project_boditech_vidas_a8000_v3
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a8000_subboard_sdk
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update

master
zhaohe 1 year ago
parent
f59bc6e7b8
commit
e4698b9839
5 changed files with 35 additions and 34 deletions
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  1. 1
      components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
  2. 2
      components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
  3. 60
      components/zcancmder/zcan_protocol_parser.cpp
  4. 5
      components/zcancmder/zcan_protocol_parser.hpp
  5. 1
      components/zcancmder/zcanreceiver.cpp

1
components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
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@ -45,6 +45,7 @@ void StepMotorCtrlModule::create_default_cfg(config_t& cfg) {
* EXT *
***********************************************************************************************************************/
int32_t StepMotorCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
ZLOGI(TAG, "m%d module_xxx_reg %d %d", m_id, param_id, read);
switch (param_id) {
MODULE_COMMON_PROCESS_REG_CB();
PROCESS_REG(kreg_step_motor_pos, inter_get_pos(val), ACTION_NONE);

2
components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
View File

@ -60,7 +60,7 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
return 0;
}
virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val);
virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val) override;
virtual int32_t module_stop() override { return step_motor_stop(0); }
virtual int32_t module_active_cfg() override { return step_motor_active_cfg(); }
/***********************************************************************************************************************

60
components/zcancmder/zcan_protocol_parser.cpp
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@ -74,7 +74,7 @@ void ZCanProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data,
ZIModule* module = it->second;
int32_t cmdid = CMDID(rxcmd->cmdMainId, rxcmd->cmdSubId);
_onRceivePacket(module, rxcmd, cmdid, data, len);
_onRceivePacket(module, rxcmd, cmdid, rxcmd->data, len);
}
void ZCanProtocolParser::regCmdFn(int32_t cmdid, cmdcb_t cb) {
@ -104,7 +104,8 @@ void ZCanProtocolParser::_onRceivePacket(ZIModule* module, zcr_cmd_header_t* rxc
cxt.module = module;
cxt.rxcmd = rxcmd;
cxt.cmdid = cmdid;
cxt.param = param;
cxt.params = (int32_t*)param;
cxt.paramRaw = param;
cxt.paramlen = len;
cxt.acklen = 0;
cxt.ackbuf = ackbuf;
@ -136,13 +137,14 @@ int32_t ZCanProtocolParser::module_get_status(cmdcontxt_t* cxt) {
}
int32_t ZCanProtocolParser::module_set_reg(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(2);
return module->module_set_reg(cxt->param[0], cxt->param[1]);
return module->module_set_reg(cxt->params[0], cxt->params[1]);
}
int32_t ZCanProtocolParser::module_get_reg(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
int32_t* ack = (int32_t*)cxt->ackbuf;
cxt->acklen = 4;
return module->module_get_reg(cxt->param[0], &ack[0]);
ZLOGI(TAG, "module_get_reg %d", cxt->params[0]);
return module->module_get_reg(cxt->params[0], &ack[0]);
}
int32_t ZCanProtocolParser::module_get_error(cmdcontxt_t* cxt) {
@ -175,11 +177,11 @@ int32_t ZCanProtocolParser::module_active_cfg(cmdcontxt_t* cxt) {
int32_t ZCanProtocolParser::step_motor_enable(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->step_motor_enable(cxt->param[0]);
return module->step_motor_enable(cxt->params[0]);
}
int32_t ZCanProtocolParser::step_motor_stop(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->step_motor_stop(cxt->param[0]);
return module->step_motor_stop(cxt->params[0]);
}
int32_t ZCanProtocolParser::step_motor_read_pos(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
@ -189,16 +191,16 @@ int32_t ZCanProtocolParser::step_motor_read_pos(cmdcontxt_t* cxt) {
}
int32_t ZCanProtocolParser::step_motor_easy_rotate(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->step_motor_easy_rotate(cxt->param[0]);
return module->step_motor_easy_rotate(cxt->params[0]);
}
int32_t ZCanProtocolParser::step_motor_easy_move_by(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->step_motor_easy_move_by(cxt->param[0]);
return module->step_motor_easy_move_by(cxt->params[0]);
}
int32_t ZCanProtocolParser::step_motor_easy_move_to(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->step_motor_easy_move_to(cxt->param[0]);
return module->step_motor_easy_move_to(cxt->params[0]);
}
int32_t ZCanProtocolParser::step_motor_easy_move_to_zero(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
@ -206,11 +208,11 @@ int32_t ZCanProtocolParser::step_motor_easy_move_to_zero(cmdcontxt_t* cxt) {
}
int32_t ZCanProtocolParser::step_motor_easy_set_current_pos(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->step_motor_easy_set_current_pos(cxt->param[0]);
return module->step_motor_easy_set_current_pos(cxt->params[0]);
}
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]);
return module->step_motor_easy_move_to_io(cxt->params[0], cxt->params[1]);
}
int32_t ZCanProtocolParser::step_motor_active_cfg(cmdcontxt_t* cxt) {
@ -221,7 +223,7 @@ 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);
return module->step_motor_read_io_state(cxt->params[0], ack);
}
#undef MODULE_CLASS
@ -238,7 +240,7 @@ int32_t ZCanProtocolParser::step_motor_read_io_state(cmdcontxt_t* cxt) {
// 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]);
return module->mini_servo_enable(cxt->params[0]);
}
int32_t ZCanProtocolParser::mini_servo_read_pos(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
@ -252,15 +254,15 @@ int32_t ZCanProtocolParser::mini_servo_active_cfg(cmdcontxt_t* cxt) {
}
int32_t ZCanProtocolParser::mini_servo_stop(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->mini_servo_stop(cxt->param[0]);
return module->mini_servo_stop(cxt->params[0]);
}
int32_t ZCanProtocolParser::mini_servo_rotate(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->mini_servo_rotate(cxt->param[0]);
return module->mini_servo_rotate(cxt->params[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]);
return module->mini_servo_move_to(cxt->params[0]);
}
int32_t ZCanProtocolParser::mini_servo_set_mid_point(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
@ -270,7 +272,7 @@ 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);
return module->mini_servo_read_io_state(cxt->params[0], ack);
}
#if 0
@ -278,17 +280,17 @@ int32_t ZCanProtocolParser::mini_servo_read_io_state(cmdcontxt_t* cxt) {
#define MODULE_CLASS ZIXYMotor
int32_t ZCanProtocolParser::xymotor_enable(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->xymotor_enable(cxt->param[0]);
return module->xymotor_enable(cxt->params[0]);
}
int32_t ZCanProtocolParser::xymotor_move_by(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(3);
return module->xymotor_move_by(cxt->param[0], cxt->param[1], cxt->param[2]);
return module->xymotor_move_by(cxt->params[0], cxt->params[1], cxt->params[2]);
}
int32_t ZCanProtocolParser::xymotor_move_to(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(3);
return module->xymotor_move_to(cxt->param[0], cxt->param[1], cxt->param[2]);
return module->xymotor_move_to(cxt->params[0], cxt->params[1], cxt->params[2]);
}
int32_t ZCanProtocolParser::xymotor_move_to_zero(cmdcontxt_t* cxt) {
@ -332,7 +334,7 @@ int32_t ZCanProtocolParser::pipette_ctrl_put_tip(cmdcontxt_t* cxt) {
int32_t ZCanProtocolParser::pipette_ctrl_move_to_ul(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->pipette_ctrl_move_to_ul(cxt->param[0]);
return module->pipette_ctrl_move_to_ul(cxt->params[0]);
}
#undef MODULE_CLASS
@ -344,48 +346,48 @@ int32_t ZCanProtocolParser::pipette_ctrl_move_to_ul(cmdcontxt_t* cxt) {
#define MODULE_CLASS ZIA8000OpticalModule
int32_t ZCanProtocolParser::a8000_optical_module_power_ctrl(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->a8000_optical_module_power_ctrl(cxt->param[0]);
return module->a8000_optical_module_power_ctrl(cxt->params[0]);
}
int32_t ZCanProtocolParser::a8000_optical_open_laser(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->a8000_optical_open_laser(cxt->param[0]);
return module->a8000_optical_open_laser(cxt->params[0]);
}
int32_t ZCanProtocolParser::a8000_optical_close_laser(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->a8000_optical_close_laser(cxt->param[0]);
return module->a8000_optical_close_laser(cxt->params[0]);
}
int32_t ZCanProtocolParser::a8000_optical_set_laster_gain(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(2);
return module->a8000_optical_set_laster_gain(cxt->param[0], cxt->param[1]);
return module->a8000_optical_set_laster_gain(cxt->params[0], cxt->params[1]);
}
int32_t ZCanProtocolParser::a8000_optical_set_scan_amp_gain(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(2);
return module->a8000_optical_set_scan_amp_gain(cxt->param[0], cxt->param[1]);
return module->a8000_optical_set_scan_amp_gain(cxt->params[0], cxt->params[1]);
}
int32_t ZCanProtocolParser::a8000_optical_read_scanner_adc_val(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
int32_t* ack = (int32_t*)cxt->ackbuf;
cxt->acklen = 4;
return module->a8000_optical_read_scanner_adc_val(cxt->param[0], &ack[0]);
return module->a8000_optical_read_scanner_adc_val(cxt->params[0], &ack[0]);
}
int32_t ZCanProtocolParser::a8000_optical_read_laster_adc_val(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
int32_t* ack = (int32_t*)cxt->ackbuf;
cxt->acklen = 4;
return module->a8000_optical_read_laster_adc_val(cxt->param[0], &ack[0]);
return module->a8000_optical_read_laster_adc_val(cxt->params[0], &ack[0]);
}
int32_t ZCanProtocolParser::a8000_optical_scan_current_point_amp_adc_val(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(4);
int32_t* ack = (int32_t*)cxt->ackbuf;
cxt->acklen = 8;
return module->a8000_optical_scan_current_point_amp_adc_val(cxt->param[0], cxt->param[1], cxt->param[2], &ack[0], &ack[1]);
return module->a8000_optical_scan_current_point_amp_adc_val(cxt->params[0], cxt->params[1], cxt->params[2], &ack[0], &ack[1]);
}
#undef MODULE_CLASS

5
components/zcancmder/zcan_protocol_parser.hpp
View File

@ -11,7 +11,8 @@ class ZCanProtocolParser : public IZCanReceiverListener {
ZIModule* module;
zcr_cmd_header_t* rxcmd;
int32_t cmdid;
uint8_t* param;
int32_t* params;
uint8_t* paramRaw;
int32_t paramlen;
int32_t acklen;
uint8_t* ackbuf;
@ -55,8 +56,6 @@ class ZCanProtocolParser : public IZCanReceiverListener {
static int32_t module_stop(cmdcontxt_t* cxt);
static int32_t module_active_cfg(cmdcontxt_t* cxt);
static int32_t step_motor_enable(cmdcontxt_t* cxt);
static int32_t step_motor_stop(cmdcontxt_t* cxt);
static int32_t step_motor_read_pos(cmdcontxt_t* cxt);

1
components/zcancmder/zcanreceiver.cpp
View File

@ -354,7 +354,6 @@ void ZCanReceiver::loop() {
}
rxbuf->rxdataSize = dataoff;
// ZLOGI(TAG,"rx packet");
for (auto &var : m_listenerList) {
if (var) var->onRceivePacket(rxbuf->get_cmdheader(), rxbuf->get_params(), rxbuf->get_params_len());
}

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