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update

master
zhaohe 2 years ago
parent
8a33d6eeef
commit
2393d97dec
4 changed files with 22 additions and 22 deletions
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  1. 4
      api/i_mini_servo_module.hpp
  2. 4
      api/i_step_motor_ctrl_module.hpp
  3. 4
      api/i_xyrobot_ctrl_module.hpp
  4. 32
      zcancmder_protocol.hpp

4
api/i_mini_servo_module.hpp
View File

@ -68,7 +68,7 @@ class I_MiniServoModule {
int16_t temperature;
int16_t error_flag;
} debug_info_t;
} detailed_status_t;
/*******************************************************************************
* CFG *
@ -107,7 +107,7 @@ class I_MiniServoModule {
virtual int32_t read_version(version_t& version) = 0;
virtual int32_t read_status(status_t& status) = 0;
virtual int32_t read_debug_info(debug_info_t& debug_info) = 0;
virtual int32_t read_debug_info(detailed_status_t& debug_info) = 0;
virtual int32_t set_run_param(run_param_t& param) = 0;
virtual int32_t set_basic_param(basic_param_t& param) = 0;

4
api/i_step_motor_ctrl_module.hpp
View File

@ -58,7 +58,7 @@ class I_StepMotorCtrlModule {
uint8_t status;
uint8_t io_state; // x_zero_io x_end_io
int32_t x;
} debug_info_t;
} detailed_status_t;
/*******************************************************************************
* CFG *
@ -102,7 +102,7 @@ class I_StepMotorCtrlModule {
virtual int32_t read_version(version_t& version) = 0;
virtual int32_t read_status(status_t& status) = 0;
virtual int32_t read_debug_info(debug_info_t& debug_info) = 0;
virtual int32_t read_debug_info(detailed_status_t& debug_info) = 0;
virtual int32_t set_run_param(uint8_t operation, const run_param_t& param, run_param_t& ack) = 0;
virtual int32_t set_run_to_zero_param(uint8_t operation, const run_to_zero_param_t& param, run_to_zero_param_t& ack) = 0;

4
api/i_xyrobot_ctrl_module.hpp
View File

@ -58,7 +58,7 @@ class I_XYRobotCtrlModule {
int32_t x;
int32_t y;
u8 iostate; // x_zero_io y_zero_io
} debug_info_t;
} detailed_status_t;
/*******************************************************************************
* CFG *
@ -107,7 +107,7 @@ class I_XYRobotCtrlModule {
virtual int32_t read_version(version_t& version) = 0;
virtual int32_t read_status(status_t& status) = 0;
virtual int32_t read_debug_info(debug_info_t& debug_info) = 0;
virtual int32_t read_debug_info(detailed_status_t& debug_info) = 0;
virtual int32_t set_run_param(uint8_t operation, const run_param_t& param, run_param_t& ack) = 0;
virtual int32_t set_run_to_zero_param(uint8_t operation, const run_to_zero_param_t& param, run_to_zero_param_t& ack) = 0;

32
zcancmder_protocol.hpp
View File

@ -34,7 +34,7 @@ typedef enum {
kcmd_xy_robot_ctrl_read_version = CMDID(1006, 50), // 读取模块型号版本信息
kcmd_xy_robot_ctrl_read_status = CMDID(1006, 51), // 读取模块精简状态信息
kcmd_xy_robot_ctrl_read_debug_info = CMDID(1006, 52), // 读取模块详细状态信息
kcmd_xy_robot_ctrl_read_detailed_status = CMDID(1006, 52), // 读取模块详细状态信息
kcmd_xy_robot_ctrl_set_run_param = CMDID(1006, 100), // 设置运行参数
kcmd_xy_robot_ctrl_set_warning_limit_param = CMDID(1006, 101), // 设置控制限制参数
@ -54,7 +54,7 @@ typedef enum {
kcmd_step_motor_ctrl_read_version = CMDID(1007, 50), // 读取模块型号版本信息
kcmd_step_motor_ctrl_read_status = CMDID(1007, 51), // 读取模块精简状态信息
kcmd_step_motor_ctrl_read_debug_info = CMDID(1007, 52), // 读取模块详细状态信息
kcmd_step_motor_ctrl_read_detailed_status = CMDID(1007, 52), // 读取模块详细状态信息
kcmd_step_motor_ctrl_set_run_param = CMDID(1007, 100), // 设置运行参数
kcmd_step_motor_ctrl_set_warning_limit_param = CMDID(1007, 101), // 设置警告限制参数
@ -74,7 +74,7 @@ typedef enum {
kcmd_mini_servo_ctrl_read_version = CMDID(1008, 50), // 读取模块型号版本信息
kcmd_mini_servo_ctrl_read_status = CMDID(1008, 51), // 读取模块精简状态信息
kcmd_mini_servo_ctrl_read_debug_info = CMDID(1008, 52), // 读取模块详细状态信息
kcmd_mini_servo_ctrl_read_detailed_status = CMDID(1008, 52), // 读取模块详细状态信息
kcmd_mini_servo_ctrl_set_run_param = CMDID(1008, 100),
kcmd_mini_servo_ctrl_get_run_param = CMDID(1008, 101),
@ -102,7 +102,7 @@ typedef enum {
kcmd_heater_ctrl_module_read_version = CMDID(1011, 50), // 读取模块型号版本信息
kcmd_heater_ctrl_module_read_status = CMDID(1011, 51), // 读取模块精简状态信息
kcmd_heater_ctrl_module_read_debug_info = CMDID(1011, 52), // 读取模块详细状态信息
kcmd_heater_ctrl_module_read_detailed_status = CMDID(1011, 52), // 读取模块详细状态信息
kcmd_heater_ctrl_module_set_run_param = CMDID(1011, 100), // 设置运行参数
kcmd_heater_ctrl_module_set_warning_limit_param = CMDID(1011, 101), // 设置限制参数
@ -120,7 +120,7 @@ typedef enum {
kcmd_optical_barcode_reader_read_version = CMDID(1012, 50), // 读取模块型号版本信息
kcmd_optical_barcode_reader_read_status = CMDID(1012, 51), // 读取模块精简状态信息
kcmd_optical_barcode_reader_read_debug_info = CMDID(1012, 52), // 读取模块详细状态信息
kcmd_optical_barcode_reader_read_detailed_status = CMDID(1012, 52), // 读取模块详细状态信息
kcmd_optical_barcode_reader_set_run_param = CMDID(1012, 100), // 设置运行参数
kcmd_optical_barcode_reader_set_warning_limit_param = CMDID(1012, 101), // 设置限制参数
@ -140,7 +140,7 @@ typedef enum {
kcmd_board_clamp_module_read_version = CMDID(1013, 50), // 读取模块型号版本信息
kcmd_board_clamp_module_read_status = CMDID(1013, 51), // 读取模块精简状态信息
kcmd_board_clamp_module_read_debug_info = CMDID(1013, 52), // 读取模块详细状态信息
kcmd_board_clamp_module_read_detailed_status = CMDID(1013, 52), // 读取模块详细状态信息
kcmd_board_clamp_module_set_run_param = CMDID(1013, 100), // 设置运行参数
kcmd_board_clamp_module_set_warning_limit_param = CMDID(1013, 101), // 设置限制参数
@ -152,7 +152,7 @@ typedef enum {
*******************************************************************************/
kcmd_fan_module_fan_ctrl = CMDID(1014, 0), // 风扇控制
kcmd_fan_module_fan_read_status = CMDID(1014, 50), // 读取模块精简状态信息
kcmd_fan_module_fan_read_debug_info = CMDID(1014, 51), // 读取模块详细状态信息
kcmd_fan_module_fan_read_detailed_status = CMDID(1014, 51), // 读取模块详细状态信息
// 串口透传
/*******************************************************************************
@ -181,7 +181,7 @@ typedef enum {
kcmd_pipette_module_read_version = CMDID(1016, 50), // 读取模块型号版本信息
kcmd_pipette_module_read_status = CMDID(1016, 51), // 读取模块精简状态信息
kcmd_pipette_module_read_debug_info = CMDID(1016, 52), // 读取模块详细状态信息
kcmd_pipette_module_read_detailed_status = CMDID(1016, 52), // 读取模块详细状态信息
kcmd_pipette_module_set_run_param = CMDID(1016, 100), // 设置运行参数
kcmd_pipette_module_set_warning_limit_param = CMDID(1016, 101), // 设置限制参数
@ -221,7 +221,7 @@ ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_force_change_current_pos, CMD(u8 id; s32 x; s
// READ
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_version, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::version_t ack;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_status, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::status_t ack;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_debug_info, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::debug_info_t ack;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_detailed_status, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::detailed_status_t ack;));
// SET
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_param, CMD(u8 id; u8 opt_type; I_XYRobotCtrlModule::run_param_t param;), ACK(u8 id; I_XYRobotCtrlModule::run_param_t ack;));
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_warning_limit_param, CMD(u8 id; u8 opt_type; I_XYRobotCtrlModule::warning_limit_param_t param;), ACK(u8 id; I_XYRobotCtrlModule::warning_limit_param_t ack;));
@ -242,7 +242,7 @@ ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_rotate, CMD(u8 id; s32 speed; s3
// READ
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_version, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::version_t ack;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_status, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::status_t ack;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_debug_info, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::debug_info_t ack;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_detailed_status, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::detailed_status_t ack;));
// SET
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_run_param, CMD(u8 id; u8 opt_type; I_StepMotorCtrlModule::run_param_t param;), ACK(u8 id; I_StepMotorCtrlModule::run_param_t ack;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_warning_limit_param, CMD(u8 id; u8 opt_type; I_StepMotorCtrlModule::warning_limit_param_t param;), ACK(u8 id; I_StepMotorCtrlModule::warning_limit_param_t ack;));
@ -318,7 +318,7 @@ ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_version,
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; s32 temperature;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_debug_info,
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_detailed_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; s32 temperature;));
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_set_run_param,
@ -360,7 +360,7 @@ ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_version,
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2];));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_debug_info,
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_detailed_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2]; s32 acc[2]; s32 speed[2];));
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_set_run_param, //
@ -407,7 +407,7 @@ ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_version,
ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2];));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_debug_info,
ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_detailed_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2]; s32 acc[2]; s32 speed[2];));
ZPACKET_CMD_ACK(kcmd_board_clamp_module_set_run_param, //
@ -429,7 +429,7 @@ ZPACKET_CMD_ACK(kcmd_fan_module_fan_ctrl,
ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 level;));
ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_debug_info,
ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_detailed_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; u8 level; int16_t fbcount;));
@ -471,7 +471,7 @@ ZPACKET_CMD_ACK(kcmd_pipette_module_remove_tip,
#if 0
kcmd_pipette_module_read_status = CMDID(1016, 51), // 读取模块精简状态信息
kcmd_pipette_module_read_debug_info = CMDID(1016, 52), // 读取模块详细状态信息
kcmd_pipette_module_read_detailed_status = CMDID(1016, 52), // 读取模块详细状态信息
kcmd_pipette_module_set_run_param = CMDID(1016, 100), // 设置运行参数
kcmd_pipette_module_set_warning_limit_param = CMDID(1016, 101), // 设置限制参数
@ -484,7 +484,7 @@ ZPACKET_CMD_ACK(kcmd_pipette_module_read_version,
ZPACKET_CMD_ACK(kcmd_pipette_module_read_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; s32 pos[2];));
ZPACKET_CMD_ACK(kcmd_pipette_module_read_debug_info,
ZPACKET_CMD_ACK(kcmd_pipette_module_read_detailed_status,
CMD(u8 id;), //
ACK(u8 id; u8 status; s32 pos[2]; s32 acc[2]; s32 speed[2];));
ZPACKET_CMD_ACK(kcmd_pipette_module_set_run_param,

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