update

components/hardware/adc/z_simple_adc.cpp

@@ -29,7 +29,7 @@ int32_t ZADC::get_adc_value(int32_t& adcval) {
   sConfig.Rank                   = 1;
   sConfig.SamplingTime           = m_samplingTime; /* 采样时间 */
   if (HAL_ADC_ConfigChannel(m_hadc1, &sConfig) != HAL_OK) {
-    return err::kmicro_adcRecvFail;
+    return -1;
   }
   HAL_ADC_Start(m_hadc1);
   HAL_ADC_PollForConversion(m_hadc1, HAL_MAX_DELAY);

components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp

@@ -42,7 +42,7 @@ int32_t MiniServoCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t
     PROCESS_REG(kreg_mini_servo_limit_torque, REG_GET(m_cfg.limit_torque), REG_SET(m_cfg.limit_torque));
     PROCESS_REG(kreg_mini_servo_protective_torque, REG_GET(m_cfg.protective_torque), REG_SET(m_cfg.protective_torque));
     default:
-      return err::kmodule_not_find_config_index;
+      return err::kmodule_not_find_reg;
       break;
   }
   return 0;

components/pipette_module/pipette_ctrl_module_v2.cpp

@@ -31,7 +31,7 @@ int32_t PipetteModule::getid(int32_t *id) {
  *                                   Module                                    *
  *******************************************************************************/
 
-int32_t PipetteModule::module_enable(int32_t enable) { return err::koperation_not_support; }
+int32_t PipetteModule::module_enable(int32_t enable) { return err::kcmd_not_support; }
 
 int32_t PipetteModule::module_stop() {
   ZLOGI(TAG, "pipette_ctrl_stop");
@@ -54,7 +54,7 @@ int32_t PipetteModule::module_xxx_reg(int32_t param_id, bool read, int32_t &val)
     PROCESS_REG(kreg_pipette_tip_state, /*          */ read_tip_state(&val), ACTION_NONE);
     PROCESS_REG(kreg_pipette_limit_ul, /*          */ REG_GET(m_config.limit_ul), REG_SET(m_config.limit_ul));
     default:
-      return err::kmodule_not_find_config_index;
+      return err::kmodule_not_find_reg;
       break;
   }
   return 0;

components/sensors/m3078/m3078_code_scaner.cpp

@@ -98,7 +98,7 @@ int32_t M3078CodeScanner::module_xxx_reg(int32_t param_id, bool read, int32_t& v
   switch (param_id) {
     MODULE_COMMON_PROCESS_REG_CB();
     default:
-      return err::kmodule_not_find_config_index;
+      return err::kmodule_not_find_reg;
       break;
   }
   return 0;

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -93,7 +93,7 @@ int32_t StepMotorCtrlModule::pri_module_xxx_reg(int32_t param_id, bool read, int
     PROCESS_REG(kreg_step_motor_tzerowait, REG_GET(m_cfg.motor_tzerowait), REG_SET(m_cfg.motor_tzerowait));
 
     default:
-      return err::kmodule_not_find_config_index;
+      return err::kmodule_not_find_reg;
       break;
   }
   return 0;

components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.cpp

@@ -98,7 +98,7 @@ int32_t WaterCoolingTemperatureControlModule::module_xxx_reg(int32_t param_id, b
     PROCESS_REG(kreg_sensor_temperature3, REG_GET(getTemperatureSensorVal(3) * 100), ACTION_NONE);
 
     default:
-      return err::kmodule_not_find_config_index;
+      return err::kmodule_not_find_reg;
       break;
   }
   return 0;
@@ -202,7 +202,8 @@ int32_t WaterCoolingTemperatureControlModule::checkdevice() {
           BIT(module_errorbitflag0, 2),                  //
           BIT(module_errorbitflag0, 3));
     m_pelter_ctrl->dumpErrorInfo();
-    creg.module_errorcode = err::khwardware_error;
+    //TODO 设置错误码
+    // creg.module_errorcode = err::khwardware_error;
     return 1;
   }
   return 0;

components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp

@@ -681,7 +681,7 @@ int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t&
     PROCESS_REG(kreg_xyrobot_io_state0, module_readio(&val), ACTION_NONE);
 
     default:
-      return err::kmodule_not_find_config_index;
+      return err::kmodule_not_find_reg;
       break;
   }
   return 0;

components/zcancmder/zcan_board_module.cpp

@@ -47,7 +47,7 @@ int32_t ZCanBoardModule::module_xxx_reg(int32_t param_id, bool read, int32_t &va
     PROCESS_REG(kreg_module_version, /*           */ REG_GET(0x0001), ACTION_NONE);
     PROCESS_REG(kreg_module_type, /*              */ REG_GET(0), ACTION_NONE);
     default:
-      return err::kmodule_not_find_config_index;
+      return err::kmodule_not_find_reg;
       break;
   }
   return 0;
@@ -82,68 +82,68 @@ int32_t ZCanBoardModule::readoutput() {
 
 int32_t ZCanBoardModule::readTemperature(int32_t sensorId, int32_t &temperature_val) {
   if (sensorId < 0 || sensorId >= ZARRAY_SIZE(m_cfg.temperature_sensor)) {
-    return err::kmodule_not_find_config_index;
+    return err::kmodule_not_find_reg;
   }
 
   if (m_cfg.temperature_sensor[sensorId] == nullptr) {
-    return err::kmodule_not_find_config_index;
+    return err::kmodule_not_find_reg;
   }
   return m_cfg.temperature_sensor[sensorId]->getTemperature(temperature_val);
 }
 
 int32_t ZCanBoardModule::setPwmState(int32_t pwmId, int32_t state) {
   if (pwmId < 0 || pwmId >= ZARRAY_SIZE(m_cfg.pwmctrl)) {
-    return err::kmodule_not_find_config_index;
+    return err::kmodule_not_find_reg;
   }
   if (m_cfg.pwmctrl[pwmId] == nullptr) {
-    return err::kmodule_not_find_config_index;
+    return err::kmodule_not_find_reg;
   }
   return m_cfg.pwmctrl[pwmId]->pwm_set_state(state);
 }
 int32_t ZCanBoardModule::getPwmState(int32_t pwmId, int32_t &state) {
   if (pwmId < 0 || pwmId >= ZARRAY_SIZE(m_cfg.pwmctrl)) {
-    return err::kmodule_not_find_config_index;
+    return err::kmodule_not_find_reg;
   }
   if (m_cfg.pwmctrl[pwmId] == nullptr) {
-    return err::kmodule_not_find_config_index;
+    return err::kmodule_not_find_reg;
   }
   return m_cfg.pwmctrl[pwmId]->pwm_get_state(state);
 }
 
 int32_t ZCanBoardModule::readPwmDuty(int32_t pwmId, int32_t &duty) {
   if (pwmId < 0 || pwmId >= ZARRAY_SIZE(m_cfg.pwmctrl)) {
-    return err::kmodule_not_find_config_index;
+    return err::kmodule_not_find_reg;
   }
   if (m_cfg.pwmctrl[pwmId] == nullptr) {
-    return err::kmodule_not_find_config_index;
+    return err::kmodule_not_find_reg;
   }
   return m_cfg.pwmctrl[pwmId]->get_pwm_duty(duty);
 }
 int32_t ZCanBoardModule::setPwmDuty(int32_t pwmId, int32_t duty) {
   if (pwmId < 0 || pwmId >= ZARRAY_SIZE(m_cfg.pwmctrl)) {
-    return err::kmodule_not_find_config_index;
+    return err::kmodule_not_find_reg;
   }
   if (m_cfg.pwmctrl[pwmId] == nullptr) {
-    return err::kmodule_not_find_config_index;
+    return err::kmodule_not_find_reg;
   }
   return m_cfg.pwmctrl[pwmId]->set_pwm_duty(duty);
 }
 
 int32_t ZCanBoardModule::readPwmFreq(int32_t pwmId, int32_t &freq) {
   if (pwmId < 0 || pwmId >= ZARRAY_SIZE(m_cfg.pwmctrl)) {
-    return err::kmodule_not_find_config_index;
+    return err::kmodule_not_find_reg;
   }
   if (m_cfg.pwmctrl[pwmId] == nullptr) {
-    return err::kmodule_not_find_config_index;
+    return err::kmodule_not_find_reg;
   }
   return m_cfg.pwmctrl[pwmId]->get_pwm_freq(freq);
 }
 int32_t ZCanBoardModule::setPwmFreq(int32_t pwmId, int32_t freq) {
   if (pwmId < 0 || pwmId >= ZARRAY_SIZE(m_cfg.pwmctrl)) {
-    return err::kmodule_not_find_config_index;
+    return err::kmodule_not_find_reg;
   }
   if (m_cfg.pwmctrl[pwmId] == nullptr) {
-    return err::kmodule_not_find_config_index;
+    return err::kmodule_not_find_reg;
   }
   return m_cfg.pwmctrl[pwmId]->set_pwm_freq(freq);
 }

components/zcancmder/zcan_protocol_parser.cpp

@@ -64,11 +64,14 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
   REGFN(code_scaner_get_result_length);
   REGFN(code_scaner_read_scaner_result);
 
-  
   REGFN(pipette_ctrl_init_device);
   REGFN(pipette_ctrl_put_tip);
   REGFN(pipette_ctrl_move_to_ul);
 
+  REGFN(water_cooling_temp_start_hearting);
+  REGFN(water_cooling_temp_stop_hearting);
+
+  REGFN(fan_controler_set_speed);
 #if 0
   REGFN(xymotor_enable);
   REGFN(xymotor_move_by);
@@ -129,7 +132,7 @@ void ZCanProtocolParser::_onRceivePacket(ZIModule* module, zcr_cmd_header_t* rxc
 
   cmdfn_t* fn = findcmdfn(cmdid);
   if (!fn) {
-    m_cancmder->sendErrorAck(rxcmd, err::koperation_not_support);
+    m_cancmder->sendErrorAck(rxcmd, err::kcmd_not_support);
     return;
   }
   cmdcontxt_t cxt = {0};
@@ -153,14 +156,14 @@ void ZCanProtocolParser::_onRceivePacket(ZIModule* module, zcr_cmd_header_t* rxc
   return;
 }
 
-#define CHECK_AND_GET_MODULE(paraNum)                        \
-  auto* module = dynamic_cast<MODULE_CLASS*>(cxt->module);   \
-  if (module == nullptr) return err::koperation_not_support; \
+#define CHECK_AND_GET_MODULE(paraNum)                      \
+  auto* module = dynamic_cast<MODULE_CLASS*>(cxt->module); \
+  if (module == nullptr) return err::kcmd_not_support;     \
   if (paraNum >= 0 && paraNum != cxt->paramlen / 4) return err::kcmd_param_num_error;
 
 #define GET_MODULE(paraNum)                                \
   auto* module = dynamic_cast<MODULE_CLASS*>(cxt->module); \
-  if (module == nullptr) return err::koperation_not_support;
+  if (module == nullptr) return err::kcmd_not_support;
 
 #define MODULE_CLASS ZIModule
 int32_t ZCanProtocolParser::module_ping(cmdcontxt_t* cxt) {
@@ -446,6 +449,24 @@ int32_t ZCanProtocolParser::pipette_ctrl_move_to_ul(cmdcontxt_t* cxt) {
 
 #undef MODULE_CLASS
 
+#define MODULE_CLASS ZI_WaterCoolingTemperatureControler
+int32_t ZCanProtocolParser::water_cooling_temp_start_hearting(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->water_cooling_temp_start_hearting(cxt->params[0]);
+}
+int32_t ZCanProtocolParser::water_cooling_temp_stop_hearting(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->water_cooling_temp_stop_hearting();
+}
+#undef MODULE_CLASS
+
+#define MODULE_CLASS ZIFanControler
+int32_t ZCanProtocolParser::fan_controler_set_speed(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->fan_controler_set_speed(cxt->params[0]);
+}
+#undef MODULE_CLASS
+
 #if 0
 
 #define MODULE_CLASS ZIXYMotor

components/zcancmder/zcan_protocol_parser.hpp

@@ -101,6 +101,10 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   static int32_t pipette_ctrl_put_tip(cmdcontxt_t* cxt);
   static int32_t pipette_ctrl_move_to_ul(cmdcontxt_t* cxt);
 
+  static int32_t water_cooling_temp_start_hearting(cmdcontxt_t* cxt);
+  static int32_t water_cooling_temp_stop_hearting(cmdcontxt_t* cxt);
+
+  static int32_t fan_controler_set_speed(cmdcontxt_t* cxt);
 #if 0
   static int32_t xymotor_enable(cmdcontxt_t* cxt);
   static int32_t xymotor_move_by(cmdcontxt_t* cxt);