32_t move_to_zero_backward(int32_t lookzeropoint_rpm, int32_t findzero_edge_rpm, int32_t lookzeropoint_acc_time); int32_t move_to_zero_backward(int32_t lookzeropoint_rpm, int32_t findzero_edge_rpm, int32_t lookzeropoint_acc_time);
int32_t stop(); int32_t stop();
int32_t isReachTarget(uint8_t &isReachTarget);
// int32_t is_reach_target(int32_t &isReachTarget);
int32_t getpos(int32_t &pos);
int32_t get_servo_internal_state(servo_internal_status_t &state);
int32_t get_pos(int32_t &pos);
public: public:
int32_t writereg(int deviceid, uint32_t regadd, int32_t value);
int32_t readreg(int deviceid, uint32_t regadd, int32_t &value);
int32_t write_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t value);
int32_t read_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t &value);
int32_t writereg(uint32_t regadd, int32_t value);
int32_t readreg(uint32_t regadd, int32_t &value);
int32_t write_reg_bit(uint32_t regadd, int32_t off, int32_t value);
int32_t read_reg_bit(uint32_t regadd, int32_t off, int32_t &value);
int32_t read_pn(int deviceid, uint32_t pnadd, int32_t &value);
int32_t write_pn(int deviceid, uint32_t pnadd, int32_t value);
int32_t write_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t value);
int32_t read_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t &value);
int32_t read_pn(uint32_t pnadd, int32_t &value);
int32_t write_pn(uint32_t pnadd, int32_t value);
int32_t write_pn_bit(uint32_t pnadd, int32_t off, int32_t value);
int32_t read_pn_bit(uint32_t pnadd, int32_t off, int32_t &value);
private: private:
int32_t _writereg(int deviceid, uint32_t regadd, int32_t value);
int32_t _readreg(int deviceid, uint32_t regadd, int32_t &value);
int32_t _write_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t value);
int32_t _read_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t &value);
int32_t _write_pn(int deviceid, uint32_t pnadd, int32_t value);
int32_t _read_pn(int deviceid, uint32_t pnadd, int32_t &value);
int32_t _write_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t value);
int32_t _read_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t &value);
int32_t _writereg(uint32_t regadd, int32_t value);
int32_t _readreg(uint32_t regadd, int32_t &value);
int32_t _write_reg_bit(uint32_t regadd, int32_t off, int32_t value);
int32_t _read_reg_bit(uint32_t regadd, int32_t off, int32_t &value);
int32_t _write_pn(uint32_t pnadd, int32_t value);
int32_t _read_pn(uint32_t pnadd, int32_t &value);
int32_t _write_pn_bit(uint32_t pnadd, int32_t off, int32_t value);
int32_t _read_pn_bit(uint32_t pnadd, int32_t off, int32_t &value);
private: private:
int32_t send(uint8_t *data, size_t len, int32_t overtime); int32_t send(uint8_t *data, size_t len, int32_t overtime);

48
components/eq_20_asb_motor/script_cmder_eq20_servomotor.cpp
View File

@ -0,0 +1,48 @@
#include "script_cmder_eq20_servomotor.hpp"
#include <string.h>
// #include "sdk\components\zprotocols\zcancmder\zcancmder_protocol.hpp"
using namespace iflytop;
#define TAG "CMD"
void ScriptCmderEq20Servomotor::initialize(CmdScheduler* cmdScheduler) {
m_cmdScheduler = cmdScheduler;
ZASSERT(m_cmdScheduler != nullptr);
regcmd();
}
int32_t ScriptCmderEq20Servomotor::findmodule(int id, Eq20ServoMotor** module) {
auto it = moduler.find(id);
if (it == moduler.end()) {
return err::kce_no_such_module;
}
*module = it->second;
return 0;
}
static void cmd_dump_ack(int32_t& ack) { //
ZLOGI(TAG, "value:%d", ack);
}
static void cmd_dump_ack(Eq20ServoMotor::servo_internal_status_t ack) { //
ZLOGI(TAG, "value:%d", ack.status);
}
static bool streq(const char* a, const char* b) { return strcmp(a, b) == 0; }
void ScriptCmderEq20Servomotor::regmodule(int id, Eq20ServoMotor* robot) {
ZASSERT(moduler.find(id) == moduler.end());
ZASSERT(robot != nullptr);
moduler[id] = robot;
}
void ScriptCmderEq20Servomotor::regcmd() {
REG_CMD___NO_ACK("eq20_", enable, "(id,en)", 2, con->getBool(2));
REG_CMD___NO_ACK("eq20_", move_to, "(id,pos,rpm,acctime)", 4, con->getInt(2), con->getInt(3), con->getInt(4));
REG_CMD___NO_ACK("eq20_", move_by, "(id,pos,rpm,acctime)", 4, con->getInt(2), con->getInt(3), con->getInt(4));
REG_CMD___NO_ACK("eq20_", rotate, "(id,rpm,acctime)", 3, con->getInt(2), con->getInt(3));
REG_CMD___NO_ACK("eq20_", move_to_zero_forward, "(id,lookzeropoint_rpm,findzero_edge_rpm,lookzeropoint_acc_time)", 5, con->getInt(2), con->getInt(3), con->getInt(4));
REG_CMD___NO_ACK("eq20_", move_to_zero_backward, "(id,lookzeropoint_rpm,findzero_edge_rpm,lookzeropoint_acc_time)", 5, con->getInt(2), con->getInt(3), con->getInt(4));
REG_CMD___NO_ACK("eq20_", stop, "(id)", 1);
REG_CMD_WITH_ACK("eq20_", get_pos, "(id)", 1, int32_t, ack);
REG_CMD_WITH_ACK("eq20_", get_servo_internal_state, "(id)", 1, Eq20ServoMotor::servo_internal_status_t, ack);
}

24
components/eq_20_asb_motor/script_cmder_eq20_servomotor.hpp
View File

@ -0,0 +1,24 @@
#pragma once
#include <map>
#include "eq20_servomotor.hpp"
#include "sdk/os/zos.hpp"
#include "sdk\components\cmdscheduler\cmd_scheduler.hpp"
namespace iflytop {
class ScriptCmderEq20Servomotor {
CmdScheduler* m_cmdScheduler;
map<uint8_t, Eq20ServoMotor*> moduler;
Eq20ServoMotor* module;
public:
void initialize(CmdScheduler* cmdScheduler);
void regmodule(int id, Eq20ServoMotor* robot);
void regcmd();
private:
int32_t findmodule(int id, Eq20ServoMotor** module);
};
} // namespace iflytop
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