完成eq20上位机

components/eq_20_asb_motor/eq20_servomotor.cpp

@@ -118,7 +118,7 @@ int32_t Eq20ServoMotor::move_to_zero_backward(int32_t lookzeropoint_rpm, int32_t
 }
 
 int32_t Eq20ServoMotor::get_pos(int32_t &pos) {
-  DO(readreg(2036, pos));
+  DO(read_reg(2036, pos));
   return 0;
 }
 
@@ -132,9 +132,10 @@ int32_t Eq20ServoMotor::stop() {
   DO(write_pn_bit(1501, 1, 0));
   return 0;
 }
+// 2110
 
 int32_t Eq20ServoMotor::get_servo_internal_state(servo_internal_status_t &state) {
-  DO(read_pn(1065, (int32_t &)state.data.status));
+  DO(read_pn(1055, (int32_t &)state.data.status));
   return 0;
 }
 
@@ -148,10 +149,10 @@ int32_t Eq20ServoMotor::get_servo_internal_state(servo_internal_status_t &state)
   }                                                 \
   return ret;
 
-int32_t Eq20ServoMotor::writereg(uint32_t regadd, int32_t value) {  //
+int32_t Eq20ServoMotor::write_reg(uint32_t regadd, int32_t value) {  //
   AUTO_RESEND(_writereg(regadd, value));
 }
-int32_t Eq20ServoMotor::readreg(uint32_t regadd, int32_t &value) {  //
+int32_t Eq20ServoMotor::read_reg(uint32_t regadd, int32_t &value) {  //
   AUTO_RESEND(_readreg(regadd, value));
 }
 int32_t Eq20ServoMotor::write_reg_bit(uint32_t regadd, int32_t off, int32_t value) {  //
@@ -178,10 +179,10 @@ int32_t Eq20ServoMotor::_read_pn_bit(uint32_t pnadd, int32_t off, int32_t &value
  *                                     REG                                     *
  *******************************************************************************/
 int32_t Eq20ServoMotor::_writereg(uint32_t regadd, int32_t value) {  //
-  return m_modbusBlockHost->writeReg10Muti(m_deviceId, regadd, (uint16_t *)&value, 2, 100);
+  return m_modbusBlockHost->writeReg10Muti(m_deviceId, regadd, (uint16_t *)&value, 2, 300);
 }
 int32_t Eq20ServoMotor::_readreg(uint32_t regadd, int32_t &value) {  //
-  return m_modbusBlockHost->readReg03Muti(m_deviceId, regadd, (uint16_t *)&value, 2, 100);
+  return m_modbusBlockHost->readReg03Muti(m_deviceId, regadd, (uint16_t *)&value, 2, 300);
 }
 int32_t Eq20ServoMotor::_write_reg_bit(uint32_t regadd, int32_t off, int32_t value) {
   int32_t regval;

components/eq_20_asb_motor/eq20_servomotor.hpp

@@ -88,8 +88,8 @@ class Eq20ServoMotor {
   int32_t get_pos(int32_t &pos);
 
  public:
-  int32_t writereg(uint32_t regadd, int32_t value);
-  int32_t readreg(uint32_t regadd, int32_t &value);
+  int32_t write_reg(uint32_t regadd, int32_t value);
+  int32_t read_reg(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);
 

components/eq_20_asb_motor/script_cmder_eq20_servomotor.cpp

@@ -47,7 +47,6 @@ static void cmd_dump_ack(Eq20ServoMotor::servo_internal_status_t ack) {  //
   ZLOGI(TAG, "is_over_travel         :%d", ack.data.sbit.is_over_travel);
   ZLOGI(TAG, "encoder_battery_warning:%d", ack.data.sbit.encoder_battery_warning);
   ZLOGI(TAG, "encoder_battery_report :%d", ack.data.sbit.encoder_battery_report);
-
 }
 static bool streq(const char* a, const char* b) { return strcmp(a, b) == 0; }
 
@@ -67,4 +66,15 @@ void ScriptCmderEq20Servomotor::regcmd() {
   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);
+
+
+  REG_CMD_WITH_ACK("eq20_", read_pn, "(id,pnadd)", 2, int32_t, con->getInt(2), ack);
+  REG_CMD___NO_ACK("eq20_", write_pn, "(id,pnadd,value)", 3, con->getInt(2), con->getInt(3));
+  REG_CMD___NO_ACK("eq20_", write_pn_bit, "(id,pnadd,off,value)", 4, con->getInt(2), con->getInt(3), con->getInt(4));
+  REG_CMD_WITH_ACK("eq20_", read_pn_bit, "(id,pnadd,off)", 3, int32_t, con->getInt(2), con->getInt(3), ack);
+
+  REG_CMD___NO_ACK("eq20_", write_reg, "(id,regadd,value)", 3, con->getInt(2), con->getInt(3));
+  REG_CMD_WITH_ACK("eq20_", read_reg, "(id,regadd)", 2, int32_t, con->getInt(2), ack);
+  REG_CMD___NO_ACK("eq20_", write_reg_bit, "(id,regadd,off,value)", 4, con->getInt(2), con->getInt(3), con->getInt(4));
+  REG_CMD_WITH_ACK("eq20_", read_reg_bit, "(id,regadd,off)", 3, int32_t, con->getInt(2), con->getInt(3), ack);
 }