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a8000_subboard_sdk
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recode

master
zhaohe 1 year ago
parent
9f1aed567d
commit
49bbf5e8ba
4 changed files with 37 additions and 75 deletions
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  1. 8
      components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
  2. 42
      components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
  3. 26
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
  4. 36
      components/zcancmder/zcan_board_module.cpp

8
components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
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@ -332,10 +332,10 @@ int32_t MiniRobotCtrlModule::module_read_adc(int32_t adcindex, int32_t *adc) {
int32_t MiniRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t &val) {
switch (param_id) {
MODULE_COMMON_PROCESS_REG_CB();
PROCESS_REG(kreg_motor_default_torque, REG_GET(m_cfg.default_torque), REG_SET(m_cfg.default_torque));
PROCESS_REG(kreg_motor_default_velocity, REG_GET(m_cfg.default_velocity), REG_SET(m_cfg.default_velocity));
PROCESS_REG(kreg_module_input_state, module_readio(&val), ACTION_NONE);
PROCESS_REG(kreg_robot_pos, motor_read_pos(&val), ACTION_NONE);
PROCESS_REG(kreg_step_motor_default_torque, REG_GET(m_cfg.default_torque), REG_SET(m_cfg.default_torque));
PROCESS_REG(kreg_step_motor_default_velocity, REG_GET(m_cfg.default_velocity), REG_SET(m_cfg.default_velocity));
PROCESS_REG(kreg_step_motor_io_state, module_readio(&val), ACTION_NONE);
PROCESS_REG(kreg_step_motor_pos, motor_read_pos(&val), ACTION_NONE);
default:
return err::kmodule_not_find_config_index;
break;

42
components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
View File

@ -460,27 +460,27 @@ int32_t StepMotorCtrlModule::module_get_error(int32_t* iserror) {
int32_t StepMotorCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
switch (param_id) {
MODULE_COMMON_PROCESS_REG_CB();
PROCESS_REG(kreg_robot_pos, read_pos(val), ACTION_NONE);
PROCESS_REG(kreg_motor_shift, REG_GET(m_param.motor_shift), REG_SET(m_param.motor_shift));
PROCESS_REG(kreg_motor_shaft, REG_GET(m_param.motor_shaft), REG_SET(m_param.motor_shaft));
PROCESS_REG(kreg_motor_one_circle_pulse, REG_GET(m_param.motor_one_circle_pulse), REG_SET(m_param.motor_one_circle_pulse));
PROCESS_REG(kreg_motor_one_circle_pulse_denominator, REG_GET(m_param.motor_one_circle_pulse_denominator), REG_SET(m_param.motor_one_circle_pulse_denominator));
PROCESS_REG(kreg_motor_default_velocity, REG_GET(m_param.motor_default_velocity), REG_SET(m_param.motor_default_velocity));
PROCESS_REG(kreg_motor_default_acc, REG_GET(m_param.motor_default_acc), REG_SET(m_param.motor_default_acc));
PROCESS_REG(kreg_motor_default_dec, REG_GET(m_param.motor_default_dec), REG_SET(m_param.motor_default_dec));
PROCESS_REG(kreg_motor_run_to_zero_max_d, REG_GET(m_param.motor_run_to_zero_max_d), REG_SET(m_param.motor_run_to_zero_max_d));
PROCESS_REG(kreg_motor_look_zero_edge_max_d, REG_GET(m_param.motor_look_zero_edge_max_d), REG_SET(m_param.motor_look_zero_edge_max_d));
PROCESS_REG(kreg_motor_run_to_zero_speed, REG_GET(m_param.motor_run_to_zero_speed), REG_SET(m_param.motor_run_to_zero_speed));
PROCESS_REG(kreg_motor_run_to_zero_dec, REG_GET(m_param.motor_run_to_zero_dec), REG_SET(m_param.motor_run_to_zero_dec));
PROCESS_REG(kreg_motor_look_zero_edge_speed, REG_GET(m_param.motor_look_zero_edge_speed), REG_SET(m_param.motor_look_zero_edge_speed));
PROCESS_REG(kreg_motor_look_zero_edge_dec, REG_GET(m_param.motor_look_zero_edge_dec), REG_SET(m_param.motor_look_zero_edge_dec));
PROCESS_REG(kreg_motor_ihold, REG_GET(m_param.stepmotor_ihold), REG_SET(m_param.stepmotor_ihold));
PROCESS_REG(kreg_motor_irun, REG_GET(m_param.stepmotor_irun), REG_SET(m_param.stepmotor_irun));
PROCESS_REG(kreg_motor_iholddelay, REG_GET(m_param.stepmotor_iholddelay), REG_SET(m_param.stepmotor_iholddelay));
PROCESS_REG(kreg_motor_iglobalscaler, REG_GET(m_param.stepmotor_iglobalscaler), REG_SET(m_param.stepmotor_iglobalscaler));
PROCESS_REG(kreg_motor_max_d, REG_GET(m_param.max_d), REG_SET(m_param.max_d));
PROCESS_REG(kreg_motor_min_d, REG_GET(m_param.min_d), REG_SET(m_param.min_d));
PROCESS_REG(kreg_module_input_state, module_readio(&val), ACTION_NONE);
PROCESS_REG(kreg_step_motor_pos, read_pos(val), ACTION_NONE);
PROCESS_REG(kreg_step_motor_shift, REG_GET(m_param.motor_shift), REG_SET(m_param.motor_shift));
PROCESS_REG(kreg_step_motor_shaft, REG_GET(m_param.motor_shaft), REG_SET(m_param.motor_shaft));
PROCESS_REG(kreg_step_motor_one_circle_pulse, REG_GET(m_param.motor_one_circle_pulse), REG_SET(m_param.motor_one_circle_pulse));
PROCESS_REG(kreg_step_motor_one_circle_pulse_denominator, REG_GET(m_param.motor_one_circle_pulse_denominator), REG_SET(m_param.motor_one_circle_pulse_denominator));
PROCESS_REG(kreg_step_motor_default_velocity, REG_GET(m_param.motor_default_velocity), REG_SET(m_param.motor_default_velocity));
PROCESS_REG(kreg_step_motor_default_acc, REG_GET(m_param.motor_default_acc), REG_SET(m_param.motor_default_acc));
PROCESS_REG(kreg_step_motor_default_dec, REG_GET(m_param.motor_default_dec), REG_SET(m_param.motor_default_dec));
PROCESS_REG(kreg_step_motor_run_to_zero_max_d, REG_GET(m_param.motor_run_to_zero_max_d), REG_SET(m_param.motor_run_to_zero_max_d));
PROCESS_REG(kreg_step_motor_look_zero_edge_max_d, REG_GET(m_param.motor_look_zero_edge_max_d), REG_SET(m_param.motor_look_zero_edge_max_d));
PROCESS_REG(kreg_step_motor_run_to_zero_speed, REG_GET(m_param.motor_run_to_zero_speed), REG_SET(m_param.motor_run_to_zero_speed));
PROCESS_REG(kreg_step_motor_run_to_zero_dec, REG_GET(m_param.motor_run_to_zero_dec), REG_SET(m_param.motor_run_to_zero_dec));
PROCESS_REG(kreg_step_motor_look_zero_edge_speed, REG_GET(m_param.motor_look_zero_edge_speed), REG_SET(m_param.motor_look_zero_edge_speed));
PROCESS_REG(kreg_step_motor_look_zero_edge_dec, REG_GET(m_param.motor_look_zero_edge_dec), REG_SET(m_param.motor_look_zero_edge_dec));
PROCESS_REG(kreg_step_motor_ihold, REG_GET(m_param.stepmotor_ihold), REG_SET(m_param.stepmotor_ihold));
PROCESS_REG(kreg_step_motor_irun, REG_GET(m_param.stepmotor_irun), REG_SET(m_param.stepmotor_irun));
PROCESS_REG(kreg_step_motor_iholddelay, REG_GET(m_param.stepmotor_iholddelay), REG_SET(m_param.stepmotor_iholddelay));
PROCESS_REG(kreg_step_motor_iglobalscaler, REG_GET(m_param.stepmotor_iglobalscaler), REG_SET(m_param.stepmotor_iglobalscaler));
PROCESS_REG(kreg_step_motor_max_d, REG_GET(m_param.max_d), REG_SET(m_param.max_d));
PROCESS_REG(kreg_step_motor_min_d, REG_GET(m_param.min_d), REG_SET(m_param.min_d));
PROCESS_REG(kreg_step_motor_io_state, module_readio(&val), ACTION_NONE);
default:
return err::kmodule_not_find_config_index;

26
components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
View File

@ -655,17 +655,17 @@ int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t&
switch (param_id) {
MODULE_COMMON_PROCESS_REG_CB();
PROCESS_REG(kreg_motor_default_velocity, REG_GET(m_basecfg.maxspeed), REG_SET(m_basecfg.maxspeed));
PROCESS_REG(kreg_motor_default_acc, REG_GET(m_basecfg.acc), REG_SET(m_basecfg.acc));
PROCESS_REG(kreg_motor_default_dec, REG_GET(m_basecfg.dec), REG_SET(m_basecfg.dec));
PROCESS_REG(kreg_motor_default_break_dec, REG_GET(m_basecfg.breakdec), REG_SET(m_basecfg.breakdec));
PROCESS_REG(kreg_motor_run_to_zero_speed, REG_GET(m_basecfg.run_to_zero_speed), REG_SET(m_basecfg.run_to_zero_speed));
PROCESS_REG(kreg_motor_run_to_zero_dec, REG_GET(m_basecfg.run_to_zero_dec), REG_SET(m_basecfg.run_to_zero_dec));
PROCESS_REG(kreg_motor_look_zero_edge_speed, REG_GET(m_basecfg.look_zero_edge_speed), REG_SET(m_basecfg.look_zero_edge_speed));
PROCESS_REG(kreg_motor_look_zero_edge_dec, REG_GET(m_basecfg.look_zero_edge_dec), REG_SET(m_basecfg.look_zero_edge_dec));
PROCESS_REG(kreg_motor_ihold, REG_GET(m_basecfg.ihold), REG_SET(m_basecfg.ihold));
PROCESS_REG(kreg_motor_irun, REG_GET(m_basecfg.irun), REG_SET(m_basecfg.irun));
PROCESS_REG(kreg_motor_iholddelay, REG_GET(m_basecfg.iholddelay), REG_SET(m_basecfg.iholddelay));
PROCESS_REG(kreg_xyrobot_default_velocity, REG_GET(m_basecfg.maxspeed), REG_SET(m_basecfg.maxspeed));
PROCESS_REG(kreg_xyrobot_default_acc, REG_GET(m_basecfg.acc), REG_SET(m_basecfg.acc));
PROCESS_REG(kreg_xyrobot_default_dec, REG_GET(m_basecfg.dec), REG_SET(m_basecfg.dec));
PROCESS_REG(kreg_xyrobot_default_break_dec, REG_GET(m_basecfg.breakdec), REG_SET(m_basecfg.breakdec));
PROCESS_REG(kreg_xyrobot_run_to_zero_speed, REG_GET(m_basecfg.run_to_zero_speed), REG_SET(m_basecfg.run_to_zero_speed));
PROCESS_REG(kreg_xyrobot_run_to_zero_dec, REG_GET(m_basecfg.run_to_zero_dec), REG_SET(m_basecfg.run_to_zero_dec));
PROCESS_REG(kreg_xyrobot_look_zero_edge_speed, REG_GET(m_basecfg.look_zero_edge_speed), REG_SET(m_basecfg.look_zero_edge_speed));
PROCESS_REG(kreg_xyrobot_look_zero_edge_dec, REG_GET(m_basecfg.look_zero_edge_dec), REG_SET(m_basecfg.look_zero_edge_dec));
PROCESS_REG(kreg_xyrobot_ihold, REG_GET(m_basecfg.ihold), REG_SET(m_basecfg.ihold));
PROCESS_REG(kreg_xyrobot_irun, REG_GET(m_basecfg.irun), REG_SET(m_basecfg.irun));
PROCESS_REG(kreg_xyrobot_iholddelay, REG_GET(m_basecfg.iholddelay), REG_SET(m_basecfg.iholddelay));
PROCESS_REG(kreg_xyrobot_x_shift, REG_GET(m_basecfg.shift_x), REG_SET(m_basecfg.shift_x));
PROCESS_REG(kreg_xyrobot_y_shift, REG_GET(m_basecfg.shift_y), REG_SET(m_basecfg.shift_y));
@ -678,9 +678,7 @@ int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t&
PROCESS_REG(kreg_xyrobot_look_zero_edge_max_x_d, REG_GET(m_basecfg.look_zero_edge_max_d), REG_SET(m_basecfg.look_zero_edge_max_d));
PROCESS_REG(kreg_xyrobot_look_zero_edge_max_y_d, REG_GET(m_basecfg.look_zero_edge_max_d), REG_SET(m_basecfg.look_zero_edge_max_d));
PROCESS_REG(kreg_xyrobot_robot_type, REG_GET(m_basecfg.robot_type), REG_SET(m_basecfg.robot_type));
PROCESS_REG(kreg_xyrobot_x_pos, REG_GET(m_x), ACTION_NONE);
PROCESS_REG(kreg_xyrobot_y_pos, REG_GET(m_y), ACTION_NONE);
PROCESS_REG(kreg_module_input_state, module_readio(&val), ACTION_NONE);
PROCESS_REG(kreg_xyrobot_io_state0, module_readio(&val), ACTION_NONE);
default:
return err::kmodule_not_find_config_index;

36
components/zcancmder/zcan_board_module.cpp
View File

@ -46,42 +46,6 @@ int32_t ZCanBoardModule::module_xxx_reg(int32_t param_id, bool read, int32_t &va
switch (param_id) {
PROCESS_REG(kreg_module_version, /* */ REG_GET(0x0001), ACTION_NONE);
PROCESS_REG(kreg_module_type, /* */ REG_GET(0), ACTION_NONE);
PROCESS_REG(kreg_module_initflag, /* */ REG_GET(module_get_inited_flag()), module_set_inited_flag(val));
PROCESS_REG(kreg_module_output_state, /* */ REG_GET(readoutput()), ACTION_NONE);
PROCESS_REG(kreg_module_input_state, /* */ REG_GET(readinput()), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature0, readTemperature(0, val), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature1, readTemperature(1, val), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature2, readTemperature(2, val), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature3, readTemperature(3, val), ACTION_NONE);
PROCESS_REG(kreg_pwm0_duty, readPwmDuty(0, val), setPwmDuty(0, val));
PROCESS_REG(kreg_pwm1_duty, readPwmDuty(1, val), setPwmDuty(1, val));
PROCESS_REG(kreg_pwm2_duty, readPwmDuty(2, val), setPwmDuty(2, val));
PROCESS_REG(kreg_pwm3_duty, readPwmDuty(3, val), setPwmDuty(3, val));
PROCESS_REG(kreg_pwm4_duty, readPwmDuty(4, val), setPwmDuty(4, val));
PROCESS_REG(kreg_pwm5_duty, readPwmDuty(5, val), setPwmDuty(5, val));
PROCESS_REG(kreg_pwm6_duty, readPwmDuty(6, val), setPwmDuty(6, val));
PROCESS_REG(kreg_pwm7_duty, readPwmDuty(7, val), setPwmDuty(7, val));
PROCESS_REG(kreg_pwm0_ctrl, getPwmState(0, val), setPwmState(0, val));
PROCESS_REG(kreg_pwm1_ctrl, getPwmState(1, val), setPwmState(1, val));
PROCESS_REG(kreg_pwm2_ctrl, getPwmState(2, val), setPwmState(2, val));
PROCESS_REG(kreg_pwm3_ctrl, getPwmState(3, val), setPwmState(3, val));
PROCESS_REG(kreg_pwm4_ctrl, getPwmState(4, val), setPwmState(4, val));
PROCESS_REG(kreg_pwm5_ctrl, getPwmState(5, val), setPwmState(5, val));
PROCESS_REG(kreg_pwm6_ctrl, getPwmState(6, val), setPwmState(6, val));
PROCESS_REG(kreg_pwm7_ctrl, getPwmState(7, val), setPwmState(7, val));
PROCESS_REG(kreg_pwm0_freq, readPwmFreq(0, val), setPwmFreq(0, val));
PROCESS_REG(kreg_pwm1_freq, readPwmFreq(1, val), setPwmFreq(1, val));
PROCESS_REG(kreg_pwm2_freq, readPwmFreq(2, val), setPwmFreq(2, val));
PROCESS_REG(kreg_pwm3_freq, readPwmFreq(3, val), setPwmFreq(3, val));
PROCESS_REG(kreg_pwm4_freq, readPwmFreq(4, val), setPwmFreq(4, val));
PROCESS_REG(kreg_pwm5_freq, readPwmFreq(5, val), setPwmFreq(5, val));
PROCESS_REG(kreg_pwm6_freq, readPwmFreq(6, val), setPwmFreq(6, val));
PROCESS_REG(kreg_pwm7_freq, readPwmFreq(7, val), setPwmFreq(7, val));
default:
return err::kmodule_not_find_config_index;
break;

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