update

api/i_mini_servo_module.hpp

@@ -0,0 +1,118 @@
+#pragma once
+#include <stdint.h>
+
+#include <functional>
+
+#include "basic_type.hpp"
+//
+
+namespace iflytop {
+using namespace std;
+class I_MiniServoModule {
+ public:
+  typedef enum { kNormalStop, kBreakStop } StopType_t;
+
+  typedef struct {
+    u8  id;
+    u8  status;
+    s32 has_run_time;
+  } rotate_cb_status_t;
+
+  typedef struct {
+    u8  id;
+    u8  status;
+    s32 pos;
+  } move_to_cb_status_t;
+
+  typedef struct {
+    u8  id;
+    u8  status;
+    s32 pos;
+  } move_by_cb_status_t;
+
+  typedef struct {
+    u8  id;
+    u8  status;
+    s32 has_run_time;
+  } run_with_torque_cb_status_t;
+
+  typedef struct {
+    u8  id;
+    u8  status;
+    s32 pos;
+  } move_by_nolimit_cb_status_t;
+
+  /*******************************************************************************
+   *                                    READ                                     *
+   *******************************************************************************/
+  typedef struct {
+    int32_t version;
+  } version_t;
+
+  typedef struct {
+    uint8_t status;    // 0:normal 1:ÔËÐÐÖÐ 2:offline 3:¹ÊÕÏ
+    uint8_t io_state;  //
+    int16_t torque;    //
+    int16_t speed;     //
+    int16_t pos;       //
+  } status_t;
+
+  typedef struct {
+    uint8_t status;
+    uint8_t io_state;
+    int16_t torque;
+    int16_t speed;
+    int16_t pos;
+    int16_t voltage;
+    int16_t current;
+    int16_t temperature;
+    int16_t error_flag;
+
+  } debug_info_t;
+
+  /*******************************************************************************
+   *                                     CFG                                     *
+   *******************************************************************************/
+
+  typedef struct {
+    s16 pos_calibrate;
+  } basic_param_t;
+
+  typedef struct {
+    s16 minlimit;
+    s16 maxlimit;
+  } run_param_t;
+
+  typedef struct {
+    s16 mintemp;
+    s16 maxtemp;
+    s16 minvoltage;
+    s16 maxvoltage;
+    s16 mincurrent;
+    s16 maxcurrent;
+  } warning_limit_param_t;
+
+ public:
+  virtual int32_t enable(u8 enable)                     = 0;
+  virtual int32_t stop(u8 stop_type)                    = 0;
+  virtual int32_t position_calibrate(s32 calibrate_pos) = 0;
+
+  virtual int32_t rotate(s32 speed, s32 run_time, function<void(rotate_cb_status_t& status)> status_cb)                          = 0;
+  virtual int32_t move_to(s32 pos, s32 speed, s32 torque, function<void(move_to_cb_status_t& status)> status_cb)                 = 0;
+  virtual int32_t move_by(s32 pos, s32 speed, s32 torque, function<void(move_by_cb_status_t& status)> status_cb)                 = 0;
+  virtual int32_t run_with_torque(s32 torque, s32 run_time, function<void(run_with_torque_cb_status_t& status)> status_cb)       = 0;
+  virtual int32_t move_by_nolimit(s32 pos, s32 speed, s32 torque, function<void(move_by_nolimit_cb_status_t& status)> status_cb) = 0;
+
+  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 set_run_param(run_param_t& param)                     = 0;
+  virtual int32_t set_basic_param(basic_param_t& param)                 = 0;
+  virtual int32_t set_warning_limit_param(warning_limit_param_t& param) = 0;
+
+  virtual int32_t get_run_param(run_param_t& param)                     = 0;
+  virtual int32_t get_basic_param(basic_param_t& param)                 = 0;
+  virtual int32_t get_warning_limit_param(warning_limit_param_t& param) = 0;
+};
+}  // namespace iflytop

zcancmder_protocol.hpp

@@ -76,8 +76,10 @@ typedef enum {
   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_set_run_param           = CMDID(1008, 100),  // 位置限制 最大位置，最小位置
-  kcmd_mini_servo_ctrl_set_warning_limit_param = CMDID(1008, 101),  // 过压保护设置 最大电压 最小电压
+  kcmd_mini_servo_ctrl_set_run_param           = CMDID(1008, 100),
+  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),
 
   /*******************************************************************************
    *                                  |Module_1009:EEPROM                       *