zprotocols
/
zcancmder
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 2 years ago
parent
ca80d7fd03
commit
804b964be4
2 changed files with 46 additions and 57 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 15
      api/i_mini_servo_module.hpp
  2. 56
      zcancmder_protocol.hpp

15
api/i_mini_servo_module.hpp
View File

@ -13,32 +13,27 @@ class I_MiniServoModule {
typedef enum { kNormalStop, kBreakStop } StopType_t; typedef enum { kNormalStop, kBreakStop } StopType_t;
#pragma pack(1) #pragma pack(1)
typedef struct { typedef struct {
u8 id;
u8 status;
u8 exec_status;
s32 has_run_time; s32 has_run_time;
} rotate_cb_status_t; } rotate_cb_status_t;
typedef struct { typedef struct {
u8 id;
u8 status;
u8 exec_status;
s32 pos; s32 pos;
} move_to_cb_status_t; } move_to_cb_status_t;
typedef struct { typedef struct {
u8 id;
u8 status;
u8 exec_status;
s32 dpos; s32 dpos;
} move_by_cb_status_t; } move_by_cb_status_t;
typedef struct { typedef struct {
u8 id;
u8 status;
u8 exec_status;
s32 has_run_time; s32 has_run_time;
} run_with_torque_cb_status_t; } run_with_torque_cb_status_t;
typedef struct { typedef struct {
u8 id;
u8 status;
u8 exec_status;
s32 pos; s32 pos;
} move_by_nolimit_cb_status_t; } move_by_nolimit_cb_status_t;

56
zcancmder_protocol.hpp
View File

@ -2,6 +2,7 @@
#include <stdint.h> #include <stdint.h>
#include "api/basic_type.hpp" #include "api/basic_type.hpp"
#include "api/i_mini_servo_module.hpp"
#include "api/i_step_motor_ctrl_module.hpp" #include "api/i_step_motor_ctrl_module.hpp"
#include "api/i_xyrobot_ctrl_module.hpp" #include "api/i_xyrobot_ctrl_module.hpp"
#include "zcancmder_protocol_basic.hpp" #include "zcancmder_protocol_basic.hpp"
@ -78,8 +79,10 @@ typedef enum {
kcmd_mini_servo_ctrl_set_run_param = CMDID(1008, 100), kcmd_mini_servo_ctrl_set_run_param = CMDID(1008, 100),
kcmd_mini_servo_ctrl_get_run_param = CMDID(1008, 101), kcmd_mini_servo_ctrl_get_run_param = CMDID(1008, 101),
kcmd_mini_servo_ctrl_set_warning_limit_param = CMDID(1008, 101),
kcmd_mini_servo_ctrl_get_warning_limit_param = CMDID(1008, 102),
kcmd_mini_servo_ctrl_set_warning_limit_param = CMDID(1008, 102),
kcmd_mini_servo_ctrl_get_warning_limit_param = CMDID(1008, 103),
kcmd_mini_servo_ctrl_set_basic_param = CMDID(1008, 104),
kcmd_mini_servo_ctrl_get_basic_param = CMDID(1008, 105),
/******************************************************************************* /*******************************************************************************
* |Module_1009:EEPROM * * |Module_1009:EEPROM *
@ -251,37 +254,28 @@ ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_run_to_zero_param, CMD(u8 id; u8 opt_ty
/******************************************************************************* /*******************************************************************************
* |Module_1008:æ»ú * * |Module_1008:æ»ú *
*******************************************************************************/ *******************************************************************************/
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_enable, CMD(u8 id; u8 enable;), ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_stop, CMD(u8 id; u8 stop_type;), ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_position_calibrate, CMD(u8 id; s32 calibrate_pos;), ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_enable,
CMD(u8 id; u8 enable;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_stop,
CMD(u8 id; u8 stop_type;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_position_calibrate,
CMD(u8 id; s32 calibrate_pos;), //
ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_rotate, CMD(u8 id; s32 speed; s32 torque; s32 run_time;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::rotate_cb_status_t report;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_to, CMD(u8 id; s32 pos; s32 speed; s32 torque;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::move_to_cb_status_t report;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by, CMD(u8 id; s32 pos; s32 speed; s32 torque;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::move_by_cb_status_t report;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_run_with_torque, CMD(u8 id; s32 torque; s32 run_time;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::run_with_torque_cb_status_t report;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by_nolimit, CMD(u8 id; s32 pos; s32 speed; s32 torque;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::move_by_nolimit_cb_status_t report;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_version, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::version_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_status, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::status_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_detailed_status, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::detailed_status_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_run_param, CMD(u8 id; u8 opt_type; I_MiniServoModule::run_param_t param;), ACK(u8 id; I_MiniServoModule::run_param_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_basic_param, CMD(u8 id; u8 opt_type; I_MiniServoModule::basic_param_t param;), ACK(u8 id; I_MiniServoModule::basic_param_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_warning_limit_param, CMD(u8 id; u8 opt_type; I_MiniServoModule::warning_limit_param_t param;), ACK(u8 id; I_MiniServoModule::warning_limit_param_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_run_param, CMD(u8 id; u8 opt_type;), ACK(u8 id; I_MiniServoModule::run_param_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_basic_param, CMD(u8 id; u8 opt_type;), ACK(u8 id; I_MiniServoModule::basic_param_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_warning_limit_param, CMD(u8 id; u8 opt_type;), ACK(u8 id; I_MiniServoModule::warning_limit_param_t ack;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_rotate,
CMD(u8 id; s32 speed; s32 run_time;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 has_run_time;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_to,
CMD(u8 id; s32 pos; s32 speed; s32 torque;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by,
CMD(u8 id; s32 pos; s32 speed; s32 torque;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_run_with_torque,
CMD(u8 id; s32 torque; s32 run_time;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 has_run_time;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by_nolimit,
CMD(u8 id; s32 pos; s32 speed; s32 torque;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 pos;));
/******************************************************************************* /*******************************************************************************
* |Module_1009:EEPROM * * |Module_1009:EEPROM *
*******************************************************************************/ *******************************************************************************/

Write Preview
Loading…
Cancel
Save