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a8000_subboard_sdk
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master
zhaohe 1 year ago
parent
193417b741
commit
1908f8afec
5 changed files with 107 additions and 117 deletions
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  1. 5
      components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
  2. 16
      components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
  3. 26
      components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
  4. 149
      components/zcancmder/zcan_protocol_parser.cpp
  5. 28
      components/zcancmder/zcan_protocol_parser.hpp

5
components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
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@ -123,7 +123,10 @@ int32_t MiniServoCtrlModule::mini_servo_set_mid_point() {
if (!suc) return err::ksubdevice_overtime;
return 0;
}
int32_t MiniServoCtrlModule::mini_servo_read_io_state(int32_t ioindex) {}
int32_t MiniServoCtrlModule::mini_servo_read_io_state(int32_t ioindex, int32_t *val) {
*val = 0;
return 0;
}
void MiniServoCtrlModule::befor_motor_move() {
creg.m_module_status = 1;

16
components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
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@ -40,16 +40,16 @@ class MiniServoCtrlModule : public ZIModule, public ZIMiniServo {
virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val);
public:
virtual int32_t mini_servo_enable(int32_t enable);
virtual int32_t mini_servo_read_pos(int32_t *pos);
virtual int32_t mini_servo_active_cfg();
virtual int32_t mini_servo_stop(int32_t breakstop);
virtual int32_t mini_servo_enable(int32_t enable) override;
virtual int32_t mini_servo_read_pos(int32_t *pos) override;
virtual int32_t mini_servo_active_cfg() override;
virtual int32_t mini_servo_stop(int32_t breakstop) override;
virtual int32_t mini_servo_rotate(int32_t direction);
virtual int32_t mini_servo_move_to(int32_t position);
virtual int32_t mini_servo_rotate(int32_t direction) override;
virtual int32_t mini_servo_move_to(int32_t position) override;
virtual int32_t mini_servo_set_mid_point();
virtual int32_t mini_servo_read_io_state(int32_t ioindex);
virtual int32_t mini_servo_set_mid_point() override;
virtual int32_t mini_servo_read_io_state(int32_t ioindex, int32_t *val) override;
private:
void befor_motor_move();

26
components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
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@ -64,24 +64,24 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
* ZIStepMotor *
***********************************************************************************************************************/
virtual int32_t step_motor_enable(int32_t enable);
virtual int32_t step_motor_read_pos(int32_t* pos);
virtual int32_t step_motor_stop(int32_t breakstop);
virtual int32_t step_motor_easy_rotate(int32_t direction);
virtual int32_t step_motor_easy_move_by(int32_t distance);
virtual int32_t step_motor_easy_move_to(int32_t position);
virtual int32_t step_motor_easy_move_to_zero();
virtual int32_t step_motor_easy_set_current_pos(int32_t pos);
virtual int32_t step_motor_easy_move_to_io(int32_t ioindex, int32_t direction);
virtual int32_t step_motor_active_cfg();
virtual int32_t step_motor_read_io_state(int32_t ioindex, int32_t* state);
virtual int32_t step_motor_enable(int32_t enable) override;
virtual int32_t step_motor_read_pos(int32_t* pos) override;
virtual int32_t step_motor_stop(int32_t breakstop) override;
virtual int32_t step_motor_easy_rotate(int32_t direction) override;
virtual int32_t step_motor_easy_move_by(int32_t distance) override;
virtual int32_t step_motor_easy_move_to(int32_t position) override;
virtual int32_t step_motor_easy_move_to_zero() override;
virtual int32_t step_motor_easy_set_current_pos(int32_t pos) override;
virtual int32_t step_motor_easy_move_to_io(int32_t ioindex, int32_t direction) override;
virtual int32_t step_motor_active_cfg() override;
virtual int32_t step_motor_read_io_state(int32_t ioindex, int32_t* state) override;
private:
void inter_inverse_kinematics(int32_t motor_pos, int32_t& x);
void inter_forward_kinematics(int32_t x, int32_t& motor_pos);
int inter_get_pos();
int inter_get_pos(int32_t& x);
int inter_get_pos();
int inter_get_pos(int32_t& x);
void befor_motor_move();
void after_motor_move();

149
components/zcancmder/zcan_protocol_parser.cpp
View File

@ -15,25 +15,11 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
m_cancmder->registerListener(this);
REGFN(module_ping);
// REGFN(module_stop);
// REGFN(module_break);
// REGFN(module_get_last_exec_status);
REGFN(module_get_status);
REGFN(module_set_reg);
REGFN(module_get_reg);
// REGFN(module_readio);
// REGFN(module_writeio);
// REGFN(module_read_adc);
REGFN(module_get_error);
REGFN(module_clear_error);
// REGFN(module_set_inited_flag);
// REGFN(module_get_inited_flag);
// REGFN(module_factory_reset);
// REGFN(module_flush_cfg);
// REGFN(module_active_cfg);
// REGFN(module_read_raw);
// REGFN(module_enable);
// REGFN(module_start);
REGFN(step_motor_enable);
REGFN(step_motor_read_pos);
@ -43,7 +29,11 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
REGFN(step_motor_easy_move_to_zero);
REGFN(step_motor_easy_set_current_pos);
REGFN(step_motor_easy_move_to_io);
REGFN(step_motor_active_cfg);
REGFN(step_motor_stop);
REGFN(step_motor_read_io_state);
#if 0
REGFN(xymotor_enable);
REGFN(xymotor_move_by);
REGFN(xymotor_move_to);
@ -64,6 +54,7 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
REGFN(a8000_optical_read_scanner_adc_val);
REGFN(a8000_optical_read_laster_adc_val);
REGFN(a8000_optical_scan_current_point_amp_adc_val);
#endif
}
void ZCanProtocolParser::_registerModule(uint16_t id, ZIModule* module) { m_modulers[id] = module; }
void ZCanProtocolParser::registerModule(ZIModule* module) {
@ -137,20 +128,6 @@ int32_t ZCanProtocolParser::module_ping(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
return module->module_ping();
}
// int32_t ZCanProtocolParser::module_stop(cmdcontxt_t* cxt) {
// CHECK_AND_GET_MODULE(0);
// return module->module_stop();
// }
// int32_t ZCanProtocolParser::module_break(cmdcontxt_t* cxt) {
// CHECK_AND_GET_MODULE(0);
// return module->module_break();
// }
// int32_t ZCanProtocolParser::module_get_last_exec_status(cmdcontxt_t* cxt) {
// CHECK_AND_GET_MODULE(0);
// int32_t* ack = (int32_t*)cxt->ackbuf;
// cxt->acklen = 4;
// return module->module_get_last_exec_status(&ack[0]);
// }
int32_t ZCanProtocolParser::module_get_status(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
int32_t* ack = (int32_t*)cxt->ackbuf;
@ -167,22 +144,7 @@ int32_t ZCanProtocolParser::module_get_reg(cmdcontxt_t* cxt) {
cxt->acklen = 4;
return module->module_get_reg(cxt->param[0], &ack[0]);
}
// int32_t ZCanProtocolParser::module_readio(cmdcontxt_t* cxt) {
// CHECK_AND_GET_MODULE(0);
// int32_t* ack = (int32_t*)cxt->ackbuf;
// cxt->acklen = 4;
// return module->module_readio(&ack[0]);
// }
// int32_t ZCanProtocolParser::module_writeio(cmdcontxt_t* cxt) {
// CHECK_AND_GET_MODULE(2);
// return module->module_writeio(cxt->param[0], cxt->param[1]);
// }
// int32_t ZCanProtocolParser::module_read_adc(cmdcontxt_t* cxt) {
// CHECK_AND_GET_MODULE(1);
// int32_t* ack = (int32_t*)cxt->ackbuf;
// cxt->acklen = 4;
// return module->module_read_adc(cxt->param[0], &ack[0]);
// }
int32_t ZCanProtocolParser::module_get_error(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
int32_t* ack = (int32_t*)cxt->ackbuf;
@ -193,42 +155,7 @@ int32_t ZCanProtocolParser::module_clear_error(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
return module->module_clear_error();
}
// int32_t ZCanProtocolParser::module_set_inited_flag(cmdcontxt_t* cxt) {
// CHECK_AND_GET_MODULE(1);
// return module->module_set_inited_flag(cxt->param[0]);
// }
// int32_t ZCanProtocolParser::module_get_inited_flag(cmdcontxt_t* cxt) {
// CHECK_AND_GET_MODULE(1);
// int32_t* ack = (int32_t*)cxt->ackbuf;
// cxt->acklen = 4;
// return module->module_get_inited_flag(&ack[0]);
// }
// int32_t ZCanProtocolParser::module_factory_reset(cmdcontxt_t* cxt) {
// CHECK_AND_GET_MODULE(0);
// return module->module_factory_reset();
// }
// int32_t ZCanProtocolParser::module_flush_cfg(cmdcontxt_t* cxt) {
// CHECK_AND_GET_MODULE(0);
// return module->module_flush_cfg();
// }
// int32_t ZCanProtocolParser::module_active_cfg(cmdcontxt_t* cxt) {
// CHECK_AND_GET_MODULE(0);
// return module->module_active_cfg();
// }
// int32_t ZCanProtocolParser::module_read_raw(cmdcontxt_t* cxt) {
// CHECK_AND_GET_MODULE(1);
// int32_t* ack = (int32_t*)cxt->ackbuf;
// cxt->acklen = ZCANCMD_READ_BUF_MAX_SIZE;
// return module->module_read_raw(cxt->param[0], cxt->ackbuf, &cxt->acklen);
// }
// int32_t ZCanProtocolParser::module_enable(cmdcontxt_t* cxt) {
// CHECK_AND_GET_MODULE(1);
// return module->module_enable(cxt->param[0]);
// }
// int32_t ZCanProtocolParser::module_start(cmdcontxt_t* cxt) {
// CHECK_AND_GET_MODULE(0);
// return module->module_start();
// }
#undef MODULE_CLASS
/***********************************************************************************************************************
@ -276,7 +203,68 @@ int32_t ZCanProtocolParser::step_motor_easy_move_to_io(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(2);
return module->step_motor_easy_move_to_io(cxt->param[0], cxt->param[1]);
}
int32_t ZCanProtocolParser::step_motor_active_cfg(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
return module->step_motor_active_cfg();
}
int32_t ZCanProtocolParser::step_motor_read_io_state(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
int32_t* ack = (int32_t*)cxt->ackbuf;
cxt->acklen = 4;
return module->step_motor_read_io_state(cxt->param[0], ack);
}
#undef MODULE_CLASS
#define MODULE_CLASS ZIMiniServo
// virtual int32_t mini_servo_enable(int32_t enable) = 0;
// virtual int32_t mini_servo_read_pos(int32_t* pos) = 0;
// virtual int32_t mini_servo_active_cfg() = 0;
// virtual int32_t mini_servo_stop(int32_t breakstop) = 0;
// virtual int32_t mini_servo_rotate(int32_t direction) = 0;
// virtual int32_t mini_servo_move_to(int32_t position) = 0;
// virtual int32_t mini_servo_set_mid_point() = 0;
// virtual int32_t mini_servo_read_io_state(int32_t ioindex) = 0;
int32_t ZCanProtocolParser::mini_servo_enable(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->mini_servo_enable(cxt->param[0]);
}
int32_t ZCanProtocolParser::mini_servo_read_pos(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
int32_t* ack = (int32_t*)cxt->ackbuf;
cxt->acklen = 4;
return module->mini_servo_read_pos(&ack[0]);
}
int32_t ZCanProtocolParser::mini_servo_active_cfg(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
return module->mini_servo_active_cfg();
}
int32_t ZCanProtocolParser::mini_servo_stop(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->mini_servo_stop(cxt->param[0]);
}
int32_t ZCanProtocolParser::mini_servo_rotate(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->mini_servo_rotate(cxt->param[0]);
}
int32_t ZCanProtocolParser::mini_servo_move_to(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->mini_servo_move_to(cxt->param[0]);
}
int32_t ZCanProtocolParser::mini_servo_set_mid_point(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
return module->mini_servo_set_mid_point();
}
int32_t ZCanProtocolParser::mini_servo_read_io_state(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
int32_t* ack = (int32_t*)cxt->ackbuf;
cxt->acklen = 4;
return module->mini_servo_read_io_state(cxt->param[0], ack);
}
#if 0
#define MODULE_CLASS ZIXYMotor
int32_t ZCanProtocolParser::xymotor_enable(cmdcontxt_t* cxt) {
@ -392,3 +380,4 @@ int32_t ZCanProtocolParser::a8000_optical_scan_current_point_amp_adc_val(cmdcont
}
#undef MODULE_CLASS
#endif

28
components/zcancmder/zcan_protocol_parser.hpp
View File

@ -47,25 +47,11 @@ class ZCanProtocolParser : public IZCanReceiverListener {
private:
static int32_t module_ping(cmdcontxt_t* cxt);
static int32_t module_stop(cmdcontxt_t* cxt);
static int32_t module_break(cmdcontxt_t* cxt);
// static int32_t module_get_last_exec_status(cmdcontxt_t* cxt);
static int32_t module_get_status(cmdcontxt_t* cxt);
static int32_t module_set_reg(cmdcontxt_t* cxt);
static int32_t module_get_reg(cmdcontxt_t* cxt);
static int32_t module_readio(cmdcontxt_t* cxt);
static int32_t module_writeio(cmdcontxt_t* cxt);
static int32_t module_read_adc(cmdcontxt_t* cxt);
static int32_t module_get_error(cmdcontxt_t* cxt);
static int32_t module_clear_error(cmdcontxt_t* cxt);
static int32_t module_set_inited_flag(cmdcontxt_t* cxt);
static int32_t module_get_inited_flag(cmdcontxt_t* cxt);
static int32_t module_factory_reset(cmdcontxt_t* cxt);
static int32_t module_flush_cfg(cmdcontxt_t* cxt);
static int32_t module_active_cfg(cmdcontxt_t* cxt);
static int32_t module_read_raw(cmdcontxt_t* cxt);
static int32_t module_enable(cmdcontxt_t* cxt);
static int32_t module_start(cmdcontxt_t* cxt);
static int32_t step_motor_enable(cmdcontxt_t* cxt);
static int32_t step_motor_stop(cmdcontxt_t* cxt);
@ -76,8 +62,19 @@ class ZCanProtocolParser : public IZCanReceiverListener {
static int32_t step_motor_easy_move_to_zero(cmdcontxt_t* cxt);
static int32_t step_motor_easy_set_current_pos(cmdcontxt_t* cxt);
static int32_t step_motor_easy_move_to_io(cmdcontxt_t* cxt);
static int32_t step_motor_active_cfg(cmdcontxt_t* cxt);
static int32_t step_motor_read_io_state(cmdcontxt_t* cxt);
static int32_t mini_servo_enable(cmdcontxt_t* cxt);
static int32_t mini_servo_read_pos(cmdcontxt_t* cxt);
static int32_t mini_servo_active_cfg(cmdcontxt_t* cxt);
static int32_t mini_servo_stop(cmdcontxt_t* cxt);
static int32_t mini_servo_rotate(cmdcontxt_t* cxt);
static int32_t mini_servo_move_to(cmdcontxt_t* cxt);
static int32_t mini_servo_set_mid_point(cmdcontxt_t* cxt);
static int32_t mini_servo_read_io_state(cmdcontxt_t* cxt);
#if 0
static int32_t xymotor_enable(cmdcontxt_t* cxt);
static int32_t xymotor_move_by(cmdcontxt_t* cxt);
static int32_t xymotor_move_to(cmdcontxt_t* cxt);
@ -98,6 +95,7 @@ class ZCanProtocolParser : public IZCanReceiverListener {
static int32_t a8000_optical_read_scanner_adc_val(cmdcontxt_t* cxt);
static int32_t a8000_optical_read_laster_adc_val(cmdcontxt_t* cxt);
static int32_t a8000_optical_scan_current_point_amp_adc_val(cmdcontxt_t* cxt);
#endif
};
} // namespace iflytop
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