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a8000_subboard_sdk
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recode

master
zhaohe 1 year ago
parent
77be652142
commit
f6c8c1ccf0
10 changed files with 34 additions and 83 deletions
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  1. 4
      components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
  2. 1
      components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
  3. 16
      components/pipette_module/pipette_ctrl_module_v2.cpp
  4. 17
      components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
  5. 3
      components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
  6. 24
      components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.cpp
  7. 1
      components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.hpp
  8. 46
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
  9. 1
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
  10. 4
      components/zcancmder/zcan_board_module.cpp

4
components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
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@ -278,7 +278,6 @@ int32_t MiniRobotCtrlModule::get_basic_param(basic_param_t &param) {
} }
void MiniRobotCtrlModule::call_status_cb(action_cb_status_t cb, int32_t status) { void MiniRobotCtrlModule::call_status_cb(action_cb_status_t cb, int32_t status) {
m_com_reg.module_last_cmd_exec_status = status;
if (cb) cb(status); if (cb) cb(status);
} }
@ -300,7 +299,7 @@ int32_t MiniRobotCtrlModule::module_break() {
return stop(0); return stop(0);
} }
int32_t MiniRobotCtrlModule::module_get_last_exec_status(int32_t *status) { int32_t MiniRobotCtrlModule::module_get_last_exec_status(int32_t *status) {
*status = m_com_reg.module_last_cmd_exec_status;
*status = 0;
return 0; return 0;
} }
int32_t MiniRobotCtrlModule::module_get_status(int32_t *status) { int32_t MiniRobotCtrlModule::module_get_status(int32_t *status) {
@ -343,7 +342,6 @@ int32_t MiniRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t
} }
return 0; return 0;
} }
int32_t MiniRobotCtrlModule::do_action(int32_t actioncode) { return 0; }
/******************************************************************************* /*******************************************************************************
* Motor * * Motor *

1
components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
View File

@ -103,6 +103,5 @@ class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModule, public ZI
void set_errorcode(int32_t errorcode); void set_errorcode(int32_t errorcode);
int32_t getdpos(int32_t targetpos); int32_t getdpos(int32_t targetpos);
int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val); int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val);
int32_t do_action(int32_t actioncode);
}; };
} // namespace iflytop } // namespace iflytop

16
components/pipette_module/pipette_ctrl_module_v2.cpp
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@ -9,7 +9,6 @@ using namespace iflytop;
int exec_ret = ACTION; \ int exec_ret = ACTION; \
if (exec_ret != 0) { \ if (exec_ret != 0) { \
ZLOGE(TAG, "do " infostr "(line:%d) fail, ret = %d", __LINE__, exec_ret); \ ZLOGE(TAG, "do " infostr "(line:%d) fail, ret = %d", __LINE__, exec_ret); \
_module_set_exec_status(exec_ret); \
return; \ return; \
} \ } \
ZLOGI(TAG, "do " infostr " complete"); \ ZLOGI(TAG, "do " infostr " complete"); \
@ -90,20 +89,14 @@ int32_t PipetteModule::pipette_ctrl_init_device() {
ZLOGI(TAG, "pipette_ctrl_init_device"); ZLOGI(TAG, "pipette_ctrl_init_device");
if (!m_smtp2.isOnline()) return err::kdevice_offline; if (!m_smtp2.isOnline()) return err::kdevice_offline;
m_thread.stop(); m_thread.stop();
m_thread.start([this]() {
DO("init_device_block", m_smtp2.init_device_block());
_module_set_exec_status(0);
});
m_thread.start([this]() { DO("init_device_block", m_smtp2.init_device_block()); });
return 0; return 0;
}; };
int32_t PipetteModule::pipette_ctrl_put_tip() { int32_t PipetteModule::pipette_ctrl_put_tip() {
ZLOGI(TAG, "pipette_ctrl_put_tip"); ZLOGI(TAG, "pipette_ctrl_put_tip");
if (!m_smtp2.isOnline()) return err::kdevice_offline; if (!m_smtp2.isOnline()) return err::kdevice_offline;
m_thread.stop(); m_thread.stop();
m_thread.start([this]() {
DO("put_tip_block", m_smtp2.put_tip_block());
_module_set_exec_status(0);
});
m_thread.start([this]() { DO("put_tip_block", m_smtp2.put_tip_block()); });
return 0; return 0;
}; };
int32_t PipetteModule::pipette_ctrl_move_to_ul(int32_t ul) { int32_t PipetteModule::pipette_ctrl_move_to_ul(int32_t ul) {
@ -114,10 +107,7 @@ int32_t PipetteModule::pipette_ctrl_move_to_ul(int32_t ul) {
if (!m_smtp2.isOnline()) return err::kdevice_offline; if (!m_smtp2.isOnline()) return err::kdevice_offline;
m_thread.stop(); m_thread.stop();
m_thread.start([this, ul]() {
DO("move_to_ul_block", m_smtp2.move_to_ul_block(ul));
_module_set_exec_status(0);
});
m_thread.start([this, ul]() { DO("move_to_ul_block", m_smtp2.move_to_ul_block(ul)); });
return 0; return 0;
}; };

17
components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
View File

@ -388,7 +388,7 @@ int32_t StepMotorCtrlModule::move_by_block(int32_t dx, int32_t velocity, int ove
return do_motor_action_block([this, velocity, dx]() { return move_by(dx, velocity, nullptr); }); return do_motor_action_block([this, velocity, dx]() { return move_by(dx, velocity, nullptr); });
} }
void StepMotorCtrlModule::call_exec_status_cb(int32_t status, action_cb_status_t status_cb) { m_com_reg.module_last_cmd_exec_status = status; }
void StepMotorCtrlModule::call_exec_status_cb(int32_t status, action_cb_status_t status_cb) {}
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.motor_one_circle_pulse = 10000; cfg.base_param.motor_one_circle_pulse = 10000;
@ -444,7 +444,7 @@ int32_t StepMotorCtrlModule::getid(int32_t* id) {
int32_t StepMotorCtrlModule::module_stop() { return stop(0); } int32_t StepMotorCtrlModule::module_stop() { return stop(0); }
int32_t StepMotorCtrlModule::module_break() { return stop(0); } int32_t StepMotorCtrlModule::module_break() { return stop(0); }
int32_t StepMotorCtrlModule::module_get_last_exec_status(int32_t* status) { int32_t StepMotorCtrlModule::module_get_last_exec_status(int32_t* status) {
*status = m_com_reg.module_last_cmd_exec_status;
*status = 0;
return 0; return 0;
} }
int32_t StepMotorCtrlModule::module_get_status(int32_t* status) { int32_t StepMotorCtrlModule::module_get_status(int32_t* status) {
@ -488,7 +488,6 @@ int32_t StepMotorCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t
} }
return 0; return 0;
} }
int32_t StepMotorCtrlModule::do_action(int32_t actioncode) { 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) {
*io = 0; *io = 0;
@ -590,14 +589,7 @@ int32_t StepMotorCtrlModule::motor_read_pos(int32_t* pos) {
*pos = xnow; *pos = xnow;
return 0; return 0;
} }
void StepMotorCtrlModule::set_last_exec_status(int32_t ecode, int32_t val0, int32_t val1, int32_t val2, int32_t val3, int32_t val4) {
m_com_reg.module_last_cmd_exec_status = ecode;
m_com_reg.module_last_cmd_exec_val0 = val0;
m_com_reg.module_last_cmd_exec_val1 = val1;
m_com_reg.module_last_cmd_exec_val2 = val2;
m_com_reg.module_last_cmd_exec_val3 = val3;
m_com_reg.module_last_cmd_exec_val4 = val4;
}
void StepMotorCtrlModule::set_last_exec_status(int32_t ecode, int32_t val0, int32_t val1, int32_t val2, int32_t val3, int32_t val4) {}
int32_t StepMotorCtrlModule::motor_calculated_pos_by_move_to_zero() { int32_t StepMotorCtrlModule::motor_calculated_pos_by_move_to_zero() {
zlock_guard lock(m_lock); zlock_guard lock(m_lock);
@ -611,7 +603,6 @@ int32_t StepMotorCtrlModule::motor_calculated_pos_by_move_to_zero() {
if (erro != 0) { if (erro != 0) {
set_last_exec_status(erro); set_last_exec_status(erro);
} else { } else {
m_com_reg.module_last_cmd_exec_status = erro;
set_last_exec_status(erro, -dx + m_param.motor_shift); set_last_exec_status(erro, -dx + m_param.motor_shift);
m_stepM1->setXACTUAL(0); m_stepM1->setXACTUAL(0);
} }
@ -654,7 +645,7 @@ int32_t StepMotorCtrlModule::motor_easy_move_to_io(int32_t ioindex, int32_t dire
int32_t StepMotorCtrlModule::_exec_move_to_io_task(int32_t ioindex, int32_t direction) { int32_t StepMotorCtrlModule::_exec_move_to_io_task(int32_t ioindex, int32_t direction) {
m_thread.stop(); m_thread.stop();
m_thread.start([this, ioindex, direction]() { m_com_reg.module_last_cmd_exec_status = _exec_move_to_io_task_fn(ioindex, direction); });
m_thread.start([this, ioindex, direction]() { _exec_move_to_io_task_fn(ioindex, direction); });
return 0; return 0;
} }
int32_t StepMotorCtrlModule::_exec_move_to_io_task_fn(int32_t ioindex, int32_t direction) { int32_t StepMotorCtrlModule::_exec_move_to_io_task_fn(int32_t ioindex, int32_t direction) {

3
components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
View File

@ -80,7 +80,7 @@ class StepMotorCtrlModule : public ZIModule, public ZIMotor {
static uint32_t get_flash_cfg_size() { return sizeof(flash_config_t); } static uint32_t get_flash_cfg_size() { return sizeof(flash_config_t); }
virtual bool isbusy(); virtual bool isbusy();
virtual int32_t get_last_exec_status() { return m_com_reg.module_last_cmd_exec_status; };
virtual int32_t get_last_exec_status() { return 0; };
virtual int32_t move_to_logic_point(int32_t logic_point_num, action_cb_status_t status_cb); virtual int32_t move_to_logic_point(int32_t logic_point_num, action_cb_status_t status_cb);
virtual int32_t set_logic_point(int logic_point_num, int32_t x, int32_t vel, int32_t acc, int32_t dec); virtual int32_t set_logic_point(int logic_point_num, int32_t x, int32_t vel, int32_t acc, int32_t dec);
@ -193,7 +193,6 @@ class StepMotorCtrlModule : public ZIModule, public ZIMotor {
private: private:
int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val); int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val);
int32_t do_action(int32_t actioncode);
private: private:
/******************************************************************************* /*******************************************************************************

24
components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.cpp
View File

@ -88,7 +88,7 @@ int32_t WaterCoolingTemperatureControlModule::module_xxx_reg(int32_t param_id, b
PROCESS_REG(kreg_compute_interval, REG_GET(m_cfg.pidcompute_periodms), REG_SET(m_cfg.pidcompute_periodms)); PROCESS_REG(kreg_compute_interval, REG_GET(m_cfg.pidcompute_periodms), REG_SET(m_cfg.pidcompute_periodms));
PROCESS_REG(kreg_pid_target, REG_GET_FLOAT(m_target_temperature, 0.1), REG_SET_FLOAT(m_target_temperature, 0.1)); PROCESS_REG(kreg_pid_target, REG_GET_FLOAT(m_target_temperature, 0.1), REG_SET_FLOAT(m_target_temperature, 0.1));
PROCESS_REG(kreg_module_private0, gettemperature_sensor_state(val), ACTION_NONE);
// PROCESS_REG(kreg_module_private0, gettemperature_sensor_state(val), ACTION_NONE);
PROCESS_REG(kreg_pid_nowoutput, REG_GET(m_pidmodule.get_output()), ACTION_NONE); PROCESS_REG(kreg_pid_nowoutput, REG_GET(m_pidmodule.get_output()), ACTION_NONE);
PROCESS_REG(kreg_pid_feedbackval, REG_GET(read_pid_temperature()), ACTION_NONE); PROCESS_REG(kreg_pid_feedbackval, REG_GET(read_pid_temperature()), ACTION_NONE);
@ -117,28 +117,6 @@ int32_t WaterCoolingTemperatureControlModule::gettemperature_sensor_state(int32_
return 0; return 0;
} }
int32_t WaterCoolingTemperatureControlModule::do_action(int32_t actioncode) {
if (actioncode == ACTION_TEST_PELTIER_SET_POWER_LEVEL) {
return test_peltier_set_power_level(m_com_reg.module_action_param1);
} else if (actioncode == ACTION_TEST_PUMP_SET_LEVEL) {
return test_pump_set_level(m_com_reg.module_action_param1);
} else if (actioncode == ACTION_TEST_FAN_SET_LEVEL) {
return test_fan_set_level(m_com_reg.module_action_param1);
} else if (actioncode == ACTION_TEST_DUMP_DC_MOTOR_STATE) {
m_pelter_ctrl->dumpErrorInfo();
return 0;
} else if (actioncode == ACTION_TEST_ENABLE_LOG) {
m_enable_log = 1;
return 0;
} else if (actioncode == ACTION_TEST_DISABLE_LOG) {
m_enable_log = 0;
return 0;
}
else {
return err::kmodule_not_support_action;
}
}
int32_t WaterCoolingTemperatureControlModule::module_factory_reset() { return 0; } int32_t WaterCoolingTemperatureControlModule::module_factory_reset() { return 0; }
int32_t WaterCoolingTemperatureControlModule::module_flush_cfg() { return 0; } int32_t WaterCoolingTemperatureControlModule::module_flush_cfg() { return 0; }

1
components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.hpp
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@ -132,7 +132,6 @@ class WaterCoolingTemperatureControlModule : public ZIModule {
float getTemperatureSensorVal(int32_t index); float getTemperatureSensorVal(int32_t index);
virtual int32_t do_action(int32_t actioncode) override;
}; };
} // namespace iflytop } // namespace iflytop

46
components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
View File

@ -655,20 +655,10 @@ int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t&
switch (param_id) { switch (param_id) {
MODULE_COMMON_PROCESS_REG_CB(); MODULE_COMMON_PROCESS_REG_CB();
PROCESS_REG(kreg_motor_x_shift, REG_GET(m_basecfg.shift_x), REG_SET(m_basecfg.shift_x));
PROCESS_REG(kreg_motor_y_shift, REG_GET(m_basecfg.shift_y), REG_SET(m_basecfg.shift_y));
PROCESS_REG(kreg_motor_x_shaft, REG_GET(m_basecfg.x_shaft), REG_SET(m_basecfg.x_shaft));
PROCESS_REG(kreg_motor_y_shaft, REG_GET(m_basecfg.y_shaft), REG_SET(m_basecfg.y_shaft));
PROCESS_REG(kreg_motor_x_one_circle_pulse, REG_GET(m_basecfg.distance_scale), REG_SET(m_basecfg.distance_scale));
PROCESS_REG(kreg_motor_y_one_circle_pulse, REG_GET(m_basecfg.distance_scale), REG_SET(m_basecfg.distance_scale));
PROCESS_REG(kreg_motor_default_velocity, REG_GET(m_basecfg.maxspeed), REG_SET(m_basecfg.maxspeed)); PROCESS_REG(kreg_motor_default_velocity, REG_GET(m_basecfg.maxspeed), REG_SET(m_basecfg.maxspeed));
PROCESS_REG(kreg_motor_default_acc, REG_GET(m_basecfg.acc), REG_SET(m_basecfg.acc)); PROCESS_REG(kreg_motor_default_acc, REG_GET(m_basecfg.acc), REG_SET(m_basecfg.acc));
PROCESS_REG(kreg_motor_default_dec, REG_GET(m_basecfg.dec), REG_SET(m_basecfg.dec)); PROCESS_REG(kreg_motor_default_dec, REG_GET(m_basecfg.dec), REG_SET(m_basecfg.dec));
PROCESS_REG(kreg_motor_default_break_dec, REG_GET(m_basecfg.breakdec), REG_SET(m_basecfg.breakdec)); PROCESS_REG(kreg_motor_default_break_dec, REG_GET(m_basecfg.breakdec), REG_SET(m_basecfg.breakdec));
PROCESS_REG(kreg_motor_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_motor_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_motor_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_motor_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_motor_run_to_zero_speed, REG_GET(m_basecfg.run_to_zero_speed), REG_SET(m_basecfg.run_to_zero_speed)); PROCESS_REG(kreg_motor_run_to_zero_speed, REG_GET(m_basecfg.run_to_zero_speed), REG_SET(m_basecfg.run_to_zero_speed));
PROCESS_REG(kreg_motor_run_to_zero_dec, REG_GET(m_basecfg.run_to_zero_dec), REG_SET(m_basecfg.run_to_zero_dec)); PROCESS_REG(kreg_motor_run_to_zero_dec, REG_GET(m_basecfg.run_to_zero_dec), REG_SET(m_basecfg.run_to_zero_dec));
PROCESS_REG(kreg_motor_look_zero_edge_speed, REG_GET(m_basecfg.look_zero_edge_speed), REG_SET(m_basecfg.look_zero_edge_speed)); PROCESS_REG(kreg_motor_look_zero_edge_speed, REG_GET(m_basecfg.look_zero_edge_speed), REG_SET(m_basecfg.look_zero_edge_speed));
@ -676,9 +666,20 @@ int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t&
PROCESS_REG(kreg_stepmotor_ihold, REG_GET(m_basecfg.ihold), REG_SET(m_basecfg.ihold)); PROCESS_REG(kreg_stepmotor_ihold, REG_GET(m_basecfg.ihold), REG_SET(m_basecfg.ihold));
PROCESS_REG(kreg_stepmotor_irun, REG_GET(m_basecfg.irun), REG_SET(m_basecfg.irun)); PROCESS_REG(kreg_stepmotor_irun, REG_GET(m_basecfg.irun), REG_SET(m_basecfg.irun));
PROCESS_REG(kreg_stepmotor_iholddelay, REG_GET(m_basecfg.iholddelay), REG_SET(m_basecfg.iholddelay)); PROCESS_REG(kreg_stepmotor_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_robot_type, REG_GET(m_basecfg.robot_type), REG_SET(m_basecfg.robot_type));
PROCESS_REG(kreg_robot_x_pos, REG_GET(m_x), ACTION_NONE);
PROCESS_REG(kreg_robot_y_pos, REG_GET(m_y), ACTION_NONE);
PROCESS_REG(kreg_xyrobot_x_pos, REG_GET(m_x), ACTION_NONE);
PROCESS_REG(kreg_xyrobot_y_pos, REG_GET(m_y), ACTION_NONE);
PROCESS_REG(kreg_module_input_state, module_readio(&val), ACTION_NONE); PROCESS_REG(kreg_module_input_state, module_readio(&val), ACTION_NONE);
default: default:
@ -687,7 +688,6 @@ int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t&
} }
return 0; return 0;
} }
int32_t XYRobotCtrlModule::do_action(int32_t actioncode) { return err::kmodule_not_support_action; }
#if 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_set_state(int32_t state_id, int32_t state_value) { return err::kmodule_not_find_state_index; }
@ -771,18 +771,20 @@ int32_t XYRobotCtrlModule::xymotor_calculated_pos_by_move_to_zero() {
if (erro != 0) { if (erro != 0) {
m_dx = 0; m_dx = 0;
m_dy = 0; m_dy = 0;
m_com_reg.module_last_cmd_exec_status = err::kmodule_opeation_break_by_user;
m_com_reg.module_last_cmd_exec_val0 = 0;
m_com_reg.module_last_cmd_exec_val1 = 0;
_motor_stop(); _motor_stop();
return; return;
} }
m_dx = dx;
m_dy = dy;
m_com_reg.module_last_cmd_exec_status = 0;
m_com_reg.module_last_cmd_exec_val0 = -m_dx;
m_com_reg.module_last_cmd_exec_val1 = -m_dy;
m_dx = dx;
m_dy = dy;
/**
* @brief
* TODO: add function to get dx and dy
*/
// m_com_reg.module_last_cmd_exec_status = 0;
// m_com_reg.module_last_cmd_exec_val0 = -m_dx;
// m_com_reg.module_last_cmd_exec_val1 = -m_dy;
m_stepM1->setXACTUAL(0); m_stepM1->setXACTUAL(0);
m_stepM2->setXACTUAL(0); m_stepM2->setXACTUAL(0);
ZLOGI(TAG, "xymotor_calculated_pos_by_move_to_zero dx:%d dy:%d", dx, dy); ZLOGI(TAG, "xymotor_calculated_pos_by_move_to_zero dx:%d dy:%d", dx, dy);

1
components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
View File

@ -114,6 +114,5 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
void call_status_cb(action_cb_status_t cb, int32_t status); void call_status_cb(action_cb_status_t cb, int32_t status);
int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val); int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val);
int32_t do_action(int32_t actioncode);
}; };
} // namespace iflytop } // namespace iflytop

4
components/zcancmder/zcan_board_module.cpp
View File

@ -54,10 +54,6 @@ int32_t ZCanBoardModule::module_xxx_reg(int32_t param_id, bool read, int32_t &va
PROCESS_REG(kreg_sensor_temperature1, readTemperature(1, val), ACTION_NONE); PROCESS_REG(kreg_sensor_temperature1, readTemperature(1, val), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature2, readTemperature(2, val), ACTION_NONE); PROCESS_REG(kreg_sensor_temperature2, readTemperature(2, val), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature3, readTemperature(3, val), ACTION_NONE); PROCESS_REG(kreg_sensor_temperature3, readTemperature(3, val), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature4, readTemperature(4, val), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature5, readTemperature(5, val), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature6, readTemperature(6, val), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature7, readTemperature(7, val), ACTION_NONE);
PROCESS_REG(kreg_pwm0_duty, readPwmDuty(0, val), setPwmDuty(0, val)); PROCESS_REG(kreg_pwm0_duty, readPwmDuty(0, val), setPwmDuty(0, val));
PROCESS_REG(kreg_pwm1_duty, readPwmDuty(1, val), setPwmDuty(1, val)); PROCESS_REG(kreg_pwm1_duty, readPwmDuty(1, val), setPwmDuty(1, val));

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