project_boditech_vidas_a8000_v3
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a8000_subboard_sdk
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update

master
zhaohe 1 year ago
parent
85d2a97eb1
commit
f312693388
3 changed files with 167 additions and 235 deletions
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  1. 329
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
  2. 71
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
  3. 2
      components/zprotocols/zcancmder

329
components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
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@ -49,29 +49,29 @@ int32_t XYRobotCtrlModule::move_to(int32_t x, int32_t y, int32_t speed, action_c
ZLOGI(TAG, "move_to x:%d y:%d", x, y);
int runspeed = speed;
if (speed == 0) {
runspeed = m_basecfg.maxspeed;
runspeed = m_cfg.maxspeed;
}
if (m_basecfg.maxspeed != 0 && speed > m_basecfg.maxspeed) {
runspeed = m_basecfg.maxspeed;
if (m_cfg.maxspeed != 0 && speed > m_cfg.maxspeed) {
runspeed = m_cfg.maxspeed;
}
if (m_basecfg.min_x != 0 && x < m_basecfg.min_x) {
x = m_basecfg.min_x;
if (m_cfg.min_x != 0 && x < m_cfg.min_x) {
x = m_cfg.min_x;
}
if (m_basecfg.max_x != 0 && x > m_basecfg.max_x) {
x = m_basecfg.max_x;
if (m_cfg.max_x != 0 && x > m_cfg.max_x) {
x = m_cfg.max_x;
}
if (m_basecfg.min_y != 0 && y < m_basecfg.min_y) {
y = m_basecfg.min_y;
if (m_cfg.min_y != 0 && y < m_cfg.min_y) {
y = m_cfg.min_y;
}
if (m_basecfg.max_y != 0 && y > m_basecfg.max_y) {
y = m_basecfg.max_y;
if (m_cfg.max_y != 0 && y > m_cfg.max_y) {
y = m_cfg.max_y;
}
// int32_t m1pos, m2pos;
m_thread.stop();
m_thread.start([this, x, y, runspeed, status_cb]() {
_motor_move_to(x, y, runspeed, m_basecfg.acc, m_basecfg.dec);
_motor_move_to(x, y, runspeed, m_cfg.acc, m_cfg.dec);
while (!_motor_is_reach_target()) {
if (m_thread.getExitFlag()) break;
vTaskDelay(10);
@ -92,8 +92,8 @@ int32_t XYRobotCtrlModule::move_by_no_limit(int32_t dx, int32_t dy, int32_t spee
m_thread.stop();
_motor_stop();
if (m_basecfg.maxspeed != 0 && speed > m_basecfg.maxspeed) {
speed = m_basecfg.maxspeed;
if (m_cfg.maxspeed != 0 && speed > m_cfg.maxspeed) {
speed = m_cfg.maxspeed;
}
int32_t s_x, s_y, to_x, to_y;
getnowpos(s_x, s_y);
@ -101,7 +101,7 @@ int32_t XYRobotCtrlModule::move_by_no_limit(int32_t dx, int32_t dy, int32_t spee
to_y = s_y + dy;
m_thread.start([this, to_x, to_y, speed, status_cb]() {
_motor_move_to(to_x, to_y, speed, m_basecfg.acc, m_basecfg.dec);
_motor_move_to(to_x, to_y, speed, m_cfg.acc, m_cfg.dec);
while (!_motor_is_reach_target()) {
if (m_thread.getExitFlag()) break;
@ -127,28 +127,28 @@ int32_t XYRobotCtrlModule::move_by(int32_t dx, int32_t dy, int32_t speed, action
_motor_stop();
if (speed == 0) {
speed = m_basecfg.maxspeed;
speed = m_cfg.maxspeed;
}
if (m_basecfg.maxspeed != 0 && speed > m_basecfg.maxspeed) {
speed = m_basecfg.maxspeed;
if (m_cfg.maxspeed != 0 && speed > m_cfg.maxspeed) {
speed = m_cfg.maxspeed;
}
int32_t s_x, s_y, to_x, to_y;
getnowpos(s_x, s_y);
to_x = s_x + dx;
to_y = s_y + dy;
if (m_basecfg.min_x != 0 && to_x < m_basecfg.min_x) {
to_x = m_basecfg.min_x;
if (m_cfg.min_x != 0 && to_x < m_cfg.min_x) {
to_x = m_cfg.min_x;
}
if (m_basecfg.max_x != 0 && to_x > m_basecfg.max_x) {
to_x = m_basecfg.max_x;
if (m_cfg.max_x != 0 && to_x > m_cfg.max_x) {
to_x = m_cfg.max_x;
}
if (m_basecfg.min_y != 0 && to_y < m_basecfg.min_y) {
to_y = m_basecfg.min_y;
if (m_cfg.min_y != 0 && to_y < m_cfg.min_y) {
to_y = m_cfg.min_y;
}
if (m_basecfg.max_y != 0 && to_y > m_basecfg.max_y) {
to_y = m_basecfg.max_y;
if (m_cfg.max_y != 0 && to_y > m_cfg.max_y) {
to_y = m_cfg.max_y;
}
if (to_x == s_x && to_y == s_y) {
@ -157,7 +157,7 @@ int32_t XYRobotCtrlModule::move_by(int32_t dx, int32_t dy, int32_t speed, action
}
m_thread.start([this, to_x, to_y, speed, status_cb]() {
_motor_move_to(to_x, to_y, speed, m_basecfg.acc, m_basecfg.dec);
_motor_move_to(to_x, to_y, speed, m_cfg.acc, m_cfg.dec);
while (!_motor_is_reach_target()) {
if (m_thread.getExitFlag()) break;
@ -225,8 +225,8 @@ int32_t XYRobotCtrlModule::move_to_zero_with_calibrate(int32_t x, int32_t y, act
calibrate_x = dx + x;
calibrate_y = dy + y;
m_basecfg.shift_x = calibrate_x;
m_basecfg.shift_y = calibrate_y;
m_cfg.shift_x = calibrate_x;
m_cfg.shift_y = calibrate_y;
m_stepM1->setXACTUAL(0);
m_stepM2->setXACTUAL(0);
@ -259,7 +259,7 @@ int32_t XYRobotCtrlModule::stop(uint8_t stopType) {
} else {
ZLOGI(TAG, "breakStop");
m_thread.stop();
_motor_stop(m_basecfg.breakdec);
_motor_stop(m_cfg.breakdec);
return 0;
}
}
@ -272,97 +272,45 @@ int32_t XYRobotCtrlModule::force_change_current_pos(int32_t x, int32_t y) {
m_stepM2->setXACTUAL(m2pos);
return 0;
}
int32_t XYRobotCtrlModule::read_version(version_t& version) {
zlock_guard lock(m_lock);
version = {0};
return 0;
}
int32_t XYRobotCtrlModule::read_status(status_t& status) {
zlock_guard lock(m_lock);
status = {0};
status.status = m_thread.isworking() ? 0x01 : 0x00;
status.iostate = 0xff;
for (int i = 0; i < m_ngpio; i++) {
if (i > 7) break;
if (!m_gpiotable[i].getState()) status.iostate &= ~(1 << i);
}
getnowpos(status.x, status.y);
return 0;
}
int32_t XYRobotCtrlModule::read_detailed_status(detailed_status_t& debug_info) {
zlock_guard lock(m_lock);
debug_info = {0};
debug_info.iostate = 0xff;
for (int i = 0; i < m_ngpio; i++) {
if (i > 7) break;
// ZLOGI(TAG, "read_detailed_status i:%d %d", i,m_gpiotable[i].getState());
if (!m_gpiotable[i].getState()) debug_info.iostate &= ~(1 << i);
}
debug_info.status = m_thread.isworking() ? 0x01 : 0x00;
getnowpos(debug_info.x, debug_info.y);
return 0;
}
int32_t XYRobotCtrlModule::get_flash_config_size() { return sizeof(flash_config_t); }
void XYRobotCtrlModule::create_default_cfg(flash_config_t& cfg) {
memset(&cfg, 0, sizeof(cfg));
cfg.basecfg.robot_type = corexy;
cfg.basecfg.x_shaft = 0;
cfg.basecfg.y_shaft = 0;
cfg.basecfg.ihold = 1;
cfg.basecfg.irun = 3;
cfg.basecfg.iholddelay = 100;
cfg.basecfg.distance_scale = 7344;
cfg.basecfg.shift_x = 0;
cfg.basecfg.shift_y = 0;
cfg.robot_type = kcorexy;
cfg.x_shaft = 0;
cfg.y_shaft = 0;
cfg.ihold = 1;
cfg.irun = 3;
cfg.iholddelay = 100;
cfg.distance_scale = 7344;
cfg.shift_x = 0;
cfg.shift_y = 0;
// limit
cfg.basecfg.acc = 300;
cfg.basecfg.dec = 300;
cfg.basecfg.breakdec = 1600;
cfg.basecfg.maxspeed = 800;
cfg.basecfg.min_x = 0;
cfg.basecfg.max_x = 0;
cfg.basecfg.min_y = 0;
cfg.basecfg.max_y = 0;
cfg.basecfg.run_to_zero_max_d = 10000 * 100;
cfg.basecfg.run_to_zero_speed = 200;
cfg.basecfg.run_to_zero_dec = 1600;
cfg.basecfg.look_zero_edge_max_d = 10000 * 3;
cfg.basecfg.look_zero_edge_speed = 10;
cfg.basecfg.look_zero_edge_dec = 1600;
// cfg.basecfg.run_to_zero_max_d = 10000 * 100;
// cfg.basecfg.leave_from_zero_max_d = 3 * 10000;
// cfg.basecfg.run_to_zero_speed = 300;
// cfg.basecfg.run_to_zero_dec = 1600;
cfg.acc = 300;
cfg.dec = 300;
cfg.breakdec = 1600;
cfg.maxspeed = 800;
cfg.min_x = 0;
cfg.max_x = 0;
cfg.min_y = 0;
cfg.max_y = 0;
cfg.run_to_zero_max_d = 10000 * 100;
cfg.run_to_zero_speed = 200;
cfg.run_to_zero_dec = 1600;
cfg.look_zero_edge_max_d = 10000 * 3;
cfg.look_zero_edge_speed = 10;
cfg.look_zero_edge_dec = 1600;
return;
}
int32_t XYRobotCtrlModule::set_base_param(const base_param_t& inparam) {
zlock_guard lock(m_lock);
m_basecfg = inparam;
active_cfg();
return 0;
};
void XYRobotCtrlModule::active_cfg() {
m_stepM1->setScale(m_basecfg.distance_scale / 2);
m_stepM2->setScale(m_basecfg.distance_scale / 2);
m_stepM1->setIHOLD_IRUN(m_basecfg.ihold, m_basecfg.irun, m_basecfg.iholddelay);
m_stepM2->setIHOLD_IRUN(m_basecfg.ihold, m_basecfg.irun, m_basecfg.iholddelay);
m_stepM1->setScale(m_cfg.distance_scale / 2);
m_stepM2->setScale(m_cfg.distance_scale / 2);
m_stepM1->setIHOLD_IRUN(m_cfg.ihold, m_cfg.irun, m_cfg.iholddelay);
m_stepM2->setIHOLD_IRUN(m_cfg.ihold, m_cfg.irun, m_cfg.iholddelay);
}
int32_t XYRobotCtrlModule::get_base_param(base_param_t& ack) {
zlock_guard lock(m_lock);
ack = m_basecfg;
return 0;
};
int32_t XYRobotCtrlModule::exec_move_to_zero_task(int32_t& dx, int32_t& dy) {
int32_t xnow, ynow;
getnowpos(xnow, ynow);
@ -383,7 +331,7 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
* 移动导零点 *
*******************************************************************************/
if (!m_Xgpio->getState()) {
_motor_move_by(-m_basecfg.run_to_zero_max_d, 0, m_basecfg.run_to_zero_speed, m_basecfg.acc, m_basecfg.run_to_zero_dec);
_motor_move_by(-m_cfg.run_to_zero_max_d, 0, m_cfg.run_to_zero_speed, m_cfg.acc, m_cfg.run_to_zero_dec);
bool xreach_zero = false;
while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
// ZLOGI(TAG, "xgpio %d %d %d", m_Xgpio->getState(), m_stepM1->isReachTarget(), m_stepM2->isReachTarget());
@ -408,7 +356,7 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
}
if (m_Xgpio->getState()) {
_motor_move_by(m_basecfg.look_zero_edge_max_d, 0, m_basecfg.look_zero_edge_speed, m_basecfg.acc, m_basecfg.look_zero_edge_dec);
_motor_move_by(m_cfg.look_zero_edge_max_d, 0, m_cfg.look_zero_edge_speed, m_cfg.acc, m_cfg.look_zero_edge_dec);
bool xleave_zero = false;
while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
if (!m_Xgpio->getState()) {
@ -436,7 +384,7 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
*******************************************************************************/
if (!m_Ygpio->getState()) {
_motor_move_by(0, -m_basecfg.run_to_zero_max_d, m_basecfg.run_to_zero_speed, m_basecfg.acc, m_basecfg.run_to_zero_dec);
_motor_move_by(0, -m_cfg.run_to_zero_max_d, m_cfg.run_to_zero_speed, m_cfg.acc, m_cfg.run_to_zero_dec);
bool yreach_zero = false;
while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
// ZLOGI(TAG, "ygpio %d", m_Ygpio->getState());
@ -459,7 +407,7 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
}
if (m_Ygpio->getState()) {
_motor_move_by(0, m_basecfg.look_zero_edge_max_d, m_basecfg.look_zero_edge_speed, m_basecfg.acc, m_basecfg.look_zero_edge_dec);
_motor_move_by(0, m_cfg.look_zero_edge_max_d, m_cfg.look_zero_edge_speed, m_cfg.acc, m_cfg.look_zero_edge_dec);
bool yleave_zero = false;
while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
if (!m_Ygpio->getState()) {
@ -538,7 +486,7 @@ void XYRobotCtrlModule::_motor_stop(int32_t dec) {
m_stepM2->stop();
}
void XYRobotCtrlModule::inverse_kinematics(int32_t m1pos, int32_t m2pos, int32_t& x, int32_t& y) {
if (m_basecfg.robot_type == corexy) {
if (m_cfg.robot_type == kcorexy) {
x = (m1pos - m2pos);
y = (m1pos + m2pos);
} else {
@ -546,20 +494,20 @@ void XYRobotCtrlModule::inverse_kinematics(int32_t m1pos, int32_t m2pos, int32_t
y = m1pos - m2pos;
}
if (m_basecfg.x_shaft) x = -x;
if (m_basecfg.y_shaft) y = -y;
if (m_cfg.x_shaft) x = -x;
if (m_cfg.y_shaft) y = -y;
x += m_basecfg.shift_x;
y += m_basecfg.shift_y;
x += m_cfg.shift_x;
y += m_cfg.shift_y;
}
void XYRobotCtrlModule::forward_kinematics(int32_t x, int32_t y, int32_t& m1pos, int32_t& m2pos) {
x -= m_basecfg.shift_x;
y -= m_basecfg.shift_y;
x -= m_cfg.shift_x;
y -= m_cfg.shift_y;
if (m_basecfg.x_shaft) x = -x;
if (m_basecfg.y_shaft) y = -y;
if (m_cfg.x_shaft) x = -x;
if (m_cfg.y_shaft) y = -y;
if (m_basecfg.robot_type == corexy) {
if (m_cfg.robot_type == kcorexy) {
m1pos = ((x + y) / 2);
m2pos = ((y - x) / 2);
} else {
@ -574,29 +522,29 @@ void XYRobotCtrlModule::call_status_cb(action_cb_status_t cb, int32_t status) {
if (cb) cb(status);
}
void XYRobotCtrlModule::dumpcfg() {
ZLOGI(TAG, "robot_type :%d", m_basecfg.robot_type);
ZLOGI(TAG, "x_shaft :%d", m_basecfg.x_shaft);
ZLOGI(TAG, "y_shaft :%d", m_basecfg.y_shaft);
ZLOGI(TAG, "ihold :%d", m_basecfg.ihold);
ZLOGI(TAG, "irun :%d", m_basecfg.irun);
ZLOGI(TAG, "iholddelay :%d", m_basecfg.iholddelay);
ZLOGI(TAG, "distance_scale :%d", m_basecfg.distance_scale);
ZLOGI(TAG, "shift_x :%d", m_basecfg.shift_x);
ZLOGI(TAG, "shift_y :%d", m_basecfg.shift_y);
ZLOGI(TAG, "acc :%d", m_basecfg.acc);
ZLOGI(TAG, "dec :%d", m_basecfg.dec);
ZLOGI(TAG, "breakdec :%d", m_basecfg.breakdec);
ZLOGI(TAG, "maxspeed :%d", m_basecfg.maxspeed);
ZLOGI(TAG, "min_x :%d", m_basecfg.min_x);
ZLOGI(TAG, "max_x :%d", m_basecfg.max_x);
ZLOGI(TAG, "min_y :%d", m_basecfg.min_y);
ZLOGI(TAG, "max_y :%d", m_basecfg.max_y);
ZLOGI(TAG, "run_to_zero_max_d :%d", m_basecfg.run_to_zero_max_d);
ZLOGI(TAG, "run_to_zero_speed :%d", m_basecfg.run_to_zero_speed);
ZLOGI(TAG, "run_to_zero_dec :%d", m_basecfg.run_to_zero_dec);
ZLOGI(TAG, "look_zero_edge_max_d :%d", m_basecfg.look_zero_edge_max_d);
ZLOGI(TAG, "look_zero_edge_speed :%d", m_basecfg.look_zero_edge_speed);
ZLOGI(TAG, "look_zero_edge_dec :%d", m_basecfg.look_zero_edge_dec);
ZLOGI(TAG, "robot_type :%d", m_cfg.robot_type);
ZLOGI(TAG, "x_shaft :%d", m_cfg.x_shaft);
ZLOGI(TAG, "y_shaft :%d", m_cfg.y_shaft);
ZLOGI(TAG, "ihold :%d", m_cfg.ihold);
ZLOGI(TAG, "irun :%d", m_cfg.irun);
ZLOGI(TAG, "iholddelay :%d", m_cfg.iholddelay);
ZLOGI(TAG, "distance_scale :%d", m_cfg.distance_scale);
ZLOGI(TAG, "shift_x :%d", m_cfg.shift_x);
ZLOGI(TAG, "shift_y :%d", m_cfg.shift_y);
ZLOGI(TAG, "acc :%d", m_cfg.acc);
ZLOGI(TAG, "dec :%d", m_cfg.dec);
ZLOGI(TAG, "breakdec :%d", m_cfg.breakdec);
ZLOGI(TAG, "maxspeed :%d", m_cfg.maxspeed);
ZLOGI(TAG, "min_x :%d", m_cfg.min_x);
ZLOGI(TAG, "max_x :%d", m_cfg.max_x);
ZLOGI(TAG, "min_y :%d", m_cfg.min_y);
ZLOGI(TAG, "max_y :%d", m_cfg.max_y);
ZLOGI(TAG, "run_to_zero_max_d :%d", m_cfg.run_to_zero_max_d);
ZLOGI(TAG, "run_to_zero_speed :%d", m_cfg.run_to_zero_speed);
ZLOGI(TAG, "run_to_zero_dec :%d", m_cfg.run_to_zero_dec);
ZLOGI(TAG, "look_zero_edge_max_d :%d", m_cfg.look_zero_edge_max_d);
ZLOGI(TAG, "look_zero_edge_speed :%d", m_cfg.look_zero_edge_speed);
ZLOGI(TAG, "look_zero_edge_dec :%d", m_cfg.look_zero_edge_dec);
}
int32_t XYRobotCtrlModule::flush() { //
@ -632,7 +580,7 @@ int32_t XYRobotCtrlModule::module_stop() {
int32_t XYRobotCtrlModule::module_break() {
ZLOGI(TAG, "module_break");
m_thread.stop();
_motor_stop(m_basecfg.breakdec);
_motor_stop(m_cfg.breakdec);
return 0;
}
int32_t XYRobotCtrlModule::module_get_last_exec_status(int32_t* status) {
@ -649,35 +597,33 @@ int32_t XYRobotCtrlModule::module_get_error(int32_t* iserror) {
}
int32_t XYRobotCtrlModule::module_clear_error() { return 0; }
int32_t XYRobotCtrlModule::module_set_reg(int32_t param_id, int32_t param_value) { return module_xxx_reg(param_id, false, param_value); }
int32_t XYRobotCtrlModule::module_get_reg(int32_t param_id, int32_t* param_value) { return module_xxx_reg(param_id, true, *param_value); }
int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
switch (param_id) {
MODULE_COMMON_PROCESS_REG_CB();
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));
PROCESS_REG(kreg_xyrobot_x_shaft, REG_GET(m_basecfg.x_shaft), REG_SET(m_basecfg.x_shaft));
PROCESS_REG(kreg_xyrobot_y_shaft, REG_GET(m_basecfg.y_shaft), REG_SET(m_basecfg.y_shaft));
PROCESS_REG(kreg_xyrobot_x_one_circle_pulse, REG_GET(m_basecfg.distance_scale), REG_SET(m_basecfg.distance_scale));
PROCESS_REG(kreg_xyrobot_y_one_circle_pulse, REG_GET(m_basecfg.distance_scale), REG_SET(m_basecfg.distance_scale));
PROCESS_REG(kreg_xyrobot_run_to_zero_max_x_d, REG_GET(m_basecfg.run_to_zero_max_d), REG_SET(m_basecfg.run_to_zero_max_d));
PROCESS_REG(kreg_xyrobot_run_to_zero_max_y_d, REG_GET(m_basecfg.run_to_zero_max_d), REG_SET(m_basecfg.run_to_zero_max_d));
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_default_velocity, REG_GET(m_cfg.maxspeed), REG_SET(m_cfg.maxspeed));
PROCESS_REG(kreg_xyrobot_default_acc, REG_GET(m_cfg.acc), REG_SET(m_cfg.acc));
PROCESS_REG(kreg_xyrobot_default_dec, REG_GET(m_cfg.dec), REG_SET(m_cfg.dec));
PROCESS_REG(kreg_xyrobot_default_break_dec, REG_GET(m_cfg.breakdec), REG_SET(m_cfg.breakdec));
PROCESS_REG(kreg_xyrobot_run_to_zero_speed, REG_GET(m_cfg.run_to_zero_speed), REG_SET(m_cfg.run_to_zero_speed));
PROCESS_REG(kreg_xyrobot_run_to_zero_dec, REG_GET(m_cfg.run_to_zero_dec), REG_SET(m_cfg.run_to_zero_dec));
PROCESS_REG(kreg_xyrobot_look_zero_edge_speed, REG_GET(m_cfg.look_zero_edge_speed), REG_SET(m_cfg.look_zero_edge_speed));
PROCESS_REG(kreg_xyrobot_look_zero_edge_dec, REG_GET(m_cfg.look_zero_edge_dec), REG_SET(m_cfg.look_zero_edge_dec));
PROCESS_REG(kreg_xyrobot_ihold, REG_GET(m_cfg.ihold), REG_SET(m_cfg.ihold));
PROCESS_REG(kreg_xyrobot_irun, REG_GET(m_cfg.irun), REG_SET(m_cfg.irun));
PROCESS_REG(kreg_xyrobot_iholddelay, REG_GET(m_cfg.iholddelay), REG_SET(m_cfg.iholddelay));
PROCESS_REG(kreg_xyrobot_x_shift, REG_GET(m_cfg.shift_x), REG_SET(m_cfg.shift_x));
PROCESS_REG(kreg_xyrobot_y_shift, REG_GET(m_cfg.shift_y), REG_SET(m_cfg.shift_y));
PROCESS_REG(kreg_xyrobot_x_shaft, REG_GET(m_cfg.x_shaft), REG_SET(m_cfg.x_shaft));
PROCESS_REG(kreg_xyrobot_y_shaft, REG_GET(m_cfg.y_shaft), REG_SET(m_cfg.y_shaft));
PROCESS_REG(kreg_xyrobot_x_one_circle_pulse, REG_GET(m_cfg.distance_scale), REG_SET(m_cfg.distance_scale));
PROCESS_REG(kreg_xyrobot_y_one_circle_pulse, REG_GET(m_cfg.distance_scale), REG_SET(m_cfg.distance_scale));
PROCESS_REG(kreg_xyrobot_run_to_zero_max_x_d, REG_GET(m_cfg.run_to_zero_max_d), REG_SET(m_cfg.run_to_zero_max_d));
PROCESS_REG(kreg_xyrobot_run_to_zero_max_y_d, REG_GET(m_cfg.run_to_zero_max_d), REG_SET(m_cfg.run_to_zero_max_d));
PROCESS_REG(kreg_xyrobot_look_zero_edge_max_x_d, REG_GET(m_cfg.look_zero_edge_max_d), REG_SET(m_cfg.look_zero_edge_max_d));
PROCESS_REG(kreg_xyrobot_look_zero_edge_max_y_d, REG_GET(m_cfg.look_zero_edge_max_d), REG_SET(m_cfg.look_zero_edge_max_d));
PROCESS_REG(kreg_xyrobot_robot_type, REG_GET(m_cfg.robot_type), REG_SET(m_cfg.robot_type));
PROCESS_REG(kreg_xyrobot_io_state0, module_readio(&val), ACTION_NONE);
default:
@ -687,43 +633,6 @@ int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t&
return 0;
}
#if 0
int32_t XYRobotCtrlModule::module_set_state(int32_t state_id, int32_t state_value) { return err::kmodule_not_find_state_index; }
int32_t XYRobotCtrlModule::module_get_state(int32_t state_id, int32_t* state_value) {
#if 0
kstate_module_status
kstate_module_errorcode
// kstate_xyrobot_move
kstate_xyrobot_enable
kstate_xyrobot_x_pos
kstate_xyrobot_y_pos
kstate_xyrobot_x_dpos
kstate_xyrobot_y_dpos
#endif
// state_value
#define GET_STATE(param_id, configval) \
case param_id: \
*state_value = configval; \
return 0; \
break;
int32_t x, y;
getnowpos(x, y);
switch (state_id) {
GET_STATE(kstate_module_status, m_thread.isworking() ? 0x01 : 0x00);
GET_STATE(kstate_module_errorcode, 0);
GET_STATE(kstate_xyrobot_enable, m_enable);
GET_STATE(kstate_xyrobot_x_pos, x);
GET_STATE(kstate_xyrobot_y_pos, y);
GET_STATE(kstate_xyrobot_x_dpos, m_dx);
GET_STATE(kstate_xyrobot_y_dpos, m_dy);
default:
return err::kmodule_not_find_state_index;
}
}
#endif
int32_t XYRobotCtrlModule::module_readio(int32_t* io) {
*io = 0;
for (int i = 0; i < m_ngpio; i++) {

71
components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
View File

@ -1,16 +1,50 @@
#pragma once
//
#include "a8000_protocol\protocol.hpp"
#include "sdk/os/zos.hpp"
#include "sdk\components\tmc\basic\tmc_ic_interface.hpp"
#include "sdk\components\zcancmder\zcanreceiver.hpp"
#include "a8000_protocol\protocol.hpp"
#include "sdk\components\zprotocols\zcancmder\api\i_xyrobot_ctrl_module.hpp"
namespace iflytop {
class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public ZIModule {
typedef int32_t s32;
typedef std::function<void(int32_t status)> action_cb_status_t;
class XYRobotCtrlModule : public ZIXYMotor, public ZIModule {
ENABLE_MODULE(XYRobotCtrlModule, khbot_module, PC_VERSION);
public:
typedef enum { khbot, kcorexy } robot_type_t;
typedef struct {
bool configInited;
s32 robot_type;
s32 x_shaft;
s32 y_shaft;
s32 ihold;
s32 irun;
s32 iholddelay;
s32 distance_scale; // 0.001
s32 shift_x;
s32 shift_y;
// limit
s32 acc;
s32 dec;
s32 breakdec;
s32 maxspeed;
s32 min_x;
s32 max_x;
s32 min_y;
s32 max_y;
s32 run_to_zero_max_d;
s32 run_to_zero_speed;
s32 run_to_zero_dec;
s32 look_zero_edge_max_d;
s32 look_zero_edge_speed;
s32 look_zero_edge_dec;
} flash_config_t;
private:
IStepperMotor* m_stepM1;
IStepperMotor* m_stepM2;
@ -34,7 +68,6 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
const char* m_flashmark = nullptr;
flash_config_t m_cfg;
flash_config_t m_default_cfg;
base_param_t& m_basecfg = m_cfg.basecfg;
bool m_enable = false;
zmutex m_lock;
@ -45,27 +78,19 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
ZGPIO* Xgpio, int ngpio, //
flash_config_t& default_cfg, const char* flashmark);
virtual int32_t move_to(int32_t x, int32_t y, int32_t speed, action_cb_status_t status_cb) override;
virtual int32_t move_by(int32_t dx, int32_t dy, int32_t speed, action_cb_status_t status_cb) override;
virtual int32_t move_by_no_limit(int32_t dx, int32_t dy, int32_t speed, action_cb_status_t status_cb) override;
virtual int32_t move_to_zero(action_cb_status_t status_cb) override;
virtual int32_t move_to_zero_with_calibrate(int32_t x, int32_t y, action_cb_status_t status_cb) override;
virtual int32_t enable(bool venable) override;
virtual int32_t stop(uint8_t stopType) override;
virtual int32_t force_change_current_pos(int32_t x, int32_t y) override;
virtual int32_t read_version(version_t& version) override;
virtual int32_t read_status(status_t& status) override;
virtual int32_t read_detailed_status(detailed_status_t& debug_info) override;
virtual int32_t move_to(int32_t x, int32_t y, int32_t speed, action_cb_status_t status_cb);
virtual int32_t move_by(int32_t dx, int32_t dy, int32_t speed, action_cb_status_t status_cb);
virtual int32_t move_by_no_limit(int32_t dx, int32_t dy, int32_t speed, action_cb_status_t status_cb);
virtual int32_t move_to_zero(action_cb_status_t status_cb);
virtual int32_t move_to_zero_with_calibrate(int32_t x, int32_t y, action_cb_status_t status_cb);
virtual int32_t enable(bool venable);
virtual int32_t stop(uint8_t stopType);
virtual int32_t force_change_current_pos(int32_t x, int32_t y);
static void create_default_cfg(flash_config_t& cfg);
static int32_t get_flash_config_size();
virtual int32_t set_base_param(const base_param_t& param) override;
virtual int32_t get_base_param(base_param_t& ack) override;
virtual int32_t flush() override;
virtual int32_t factory_reset() override;
virtual int32_t flush();
virtual int32_t factory_reset();
void loop();
void dumpcfg();
@ -78,8 +103,6 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
virtual int32_t module_get_status(int32_t* status);
virtual int32_t module_get_error(int32_t* iserror);
virtual int32_t module_clear_error();
virtual int32_t module_set_reg(int32_t param_id, int32_t param_value);
virtual int32_t module_get_reg(int32_t param_id, int32_t* param_value);
virtual int32_t module_readio(int32_t* io);
virtual int32_t module_read_adc(int32_t adcindex, int32_t* adc);
virtual int32_t module_factory_reset();

2
components/zprotocols/zcancmder

@ -1 +1 @@
Subproject commit 002a60619ba163f1b271dff7d17363a2ebe3faca
Subproject commit 6b31abb3ebfee765f966007502e5c2108c207a51
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