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zhaohe 2 years ago
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f051569d89
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ba0b50468b
2 changed files with 128 additions and 45 deletions
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  1. 108
      api/i_step_motor_ctrl_module.hpp
  2. 65
      zcancmder_protocol.hpp

108
api/i_step_motor_ctrl_module.hpp
View File

@ -0,0 +1,108 @@
#pragma once
#include <stdint.h>
#include <functional>
#include "basic_type.hpp"
//
namespace iflytop {
using namespace std;
class I_StepMotorCtrlModule {
public:
typedef enum { hbot, corexy } RobotType_t;
typedef enum { kNormalStop, kBreakStop } StopType_t;
/*******************************************************************************
* ACTION *
*******************************************************************************/
typedef struct {
int32_t exec_status;
int32_t tox;
} move_to_cb_status_t;
typedef struct {
int32_t exec_status;
int32_t dx;
} move_by_cb_status_t;
typedef struct {
int32_t exec_status;
} move_to_zero_cb_status_t;
typedef struct {
int32_t exec_status;
int32_t zero_shift_x;
} move_to_zero_with_calibrate_cb_status_t;
typedef struct {
int32_t exec_status;
int32_t lastforms;
} rotate_cb_status_t;
/*******************************************************************************
* READ *
*******************************************************************************/
typedef struct {
int32_t version;
} version_t;
typedef struct {
uint8_t status;
int32_t x;
} status_t;
typedef struct {
uint8_t status;
int32_t x;
} debug_info_t;
/*******************************************************************************
* CFG *
*******************************************************************************/
typedef struct {
u8 x_shaft;
u8 ihold;
u8 irun;
u16 iholddelay;
s32 distance_scale; // 0.001
s32 shift_x;
s32 acc;
s32 dec;
s32 maxspeed;
s32 min_x;
s32 max_x;
} run_param_t;
typedef struct {
uint8_t pad;
} warning_limit_param_t;
typedef struct {
u32 move_to_zero_max_d;
u32 leave_from_zero_max_d;
u32 speed;
u32 dec;
} run_to_zero_param_t;
public:
virtual int32_t move_to(int32_t x, function<void(move_to_cb_status_t& status)> status_cb) = 0;
virtual int32_t move_by(int32_t dx, function<void(move_by_cb_status_t& status)> status_cb) = 0;
virtual int32_t move_to_zero(function<void(move_to_zero_cb_status_t& status)> status_cb) = 0;
virtual int32_t move_to_zero_with_calibrate(int32_t x, function<void(move_to_zero_with_calibrate_cb_status_t& status)> status_cb) = 0;
virtual int32_t enable(bool venable) = 0;
virtual int32_t stop(uint8_t stopType) = 0;
virtual int32_t force_change_current_pos(int32_t x) = 0;
virtual int32_t rotate(int32_t speed, int32_t lastforms, function<void(rotate_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(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;
virtual int32_t set_warning_limit_param(uint8_t operation, const warning_limit_param_t& param, warning_limit_param_t& ack) = 0;
};
} // namespace iflytop

65
zcancmder_protocol.hpp
View File

@ -2,6 +2,7 @@
#include <stdint.h>
#include "api/basic_type.hpp"
#include "api/i_step_motor_ctrl_module.hpp"
#include "api/i_xyrobot_ctrl_module.hpp"
#include "zcancmder_protocol_basic.hpp"
namespace iflytop {
@ -48,7 +49,8 @@ typedef enum {
kcmd_step_motor_ctrl_move_to_zero_with_calibrate = CMDID(1007, 3), // 回零并校准
kcmd_step_motor_ctrl_move_to = CMDID(1007, 4), // 移动到
kcmd_step_motor_ctrl_move_by = CMDID(1007, 5), // 相对移动
kcmd_step_motor_ctrl_rotate = CMDID(1007, 6), // 相对移动
kcmd_step_motor_ctrl_force_change_current_pos = CMDID(1007, 6), // 相对移动
kcmd_step_motor_ctrl_rotate = CMDID(1007, 7), // 相对移动
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
@ -226,50 +228,23 @@ ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_to_zero_param, CMD(u8 id; u8 opt_type
/*******************************************************************************
* |Module_1007:步进电机控制模组 *
*******************************************************************************/
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; u8 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; u8 status; s32 zero_shift_x;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to,
CMD(u8 id; s32 x; s32 speed;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; u32 x;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_by,
CMD(u8 id; s32 dx; s32 speed;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 dx;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_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(kcmd_step_motor_ctrl_read_version, //
CMD(u8 id;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_status, //
CMD(u8 id;), //
ACK(u8 id; u8 status; s32 x; s32 velocity;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_debug_info, //
CMD(u8 id;), //
ACK(u8 id; u8 status; s32 x; s32 velocity; s32 acc; s32 dec; s32 speed;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_run_param, //
CMD(u8 id; u8 opt_type; u8 shaft; s32 d_scale; s32 x_shift; s32 acc; s32 dec; s32 breakdec; s32 maxv; s32 minpos; s32 maxpos;), //
ACK(u8 id; u8 opt_type; u8 shaft; s32 d_scale; s32 x_shift; s32 acc; s32 dec; s32 breakdec; s32 maxv; s32 minpos; s32 maxpos;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_warning_limit_param, //
CMD(u8 id; u8 opt_type; s32 pad;), //
ACK(u8 id; u8 opt_type; s32 pad;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_run_to_zero_param, //
CMD(u8 id; u8 opt_type; u32 move_to_zero_max_d; u32 leave_from_zero_max_d; u32 speed; u32 dec;), //
ACK(u8 id; u8 opt_type; u32 move_to_zero_max_d; u32 leave_from_zero_max_d; u32 speed; u32 dec;));
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_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;));
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;));
// 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;));
ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_run_to_zero_param, CMD(u8 id; u8 opt_type; I_StepMotorCtrlModule::run_to_zero_param_t param;), ACK(u8 id; I_StepMotorCtrlModule::run_to_zero_param_t ack;));
/*******************************************************************************
* |Module_1008:舵机 *

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