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update

master
zhaohe 2 years ago
parent
70d598bc44
commit
e5b9ed2ff4
10 changed files with 279 additions and 105 deletions
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  1. 76
      components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
  2. 7
      components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
  3. 4
      components/tmc/basic/tmc_ic_interface.hpp
  4. 5
      components/tmc/ic/ztmc4361A.cpp
  5. 4
      components/tmc/ic/ztmc4361A.hpp
  6. 6
      components/tmc/ic/ztmc5130.cpp
  7. 4
      components/tmc/ic/ztmc5130.hpp
  8. 274
      components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp
  9. 2
      components/zprotocols/zcancmder
  10. 2
      components/zprotocols/zcancmder_v2

76
components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
View File

@ -565,13 +565,14 @@ void StepMotorCtrlModule::call_exec_status_cb(int32_t status, action_cb_status_t
} }
void StepMotorCtrlModule::create_default_cfg(flash_config_t& cfg) { void StepMotorCtrlModule::create_default_cfg(flash_config_t& cfg) {
memset(&cfg, 0, sizeof(cfg)); memset(&cfg, 0, sizeof(cfg));
cfg.base_param.distance_scale = 10000;
cfg.base_param.ihold = 1;
cfg.base_param.irun = 3;
cfg.base_param.iholddelay = 100;
cfg.base_param.acc = 300;
cfg.base_param.dec = 300;
cfg.base_param.maxspeed = 800;
cfg.base_param.distance_scale = 10000;
cfg.base_param.distance_scale_denominator = 1;
cfg.base_param.ihold = 1;
cfg.base_param.irun = 3;
cfg.base_param.iholddelay = 100;
cfg.base_param.acc = 300;
cfg.base_param.dec = 300;
cfg.base_param.maxspeed = 500;
cfg.base_param.run_to_zero_max_d = 10000 * 100; cfg.base_param.run_to_zero_max_d = 10000 * 100;
cfg.base_param.run_to_zero_speed = 100; cfg.base_param.run_to_zero_speed = 100;
@ -604,6 +605,7 @@ int32_t StepMotorCtrlModule::factory_reset() {
void StepMotorCtrlModule::active_cfg() { void StepMotorCtrlModule::active_cfg() {
m_stepM1->setIHOLD_IRUN(m_param.ihold, m_param.irun, m_param.iholddelay); m_stepM1->setIHOLD_IRUN(m_param.ihold, m_param.irun, m_param.iholddelay);
m_stepM1->setScale(m_param.distance_scale); m_stepM1->setScale(m_param.distance_scale);
m_stepM1->setScale(m_param.distance_scale_denominator);
m_stepM1->setMotorShaft(m_param.x_shaft); m_stepM1->setMotorShaft(m_param.x_shaft);
} }
@ -664,15 +666,16 @@ int32_t StepMotorCtrlModule::module_get_error(int32_t* iserror) {
int32_t StepMotorCtrlModule::module_set_reg(int32_t param_id, int32_t val) { int32_t StepMotorCtrlModule::module_set_reg(int32_t param_id, int32_t val) {
switch (param_id) { switch (param_id) {
SET_REG(kreg_motor_x_shift, m_param.shift_x);
SET_REG(kreg_motor_x_shaft, m_param.x_shaft);
SET_REG(kreg_motor_x_one_circle_pulse, m_param.distance_scale);
SET_REG(kreg_motor_shift, m_param.shift_x);
SET_REG(kreg_motor_shaft, m_param.x_shaft);
SET_REG(kreg_motor_one_circle_pulse, m_param.distance_scale);
SET_REG(kreg_motor_one_circle_pulse_denominator, m_param.distance_scale_denominator);
SET_REG(kreg_motor_default_velocity, m_param.maxspeed); SET_REG(kreg_motor_default_velocity, m_param.maxspeed);
SET_REG(kreg_motor_default_acc, m_param.acc); SET_REG(kreg_motor_default_acc, m_param.acc);
SET_REG(kreg_motor_default_dec, m_param.dec); SET_REG(kreg_motor_default_dec, m_param.dec);
// SET_REG(kreg_motor_default_break_dec, m_param.dec); // SET_REG(kreg_motor_default_break_dec, m_param.dec);
SET_REG(kreg_motor_run_to_zero_max_x_d, m_param.run_to_zero_max_d);
SET_REG(kreg_motor_look_zero_edge_max_x_d, m_param.look_zero_edge_max_d);
SET_REG(kreg_motor_run_to_zero_max_d, m_param.run_to_zero_max_d);
SET_REG(kreg_motor_look_zero_edge_max_d, m_param.look_zero_edge_max_d);
SET_REG(kreg_motor_run_to_zero_speed, m_param.run_to_zero_speed); SET_REG(kreg_motor_run_to_zero_speed, m_param.run_to_zero_speed);
SET_REG(kreg_motor_run_to_zero_dec, m_param.run_to_zero_dec); SET_REG(kreg_motor_run_to_zero_dec, m_param.run_to_zero_dec);
SET_REG(kreg_motor_look_zero_edge_speed, m_param.look_zero_edge_speed); SET_REG(kreg_motor_look_zero_edge_speed, m_param.look_zero_edge_speed);
@ -690,15 +693,16 @@ int32_t StepMotorCtrlModule::module_get_reg(int32_t param_id, int32_t* val) {
read_pos(nowpos); read_pos(nowpos);
switch (param_id) { switch (param_id) {
GET_REG(kreg_motor_x_shift, m_param.shift_x);
GET_REG(kreg_motor_x_shaft, m_param.x_shaft);
GET_REG(kreg_motor_x_one_circle_pulse, m_param.distance_scale);
GET_REG(kreg_motor_shift, m_param.shift_x);
GET_REG(kreg_motor_shaft, m_param.x_shaft);
GET_REG(kreg_motor_one_circle_pulse, m_param.distance_scale);
GET_REG(kreg_motor_one_circle_pulse_denominator, m_param.distance_scale_denominator);
GET_REG(kreg_motor_default_velocity, m_param.maxspeed); GET_REG(kreg_motor_default_velocity, m_param.maxspeed);
GET_REG(kreg_motor_default_acc, m_param.acc); GET_REG(kreg_motor_default_acc, m_param.acc);
GET_REG(kreg_motor_default_dec, m_param.dec); GET_REG(kreg_motor_default_dec, m_param.dec);
// GET_REG(kreg_motor_default_break_dec, m_param.dec); // GET_REG(kreg_motor_default_break_dec, m_param.dec);
GET_REG(kreg_motor_run_to_zero_max_x_d, m_param.run_to_zero_max_d);
GET_REG(kreg_motor_look_zero_edge_max_x_d, m_param.look_zero_edge_max_d);
GET_REG(kreg_motor_run_to_zero_max_d, m_param.run_to_zero_max_d);
GET_REG(kreg_motor_look_zero_edge_max_d, m_param.look_zero_edge_max_d);
GET_REG(kreg_motor_run_to_zero_speed, m_param.run_to_zero_speed); GET_REG(kreg_motor_run_to_zero_speed, m_param.run_to_zero_speed);
GET_REG(kreg_motor_run_to_zero_dec, m_param.run_to_zero_dec); GET_REG(kreg_motor_run_to_zero_dec, m_param.run_to_zero_dec);
GET_REG(kreg_motor_look_zero_edge_speed, m_param.look_zero_edge_speed); GET_REG(kreg_motor_look_zero_edge_speed, m_param.look_zero_edge_speed);
@ -710,7 +714,7 @@ int32_t StepMotorCtrlModule::module_get_reg(int32_t param_id, int32_t* val) {
GET_REG(kreg_module_status, m_thread.isworking() ? 0x01 : 0x00); GET_REG(kreg_module_status, m_thread.isworking() ? 0x01 : 0x00);
GET_REG(kreg_module_errorcode, 0); GET_REG(kreg_module_errorcode, 0);
GET_REG(kreg_module_enableflag, m_enable); GET_REG(kreg_module_enableflag, m_enable);
GET_REG(kreg_robot_x_pos, nowpos);
GET_REG(kreg_robot_pos, nowpos);
GET_REG(kreg_module_last_cmd_exec_status, m_module_last_cmd_exec_status); GET_REG(kreg_module_last_cmd_exec_status, m_module_last_cmd_exec_status);
GET_REG(kreg_module_last_cmd_exec_val0, m_module_last_cmd_exec_val0); GET_REG(kreg_module_last_cmd_exec_val0, m_module_last_cmd_exec_val0);
@ -726,7 +730,6 @@ int32_t StepMotorCtrlModule::module_get_reg(int32_t param_id, int32_t* val) {
return 0; return 0;
} }
int32_t StepMotorCtrlModule::module_clear_error() { return 0; } int32_t StepMotorCtrlModule::module_clear_error() { return 0; }
int32_t StepMotorCtrlModule::module_readio(int32_t* io) { int32_t StepMotorCtrlModule::module_readio(int32_t* io) {
@ -867,3 +870,38 @@ int32_t StepMotorCtrlModule::motor_calculated_pos_by_move_to_zero() {
[this]() { _motor_stop(); }); [this]() { _motor_stop(); });
return 0; return 0;
} }
int32_t StepMotorCtrlModule::motor_easy_rotate(int32_t direction) {
zlock_guard lock(m_lock);
ZLOGI(TAG, "m%d motor_easy_rotate %d", m_id, direction);
m_status_cb = nullptr;
m_thread.stop();
_rotate(direction * m_param.maxspeed, m_param.acc, m_param.dec);
return 0;
};
// int32_t StepMotorCtrlModule::motor_move_by(int32_t dx, int32_t motor_velocity, int32_t acc) {
// int32_t StepMotorCtrlModule::motor_move_to(int32_t tox, int32_t motor_velocity, int32_t acc) {
int32_t StepMotorCtrlModule::motor_easy_move_by(int32_t distance) {
zlock_guard lock(m_lock);
ZLOGI(TAG, "m%d motor_easy_move_by %d", m_id, distance);
m_status_cb = nullptr;
m_thread.stop();
return motor_move_by(distance, m_param.maxspeed, m_param.acc);
0;
};
int32_t StepMotorCtrlModule::motor_easy_move_to(int32_t position) {
zlock_guard lock(m_lock);
ZLOGI(TAG, "m%d motor_easy_move_to %d", m_id, position);
m_status_cb = nullptr;
m_thread.stop();
return motor_move_to(position, m_param.maxspeed, m_param.acc);
};
int32_t StepMotorCtrlModule::motor_easy_move_to_zero(int32_t direction) {
if (direction <= 0) {
return move_to_zero(nullptr);
} else {
return err::koperation_not_support;
}
};

7
components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
View File

@ -133,6 +133,8 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule, public ZIModule, publi
virtual int32_t module_flush_cfg() override; virtual int32_t module_flush_cfg() override;
virtual int32_t module_active_cfg() override; virtual int32_t module_active_cfg() override;
virtual int32_t module_enable(int32_t enable) { return motor_enable(enable); }
/******************************************************************************* /*******************************************************************************
* Motor * * Motor *
*******************************************************************************/ *******************************************************************************/
@ -156,6 +158,11 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule, public ZIModule, publi
virtual int32_t motor_calculated_pos_by_move_to_zero() override; virtual int32_t motor_calculated_pos_by_move_to_zero() override;
virtual int32_t motor_easy_rotate(int32_t direction) override;
virtual int32_t motor_easy_move_by(int32_t distance) override;
virtual int32_t motor_easy_move_to(int32_t position) override;
virtual int32_t motor_easy_move_to_zero(int32_t direction) override;
private: private:
void active_cfg(); void active_cfg();

4
components/tmc/basic/tmc_ic_interface.hpp
View File

@ -58,7 +58,9 @@ class IStepperMotor {
virtual bool isStoped() = 0; virtual bool isStoped() = 0;
virtual void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) = 0; virtual void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) = 0;
virtual void setScale(int32_t scale) = 0;
virtual void setScale(int32_t scale) = 0;
virtual void setScaleDenominator(int32_t scale) = 0;
virtual void enable(bool enable) = 0; virtual void enable(bool enable) = 0;
}; };

5
components/tmc/ic/ztmc4361A.cpp
View File

@ -202,6 +202,7 @@ void TMC4361A::initialize(cfg_t *cfg) {
} }
void TMC4361A::setScale(int32_t scale) { m_scale = scale; } void TMC4361A::setScale(int32_t scale) { m_scale = scale; }
void TMC4361A::setScaleDenominator(int32_t scale) { m_scale_deceleration = scale; }
uint8_t TMC4361A::reset() { uint8_t TMC4361A::reset() {
// Pulse the low-active hardware reset pin // Pulse the low-active hardware reset pin
@ -400,12 +401,12 @@ int32_t TMC4361A::to_motor_vel(int32_t vel) { //
return val; return val;
} // rpm } // rpm
int32_t TMC4361A::to_motor_pos(int32_t pos) { // int32_t TMC4361A::to_motor_pos(int32_t pos) { //
int32_t val = pos * 1.0 / m_scale * 51200.0;
int32_t val = pos * 1.0 / m_scale * m_scale_deceleration * 51200.0;
return val; return val;
} // } //
int32_t TMC4361A::to_user_pos(int32_t pos) { // int32_t TMC4361A::to_user_pos(int32_t pos) { //
int32_t val = pos / 51200.0 * m_scale;
int32_t val = pos / 51200.0 * m_scale / m_scale_deceleration;
return val; return val;
} // } //
int32_t TMC4361A::to_user_vel(int32_t vel) { // int32_t TMC4361A::to_user_vel(int32_t vel) { //

4
components/tmc/ic/ztmc4361A.hpp
View File

@ -74,7 +74,8 @@ class TMC4361A : public IStepperMotor {
motor_mode_t m_motor_mode = kvelmode; motor_mode_t m_motor_mode = kvelmode;
int32_t m_scale = 10000; // 10000一圈
int32_t m_scale = 10000;
int32_t m_scale_deceleration = 1;
public: public:
TMC4361A(/* args */); TMC4361A(/* args */);
@ -117,6 +118,7 @@ class TMC4361A : public IStepperMotor {
virtual void setMotorShaft(bool reverse) { driverIC_setMotorShaft(reverse); } virtual void setMotorShaft(bool reverse) { driverIC_setMotorShaft(reverse); }
virtual void setScale(int32_t scale); virtual void setScale(int32_t scale);
virtual void setScaleDenominator(int32_t scale);
// Left Virtual Limit Switch XACTUAL ≤ VIRT_STOP_LEFT 时触发 // Left Virtual Limit Switch XACTUAL ≤ VIRT_STOP_LEFT 时触发
void setLeftVirtualLimitSwitch(bool enable, int32_t position); void setLeftVirtualLimitSwitch(bool enable, int32_t position);

6
components/tmc/ic/ztmc5130.cpp
View File

@ -161,6 +161,7 @@ bool TMC5130::isReachTarget() {
} }
void TMC5130::setScale(int32_t scale) { m_scale = scale; } void TMC5130::setScale(int32_t scale) { m_scale = scale; }
void TMC5130::setScaleDenominator(int32_t scale) { m_scale_deceleration = scale; }
/******************************************************************************* /*******************************************************************************
* basic * * basic *
@ -218,12 +219,12 @@ int32_t TMC5130::to_motor_vel(int32_t vel) { //
return val; return val;
} // rpm } // rpm
int32_t TMC5130::to_motor_pos(int32_t pos) { // int32_t TMC5130::to_motor_pos(int32_t pos) { //
int32_t val = pos * 1.0 / m_scale * 51200.0;
int32_t val = pos * 1.0 / m_scale * m_scale_deceleration * 51200.0;
return val; return val;
} // } //
int32_t TMC5130::to_user_pos(int32_t pos) { // int32_t TMC5130::to_user_pos(int32_t pos) { //
int32_t val = pos / 51200.0 * m_scale;
int32_t val = pos / 51200.0 * m_scale / m_scale_deceleration;
return val; return val;
} // } //
int32_t TMC5130::to_user_vel(int32_t vel) { // int32_t TMC5130::to_user_vel(int32_t vel) { //
@ -231,4 +232,3 @@ int32_t TMC5130::to_user_vel(int32_t vel) { //
return val; return val;
} }
#endif #endif

4
components/tmc/ic/ztmc5130.hpp
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@ -88,7 +88,8 @@ class TMC5130 : public IStepperMotor {
const uint8_t *m_registerAccessTable; const uint8_t *m_registerAccessTable;
const int32_t *m_defaultRegisterResetState; const int32_t *m_defaultRegisterResetState;
int32_t m_scale = 10000;
int32_t m_scale = 10000;
int32_t m_scale_deceleration = 1;
public: public:
TMC5130(/* args */); TMC5130(/* args */);
@ -116,6 +117,7 @@ class TMC5130 : public IStepperMotor {
virtual void setENC_POS(int32_t value) {} // TODO impl it virtual void setENC_POS(int32_t value) {} // TODO impl it
virtual void setScale(int32_t scale); virtual void setScale(int32_t scale);
virtual void setScaleDenominator(int32_t scale);
virtual void setAcceleration(float accelerationpps2); virtual void setAcceleration(float accelerationpps2);
virtual void setDeceleration(float accelerationpps2); virtual void setDeceleration(float accelerationpps2);

274
components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp
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@ -40,17 +40,17 @@ void MicroComputerModuleDeviceScriptCmderPaser::do_dumpreg(int32_t paramN, const
#define DUMP_CONFIG(tag, configid) \ #define DUMP_CONFIG(tag, configid) \
ecode = m_deviceManager->module_get_reg(moduleId, configid, &configval); \ ecode = m_deviceManager->module_get_reg(moduleId, configid, &configval); \
if (ecode == 0) { \ if (ecode == 0) { \
ZLOGI(TAG, "%-30s :%d", tag, configval); \
ZLOGI(TAG, "%s(%d) :%d", tag, configid, configval); \
} }
#define DUMP_CONFIG_BIT(tag, configid) \ #define DUMP_CONFIG_BIT(tag, configid) \
ecode = m_deviceManager->module_get_reg(moduleId, configid, &configval); \ ecode = m_deviceManager->module_get_reg(moduleId, configid, &configval); \
if (ecode == 0) { \ if (ecode == 0) { \
ZLOGI(TAG, "%-30s :%s", tag, dumpbit(configval)); \
ZLOGI(TAG, "%s(%d) :%s", tag, configid, dumpbit(configval)); \
} }
/******************************************************************************* /*******************************************************************************
* 模块通用配置和状态(0->1000) *
* 模块通用配置和状态 *
*******************************************************************************/ *******************************************************************************/
DUMP_CONFIG("module_version", kreg_module_version); DUMP_CONFIG("module_version", kreg_module_version);
DUMP_CONFIG("module_type", kreg_module_type); DUMP_CONFIG("module_type", kreg_module_type);
@ -62,6 +62,9 @@ void MicroComputerModuleDeviceScriptCmderPaser::do_dumpreg(int32_t paramN, const
DUMP_CONFIG_BIT("module_errorbitflag1", kreg_module_errorbitflag1); DUMP_CONFIG_BIT("module_errorbitflag1", kreg_module_errorbitflag1);
DUMP_CONFIG_BIT("module_input_state", kreg_module_input_state); DUMP_CONFIG_BIT("module_input_state", kreg_module_input_state);
DUMP_CONFIG_BIT("module_output_state", kreg_module_output_state); DUMP_CONFIG_BIT("module_output_state", kreg_module_output_state);
DUMP_CONFIG("module_raw_sector_size", kreg_module_raw_sector_size);
DUMP_CONFIG("module_raw_sector_num", kreg_module_raw_sector_num);
DUMP_CONFIG("module_is_online", kreg_module_is_online);
DUMP_CONFIG("module_last_cmd_exec_status", kreg_module_last_cmd_exec_status); DUMP_CONFIG("module_last_cmd_exec_status", kreg_module_last_cmd_exec_status);
DUMP_CONFIG("module_last_cmd_exec_val0", kreg_module_last_cmd_exec_val0); DUMP_CONFIG("module_last_cmd_exec_val0", kreg_module_last_cmd_exec_val0);
DUMP_CONFIG("module_last_cmd_exec_val1", kreg_module_last_cmd_exec_val1); DUMP_CONFIG("module_last_cmd_exec_val1", kreg_module_last_cmd_exec_val1);
@ -79,53 +82,28 @@ void MicroComputerModuleDeviceScriptCmderPaser::do_dumpreg(int32_t paramN, const
DUMP_CONFIG("module_private7", kreg_module_private7); DUMP_CONFIG("module_private7", kreg_module_private7);
DUMP_CONFIG("module_private8", kreg_module_private8); DUMP_CONFIG("module_private8", kreg_module_private8);
DUMP_CONFIG("module_private9", kreg_module_private9); DUMP_CONFIG("module_private9", kreg_module_private9);
DUMP_CONFIG("module_do_action0", kreg_module_do_action0);
DUMP_CONFIG("module_action_param1", kreg_module_action_param1);
DUMP_CONFIG("module_action_param2", kreg_module_action_param2);
DUMP_CONFIG("module_action_param3", kreg_module_action_param3);
DUMP_CONFIG("module_action_param4", kreg_module_action_param4);
DUMP_CONFIG("module_action_param5", kreg_module_action_param5);
DUMP_CONFIG("module_action_param6", kreg_module_action_param6);
DUMP_CONFIG("module_action_param7", kreg_module_action_param7);
DUMP_CONFIG("module_action_param8", kreg_module_action_param8);
DUMP_CONFIG("module_action_param9", kreg_module_action_param9);
DUMP_CONFIG("module_action_ack1", kreg_module_action_ack1);
DUMP_CONFIG("module_action_ack2", kreg_module_action_ack2);
DUMP_CONFIG("module_action_ack3", kreg_module_action_ack3);
DUMP_CONFIG("module_action_ack4", kreg_module_action_ack4);
DUMP_CONFIG("module_action_ack5", kreg_module_action_ack5);
DUMP_CONFIG("module_action_ack6", kreg_module_action_ack6);
DUMP_CONFIG("module_action_ack7", kreg_module_action_ack7);
DUMP_CONFIG("module_action_ack8", kreg_module_action_ack8);
DUMP_CONFIG("module_action_ack9", kreg_module_action_ack9);
/******************************************************************************* /*******************************************************************************
* 电机相关配置和状态(1000->1999 *
*******************************************************************************/
DUMP_CONFIG("motor_x_shift", kreg_motor_x_shift);
DUMP_CONFIG("motor_y_shift", kreg_motor_y_shift);
DUMP_CONFIG("motor_z_shift", kreg_motor_z_shift);
DUMP_CONFIG("motor_x_shaft", kreg_motor_x_shaft);
DUMP_CONFIG("motor_y_shaft", kreg_motor_y_shaft);
DUMP_CONFIG("motor_z_shaft", kreg_motor_z_shaft);
DUMP_CONFIG("motor_x_one_circle_pulse", kreg_motor_x_one_circle_pulse);
DUMP_CONFIG("motor_y_one_circle_pulse", kreg_motor_y_one_circle_pulse);
DUMP_CONFIG("motor_z_one_circle_pulse", kreg_motor_z_one_circle_pulse);
DUMP_CONFIG("motor_default_velocity", kreg_motor_default_velocity);
DUMP_CONFIG("motor_default_acc", kreg_motor_default_acc);
DUMP_CONFIG("motor_default_dec", kreg_motor_default_dec);
DUMP_CONFIG("motor_default_break_dec", kreg_motor_default_break_dec);
DUMP_CONFIG("stepmotor_ihold", kreg_stepmotor_ihold);
DUMP_CONFIG("stepmotor_irun", kreg_stepmotor_irun);
DUMP_CONFIG("stepmotor_iholddelay", kreg_stepmotor_iholddelay);
DUMP_CONFIG("motor_run_to_zero_max_x_d", kreg_motor_run_to_zero_max_x_d);
DUMP_CONFIG("motor_run_to_zero_max_y_d", kreg_motor_run_to_zero_max_y_d);
DUMP_CONFIG("motor_run_to_zero_max_z_d", kreg_motor_run_to_zero_max_z_d);
DUMP_CONFIG("motor_look_zero_edge_max_x_d", kreg_motor_look_zero_edge_max_x_d);
DUMP_CONFIG("motor_look_zero_edge_max_y_d", kreg_motor_look_zero_edge_max_y_d);
DUMP_CONFIG("motor_look_zero_edge_max_z_d", kreg_motor_look_zero_edge_max_z_d);
DUMP_CONFIG("motor_run_to_zero_speed", kreg_motor_run_to_zero_speed);
DUMP_CONFIG("motor_run_to_zero_dec", kreg_motor_run_to_zero_dec);
DUMP_CONFIG("motor_look_zero_edge_speed", kreg_motor_look_zero_edge_speed);
DUMP_CONFIG("motor_look_zero_edge_dec", kreg_motor_look_zero_edge_dec);
DUMP_CONFIG("xyrobot_robot_type", kreg_xyrobot_robot_type);
DUMP_CONFIG("robot_move", kreg_robot_move);
DUMP_CONFIG("robot_x_pos", kreg_robot_x_pos);
DUMP_CONFIG("robot_y_pos", kreg_robot_y_pos);
DUMP_CONFIG("robot_z_pos", kreg_robot_z_pos);
DUMP_CONFIG("robot_x_velocity", kreg_robot_x_velocity);
DUMP_CONFIG("robot_y_velocity", kreg_robot_y_velocity);
DUMP_CONFIG("robot_z_velocity", kreg_robot_z_velocity);
DUMP_CONFIG("robot_x_torque", kreg_robot_x_torque);
DUMP_CONFIG("robot_y_torque", kreg_robot_y_torque);
DUMP_CONFIG("robot_z_torque", kreg_robot_z_torque);
/*******************************************************************************
* 传感器状态(2000->2999) *
* SENSOR *
*******************************************************************************/ *******************************************************************************/
DUMP_CONFIG("sensor_current", kreg_sensor_current); DUMP_CONFIG("sensor_current", kreg_sensor_current);
DUMP_CONFIG("sensor_voltage", kreg_sensor_voltage); DUMP_CONFIG("sensor_voltage", kreg_sensor_voltage);
@ -154,6 +132,7 @@ void MicroComputerModuleDeviceScriptCmderPaser::do_dumpreg(int32_t paramN, const
DUMP_CONFIG("sensor_water_vapor_saturation_pressure_h2o", kreg_sensor_water_vapor_saturation_pressure_h2o); DUMP_CONFIG("sensor_water_vapor_saturation_pressure_h2o", kreg_sensor_water_vapor_saturation_pressure_h2o);
DUMP_CONFIG("sensor_h2o2_vapor_pressure", kreg_sensor_h2o2_vapor_pressure); DUMP_CONFIG("sensor_h2o2_vapor_pressure", kreg_sensor_h2o2_vapor_pressure);
DUMP_CONFIG("sensor_water_vapor_saturation_pressure_h2o_h2o2", kreg_sensor_water_vapor_saturation_pressure_h2o_h2o2); DUMP_CONFIG("sensor_water_vapor_saturation_pressure_h2o_h2o2", kreg_sensor_water_vapor_saturation_pressure_h2o_h2o2);
DUMP_CONFIG("sensor_temperature0", kreg_sensor_temperature0); DUMP_CONFIG("sensor_temperature0", kreg_sensor_temperature0);
DUMP_CONFIG("sensor_temperature1", kreg_sensor_temperature1); DUMP_CONFIG("sensor_temperature1", kreg_sensor_temperature1);
DUMP_CONFIG("sensor_temperature2", kreg_sensor_temperature2); DUMP_CONFIG("sensor_temperature2", kreg_sensor_temperature2);
@ -186,44 +165,187 @@ void MicroComputerModuleDeviceScriptCmderPaser::do_dumpreg(int32_t paramN, const
DUMP_CONFIG("sensor_humidity9", kreg_sensor_humidity9); DUMP_CONFIG("sensor_humidity9", kreg_sensor_humidity9);
/******************************************************************************* /*******************************************************************************
* 机械人通用配置 *
*******************************************************************************/
/*******************************************************************************
* MOTOR_DEFAULT *
*******************************************************************************/
DUMP_CONFIG("robot_move", kreg_robot_move);
DUMP_CONFIG("robot_pos", kreg_robot_pos);
DUMP_CONFIG("robot_velocity", kreg_robot_velocity);
DUMP_CONFIG("robot_torque", kreg_robot_torque);
DUMP_CONFIG("motor_shift", kreg_motor_shift);
DUMP_CONFIG("motor_shaft", kreg_motor_shaft);
DUMP_CONFIG("motor_one_circle_pulse", kreg_motor_one_circle_pulse);
DUMP_CONFIG("motor_one_circle_pulse_denominator", kreg_motor_one_circle_pulse_denominator);
DUMP_CONFIG("motor_default_velocity", kreg_motor_default_velocity);
DUMP_CONFIG("motor_default_acc", kreg_motor_default_acc);
DUMP_CONFIG("motor_default_dec", kreg_motor_default_dec);
DUMP_CONFIG("motor_default_break_dec", kreg_motor_default_break_dec);
DUMP_CONFIG("stepmotor_ihold", kreg_stepmotor_ihold);
DUMP_CONFIG("stepmotor_irun", kreg_stepmotor_irun);
DUMP_CONFIG("stepmotor_iholddelay", kreg_stepmotor_iholddelay);
DUMP_CONFIG("motor_run_to_zero_max_d", kreg_motor_run_to_zero_max_d);
DUMP_CONFIG("motor_look_zero_edge_max_d", kreg_motor_look_zero_edge_max_d);
DUMP_CONFIG("motor_run_to_zero_speed", kreg_motor_run_to_zero_speed);
DUMP_CONFIG("motor_run_to_zero_dec", kreg_motor_run_to_zero_dec);
DUMP_CONFIG("motor_look_zero_edge_speed", kreg_motor_look_zero_edge_speed);
DUMP_CONFIG("motor_look_zero_edge_dec", kreg_motor_look_zero_edge_dec);
/*******************************************************************************
* MOTOR_X *
*******************************************************************************/
DUMP_CONFIG("robot_x_move", kreg_robot_x_move);
DUMP_CONFIG("robot_x_pos", kreg_robot_x_pos);
DUMP_CONFIG("robot_x_velocity", kreg_robot_x_velocity);
DUMP_CONFIG("robot_x_torque", kreg_robot_x_torque);
DUMP_CONFIG("motor_x_shift", kreg_motor_x_shift);
DUMP_CONFIG("motor_x_shaft", kreg_motor_x_shaft);
DUMP_CONFIG("motor_x_one_circle_pulse", kreg_motor_x_one_circle_pulse);
DUMP_CONFIG("motor_x_default_velocity", kreg_motor_x_default_velocity);
DUMP_CONFIG("motor_x_default_acc", kreg_motor_x_default_acc);
DUMP_CONFIG("motor_x_default_dec", kreg_motor_x_default_dec);
DUMP_CONFIG("motor_x_default_break_dec", kreg_motor_x_default_break_dec);
DUMP_CONFIG("stepmotor_x_ihold", kreg_stepmotor_x_ihold);
DUMP_CONFIG("stepmotor_x_irun", kreg_stepmotor_x_irun);
DUMP_CONFIG("stepmotor_x_iholddelay", kreg_stepmotor_x_iholddelay);
DUMP_CONFIG("motor_run_to_zero_max_x_d", kreg_motor_run_to_zero_max_x_d);
DUMP_CONFIG("motor_look_zero_edge_max_x_d", kreg_motor_look_zero_edge_max_x_d);
DUMP_CONFIG("motor_x_run_to_zero_speed", kreg_motor_x_run_to_zero_speed);
DUMP_CONFIG("motor_x_run_to_zero_dec", kreg_motor_x_run_to_zero_dec);
DUMP_CONFIG("motor_x_look_zero_edge_speed", kreg_motor_x_look_zero_edge_speed);
DUMP_CONFIG("motor_x_look_zero_edge_dec", kreg_motor_x_look_zero_edge_dec);
/*******************************************************************************
* MOTOR_Y *
*******************************************************************************/
DUMP_CONFIG("robot_y_move", kreg_robot_y_move);
DUMP_CONFIG("robot_y_pos", kreg_robot_y_pos);
DUMP_CONFIG("robot_y_velocity", kreg_robot_y_velocity);
DUMP_CONFIG("robot_y_torque", kreg_robot_y_torque);
DUMP_CONFIG("motor_y_shift", kreg_motor_y_shift);
DUMP_CONFIG("motor_y_shaft", kreg_motor_y_shaft);
DUMP_CONFIG("motor_y_one_circle_pulse", kreg_motor_y_one_circle_pulse);
DUMP_CONFIG("motor_y_default_velocity", kreg_motor_y_default_velocity);
DUMP_CONFIG("motor_y_default_acc", kreg_motor_y_default_acc);
DUMP_CONFIG("motor_y_default_dec", kreg_motor_y_default_dec);
DUMP_CONFIG("motor_y_default_break_dec", kreg_motor_y_default_break_dec);
DUMP_CONFIG("stepmotor_y_ihold", kreg_stepmotor_y_ihold);
DUMP_CONFIG("stepmotor_y_irun", kreg_stepmotor_y_irun);
DUMP_CONFIG("stepmotor_y_iholddelay", kreg_stepmotor_y_iholddelay);
DUMP_CONFIG("motor_run_to_zero_max_y_d", kreg_motor_run_to_zero_max_y_d);
DUMP_CONFIG("motor_look_zero_edge_max_y_d", kreg_motor_look_zero_edge_max_y_d);
DUMP_CONFIG("motor_y_run_to_zero_speed", kreg_motor_y_run_to_zero_speed);
DUMP_CONFIG("motor_y_run_to_zero_dec", kreg_motor_y_run_to_zero_dec);
DUMP_CONFIG("motor_y_look_zero_edge_speed", kreg_motor_y_look_zero_edge_speed);
DUMP_CONFIG("motor_y_look_zero_edge_dec", kreg_motor_y_look_zero_edge_dec);
/*******************************************************************************
* MOTOR_Z *
*******************************************************************************/
DUMP_CONFIG("robot_z_move", kreg_robot_z_move);
DUMP_CONFIG("robot_z_pos", kreg_robot_z_pos);
DUMP_CONFIG("robot_z_velocity", kreg_robot_z_velocity);
DUMP_CONFIG("robot_z_torque", kreg_robot_z_torque);
DUMP_CONFIG("motor_z_shift", kreg_motor_z_shift);
DUMP_CONFIG("motor_z_shaft", kreg_motor_z_shaft);
DUMP_CONFIG("motor_z_one_circle_pulse", kreg_motor_z_one_circle_pulse);
DUMP_CONFIG("motor_z_default_velocity", kreg_motor_z_default_velocity);
DUMP_CONFIG("motor_z_default_acc", kreg_motor_z_default_acc);
DUMP_CONFIG("motor_z_default_dec", kreg_motor_z_default_dec);
DUMP_CONFIG("motor_z_default_break_dec", kreg_motor_z_default_break_dec);
DUMP_CONFIG("stepmotor_z_ihold", kreg_stepmotor_z_ihold);
DUMP_CONFIG("stepmotor_z_irun", kreg_stepmotor_z_irun);
DUMP_CONFIG("stepmotor_z_iholddelay", kreg_stepmotor_z_iholddelay);
DUMP_CONFIG("motor_run_to_zero_max_z_d", kreg_motor_run_to_zero_max_z_d);
DUMP_CONFIG("motor_look_zero_edge_max_z_d", kreg_motor_look_zero_edge_max_z_d);
DUMP_CONFIG("motor_z_run_to_zero_speed", kreg_motor_z_run_to_zero_speed);
DUMP_CONFIG("motor_z_run_to_zero_dec", kreg_motor_z_run_to_zero_dec);
DUMP_CONFIG("motor_z_look_zero_edge_speed", kreg_motor_z_look_zero_edge_speed);
DUMP_CONFIG("motor_z_look_zero_edge_dec", kreg_motor_z_look_zero_edge_dec);
DUMP_CONFIG("xyrobot_robot_type", kreg_xyrobot_robot_type);
/*******************************************************************************
* PID控制器(3000->4000) * * PID控制器(3000->4000) *
*******************************************************************************/ *******************************************************************************/
DUMP_CONFIG("pid_target", kreg_pid_target);
DUMP_CONFIG("pid_nowoutput", kreg_pid_nowoutput);
DUMP_CONFIG("pid_feedbackval", kreg_pid_feedbackval);
DUMP_CONFIG("pid_kp", kreg_pid_kp); DUMP_CONFIG("pid_kp", kreg_pid_kp);
DUMP_CONFIG("pid_ki", kreg_pid_ki); DUMP_CONFIG("pid_ki", kreg_pid_ki);
DUMP_CONFIG("pid_kd", kreg_pid_kd); DUMP_CONFIG("pid_kd", kreg_pid_kd);
DUMP_CONFIG("pid_max_max_output", kreg_pid_max_output);
DUMP_CONFIG("pid_max_min_output", kreg_pid_min_output);
DUMP_CONFIG("pid_max_max_integral", kreg_pid_max_integral);
DUMP_CONFIG("pid_max_min_integral", kreg_pid_min_integral);
DUMP_CONFIG("pid_max_output", kreg_pid_max_output);
DUMP_CONFIG("pid_min_output", kreg_pid_min_output);
DUMP_CONFIG("pid_max_integral", kreg_pid_max_integral);
DUMP_CONFIG("pid_min_integral", kreg_pid_min_integral);
DUMP_CONFIG("error_limit", kreg_error_limit); DUMP_CONFIG("error_limit", kreg_error_limit);
DUMP_CONFIG("compute_interval", kreg_compute_interval); DUMP_CONFIG("compute_interval", kreg_compute_interval);
DUMP_CONFIG("pid_target", kreg_pid_target);
DUMP_CONFIG("pid_nowoutput", kreg_pid_nowoutput);
DUMP_CONFIG("pid_feedbackval", kreg_pid_feedbackval);
/******************************************************************************* /*******************************************************************************
* 非标状态 *
* 风扇控制 *
*******************************************************************************/
DUMP_CONFIG("fan0_ctrl_speed_level", kreg_fan0_ctrl_speed_level);
DUMP_CONFIG("fan1_ctrl_speed_level", kreg_fan1_ctrl_speed_level);
DUMP_CONFIG("fan2_ctrl_speed_level", kreg_fan2_ctrl_speed_level);
DUMP_CONFIG("fan3_ctrl_speed_level", kreg_fan3_ctrl_speed_level);
DUMP_CONFIG("fan4_ctrl_speed_level", kreg_fan4_ctrl_speed_level);
DUMP_CONFIG("fan0_speed_level", kreg_fan0_speed_level);
DUMP_CONFIG("fan1_speed_level", kreg_fan1_speed_level);
DUMP_CONFIG("fan2_speed_level", kreg_fan2_speed_level);
DUMP_CONFIG("fan3_speed_level", kreg_fan3_speed_level);
DUMP_CONFIG("fan4_speed_level", kreg_fan4_speed_level);
DUMP_CONFIG("pwm_pump0_ctrl_speed_level", kreg_pwm_pump0_ctrl_speed_level);
DUMP_CONFIG("pwm_pump1_ctrl_speed_level", kreg_pwm_pump1_ctrl_speed_level);
DUMP_CONFIG("pwm_pump2_ctrl_speed_level", kreg_pwm_pump2_ctrl_speed_level);
DUMP_CONFIG("pwm_pump3_ctrl_speed_level", kreg_pwm_pump3_ctrl_speed_level);
DUMP_CONFIG("pwm_pump4_ctrl_speed_level", kreg_pwm_pump4_ctrl_speed_level);
DUMP_CONFIG("pwm_pump0_speed_level", kreg_pwm_pump0_speed_level);
DUMP_CONFIG("pwm_pump1_speed_level", kreg_pwm_pump1_speed_level);
DUMP_CONFIG("pwm_pump2_speed_level", kreg_pwm_pump2_speed_level);
DUMP_CONFIG("pwm_pump3_speed_level", kreg_pwm_pump3_speed_level);
DUMP_CONFIG("pwm_pump4_speed_level", kreg_pwm_pump4_speed_level);
/*******************************************************************************
* 移液枪状态 *
*******************************************************************************/
DUMP_CONFIG("pipette_pos_ul", kreg_pipette_pos_ul);
DUMP_CONFIG("pipette_capactitance_val", kreg_pipette_capactitance_val);
DUMP_CONFIG("pipette_tip_state", kreg_pipette_tip_state);
DUMP_CONFIG("pipette_limit_ul", kreg_pipette_limit_ul);
/*******************************************************************************
* smartADC *
*******************************************************************************/
DUMP_CONFIG("self_reflecting_laser_sensor_transmitting_power", kreg_self_reflecting_laser_sensor_transmitting_power);
DUMP_CONFIG("self_reflecting_laser_sensor_receiving_tube_gain", kreg_self_reflecting_laser_sensor_receiving_tube_gain);
DUMP_CONFIG("self_reflecting_laser_sensor_sample_interval_ms", kreg_self_reflecting_laser_sensor_sample_interval_ms);
DUMP_CONFIG("self_reflecting_laser_sensor_num_samples", kreg_self_reflecting_laser_sensor_num_samples);
/*******************************************************************************
* smartADC *
*******************************************************************************/ *******************************************************************************/
DUMP_CONFIG("fan0_ctrl_speed_level", kreg_fan0_ctrl_speed_level)
DUMP_CONFIG("fan1_ctrl_speed_level", kreg_fan1_ctrl_speed_level)
DUMP_CONFIG("fan2_ctrl_speed_level", kreg_fan2_ctrl_speed_level)
DUMP_CONFIG("fan3_ctrl_speed_level", kreg_fan3_ctrl_speed_level)
DUMP_CONFIG("fan4_ctrl_speed_level", kreg_fan4_ctrl_speed_level)
DUMP_CONFIG("fan0_speed_level", kreg_fan0_speed_level)
DUMP_CONFIG("fan1_speed_level", kreg_fan1_speed_level)
DUMP_CONFIG("fan2_speed_level", kreg_fan2_speed_level)
DUMP_CONFIG("fan3_speed_level", kreg_fan3_speed_level)
DUMP_CONFIG("fan4_speed_level", kreg_fan4_speed_level)
DUMP_CONFIG("pwm_pump0_ctrl_speed_level", kreg_pwm_pump0_ctrl_speed_level)
DUMP_CONFIG("pwm_pump1_ctrl_speed_level", kreg_pwm_pump1_ctrl_speed_level)
DUMP_CONFIG("pwm_pump2_ctrl_speed_level", kreg_pwm_pump2_ctrl_speed_level)
DUMP_CONFIG("pwm_pump3_ctrl_speed_level", kreg_pwm_pump3_ctrl_speed_level)
DUMP_CONFIG("pwm_pump4_ctrl_speed_level", kreg_pwm_pump4_ctrl_speed_level)
DUMP_CONFIG("pwm_pump0_speed_level", kreg_pwm_pump0_speed_level)
DUMP_CONFIG("pwm_pump1_speed_level", kreg_pwm_pump1_speed_level)
DUMP_CONFIG("pwm_pump2_speed_level", kreg_pwm_pump2_speed_level)
DUMP_CONFIG("pwm_pump3_speed_level", kreg_pwm_pump3_speed_level)
DUMP_CONFIG("pwm_pump4_speed_level", kreg_pwm_pump4_speed_level)
// scan action
DUMP_CONFIG("boditech_optical_scan_type", kreg_boditech_optical_scan_type);
DUMP_CONFIG("boditech_optical_scan_start_pos", kreg_boditech_optical_scan_start_pos);
DUMP_CONFIG("boditech_optical_scan_direction", kreg_boditech_optical_scan_direction);
DUMP_CONFIG("boditech_optical_scan_step_interval", kreg_boditech_optical_scan_step_interval);
DUMP_CONFIG("boditech_optical_scan_pointnum", kreg_boditech_optical_scan_pointnum);
DUMP_CONFIG("boditech_optical_channel_select_num", kreg_boditech_optical_channel_select_num);
DUMP_CONFIG("boditech_optical_laster_gain", kreg_boditech_optical_laster_gain);
DUMP_CONFIG("boditech_optical_scan_gain", kreg_boditech_optical_scan_gain);
DUMP_CONFIG("boditech_optical_trf_uvled_on_duration_us", kreg_boditech_optical_trf_uvled_on_duration_us);
DUMP_CONFIG("boditech_optical_trf_uvled_off_duration_us", kreg_boditech_optical_trf_uvled_off_duration_us);
DUMP_CONFIG("boditech_optical_trf_scan_delay_us", kreg_boditech_optical_trf_scan_delay_us);
DUMP_CONFIG("boditech_optical_trf_scan_duration_us", kreg_boditech_optical_trf_scan_duration_us);
} }
void MicroComputerModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager) { void MicroComputerModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager) {

2
components/zprotocols/zcancmder

@ -1 +1 @@
Subproject commit 7a3d9800ce4e710385e513f2c430c267dabefc7b
Subproject commit c3780f3e459bc468645f664228d3a1359abec1bf

2
components/zprotocols/zcancmder_v2

@ -1 +1 @@
Subproject commit ca6ac3ed8ad4f5d4c40fda1d467c31be176347fa
Subproject commit f45f3d7f9e361ac6062cd6143016fa68cc4e602b
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