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update

master
zhaohe 2 years ago
parent
ba0b50468b
commit
614d8b811b
3 changed files with 7 additions and 3 deletions
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  1. 2
      api/i_step_motor_ctrl_module.hpp
  2. 2
      api/i_xyrobot_ctrl_module.hpp
  3. 6
      zcancmder_protocol.hpp

2
api/i_step_motor_ctrl_module.hpp
View File

@ -50,11 +50,13 @@ class I_StepMotorCtrlModule {
typedef struct {
uint8_t status;
uint8_t io_state; // x_zero_io x_end_io
int32_t x;
} status_t;
typedef struct {
uint8_t status;
uint8_t io_state; // x_zero_io x_end_io
int32_t x;
} debug_info_t;

2
api/i_xyrobot_ctrl_module.hpp
View File

@ -50,12 +50,14 @@ class I_XYRobotCtrlModule {
uint8_t status;
int32_t x;
int32_t y;
u8 iostate; // x_zero_io y_zero_io
} status_t;
typedef struct {
uint8_t status;
int32_t x;
int32_t y;
u8 iostate; // x_zero_io y_zero_io
} debug_info_t;
/*******************************************************************************

6
zcancmder_protocol.hpp
View File

@ -233,9 +233,9 @@ ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_enable, CMD(u8 id; u8 enable;), ACK(u8 id;)
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_stop, CMD(u8 id; u8 stop_type;), ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero, CMD(u8 id;), ACK(u8 id;), REPORT(u8 id; I_StepMotorCtrlModule::move_to_zero_cb_status_t status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero_with_calibrate, CMD(u8 id; s32 nowx; s32 nowy;), ACK(u8 id;), REPORT(u8 id; I_StepMotorCtrlModule::move_to_zero_with_calibrate_cb_status_t status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to, CMD(u8 id; s32 x; s32 y; s32 speed;), ACK(u8 id;), REPORT(u8 id; I_StepMotorCtrlModule::move_to_cb_status_t status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_by, CMD(u8 id; s32 dx; s32 dy; s32 speed;), ACK(u8 id;), REPORT(u8 id; I_StepMotorCtrlModule::move_by_cb_status_t status;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_force_change_current_pos, CMD(u8 id; s32 x; s32 y;), ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to, CMD(u8 id; s32 x; s32 speed;), ACK(u8 id;), REPORT(u8 id; I_StepMotorCtrlModule::move_to_cb_status_t status;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_by, CMD(u8 id; s32 dx; s32 speed;), ACK(u8 id;), REPORT(u8 id; I_StepMotorCtrlModule::move_by_cb_status_t status;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_force_change_current_pos, CMD(u8 id; s32 x;), ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_rotate, CMD(u8 id; s32 speed; s32 run_time;), ACK(u8 id;), REPORT(u8 id; I_StepMotorCtrlModule::rotate_cb_status_t status;));
// READ
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_version, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::version_t ack;));

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