#pragma once #include #include "api/basic_type.hpp" #include "api/i_eeprom.hpp" #include "api/i_mini_servo_module.hpp" #include "api/i_pipette_module.hpp" #include "api/i_step_motor_ctrl_module.hpp" #include "api/i_xyrobot_ctrl_module.hpp" #include "zcancmder_protocol_basic.hpp" namespace iflytop { namespace zcr { typedef enum { kcmd_ping = CMDID(0, 0), kcmd_read_io = CMDID(1, 0), kcmd_set_io = CMDID(2, 0), kcmd_readadc_raw = CMDID(3, 0), kcmd_m211887_operation = CMDID(1000, 0), // 维萨拉臭氧传感器 kcmd_read_presure_sensor = CMDID(1001, 0), // 压力传感器 kcmd_triple_warning_light_ctl = CMDID(1002, 0), // 三色警示灯控制 kcmd_high_power_electrical_ctl = CMDID(1003, 0), // 大功率电源控制 kcmd_peristaltic_pump_ctl = CMDID(1004, 0), // 液泵控制 kcmd_read_huacheng_pressure_sensor = CMDID(1005, 0), // 华诚压力传感器 /******************************************************************************* * |Module_1006:XYRobot机器人控制模组 * *******************************************************************************/ kcmd_xy_robot_ctrl_enable = CMDID(1006, 0), // 机器人使能 kcmd_xy_robot_ctrl_stop = CMDID(1006, 1), // 机器人停止 kcmd_xy_robot_ctrl_move_to_zero = CMDID(1006, 2), // 机器人回零 kcmd_xy_robot_ctrl_move_to_zero_with_calibrate = CMDID(1006, 3), // 机器人回零并标定 kcmd_xy_robot_ctrl_move_to = CMDID(1006, 4), // 机器人移动到指定位置 kcmd_xy_robot_ctrl_move_by = CMDID(1006, 5), // 机器人移动指定距离 kcmd_xy_robot_ctrl_force_change_current_pos = CMDID(1006, 6), // 强制修改当前位置 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_detailed_status = CMDID(1006, 52), // 读取模块详细状态信息 kcmd_xy_robot_ctrl_set_base_param = CMDID(1006, 100), // 设置运行参数 kcmd_xy_robot_ctrl_get_base_param = CMDID(1006, 101), // 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 // kcmd_xy_robot_ctrl_set_run_to_zero_param = CMDID(1006, 102), // 设置归零参数 /******************************************************************************* * |Module_1007:步进电机控制模组 * *******************************************************************************/ kcmd_step_motor_ctrl_enable = CMDID(1007, 0), // 使能 kcmd_step_motor_ctrl_stop = CMDID(1007, 1), // 停止 kcmd_step_motor_ctrl_move_to_zero = CMDID(1007, 2), // 回零 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_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 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_base_param = CMDID(1007, 100), // 设置运行参数 kcmd_step_motor_ctrl_get_base_param = CMDID(1007, 101), // 设置运行参数 /******************************************************************************* * |Module_1008:舵机 * *******************************************************************************/ kcmd_mini_servo_ctrl_enable = CMDID(1008, 0), // 使能 kcmd_mini_servo_ctrl_stop = CMDID(1008, 1), // 停止 kcmd_mini_servo_ctrl_position_calibrate = CMDID(1008, 2), // 校准 kcmd_mini_servo_ctrl_rotate = CMDID(1008, 3), // 速度模式 kcmd_mini_servo_ctrl_move_to = CMDID(1008, 4), // 位置模式舵机 kcmd_mini_servo_ctrl_move_by = CMDID(1008, 5), // 位置模式舵机 kcmd_mini_servo_ctrl_run_with_torque = CMDID(1008, 6), // 开环扭矩模式 kcmd_mini_servo_ctrl_move_by_nolimit = CMDID(1008, 7), // 相对移动,位置模式无限制,移动不受最大位置和最小位置限制，但无法读取到当前位置 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_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), 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 * *******************************************************************************/ kcmd_eeprom_start_monitor_status = CMDID(1009, 0), // 监控EEPROM状态 kcmd_eeprom_stop_monitor_status = CMDID(1009, 1), // 停止监控EEPROM状态 kcmd_eeprom_read_block = CMDID(1009, 2), // 读取EEPROM kcmd_eeprom_write_block = CMDID(1009, 3), // 写入EEPROM /******************************************************************************* * |Module_1010:扫码器 * *******************************************************************************/ kcmd_barcode_reader_start_scan = CMDID(1010, 0), // 读取扫码器 kcmd_barcode_reader_stop_scan = CMDID(1010, 1), // 停止读取扫码器 /******************************************************************************* * |Module_1011:帕尔贴-水泵-风扇控温系统 * *******************************************************************************/ // 设置目标温度 kcmd_heater_ctrl_module_start_ctrl_temperature = CMDID(1011, 0), // 设置目标温度 kcmd_heater_ctrl_module_stop_temperature = CMDID(1011, 1), // 读取停止温度 kcmd_heater_ctrl_module_read_status = CMDID(1011, 50), // 读取模块精简状态信息 kcmd_heater_ctrl_module_read_detail_status = CMDID(1011, 50), // 读取模块精简状态信息 kcmd_heater_ctrl_module_set_base_param = CMDID(1011, 100), // 设置运行参数 kcmd_heater_ctrl_module_get_base_param = CMDID(1011, 101), // 设置限制参数 /******************************************************************************* * |Module_1012:电机激光扫码器 * *******************************************************************************/ kcmd_motor_laser_code_scanner_scan = CMDID(1012, 1), // 开始扫码 kcmd_motor_laser_code_scanner_stop_scan = CMDID(1012, 2), // 停止扫码 kcmd_motor_laser_code_scanner_get_scan_result = CMDID(1012, 3), // 获取扫码结果 /******************************************************************************* * |Module_1013:板夹仓 * *******************************************************************************/ // 风扇 /******************************************************************************* * |Module_1014:风扇 * *******************************************************************************/ 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 #if 0 // 串口透传 /******************************************************************************* * |Module_1015:串口透传 * *******************************************************************************/ kcmd_serial_module_send_data = CMDID(1015, 0), // 串口透传发送数据 kcmd_serial_module_start_read_data = CMDID(1015, 1), // 串口透传读取数据 kcmd_serial_module_start_stop_data = CMDID(1015, 2), // 串口透传停止读取数据 kcmd_serial_module_read_status = CMDID(1015, 50), // 读取模块状态信息 kcmd_serial_module_set_cfg = CMDID(1015, 100), // 串口透传设置配置 #endif // 移液枪控制 /******************************************************************************* * |Module_1016:移液枪控制 * *******************************************************************************/ kcmd_pipette_module_enable = CMDID(1016, 0), // 使能 kcmd_pipette_module_stop = CMDID(1016, 1), // 停止 kcmd_pipette_module_zero_pos_calibrate = CMDID(1016, 2), // 回零并校准 kcmd_pipeete_module_zmotor_reset = CMDID(1016, 3), // Z轴复位 kcmd_pipeete_module_pipette_reset = CMDID(1016, 4), // 移液枪复位 kcmd_pipette_module_take_tip = CMDID(1016, 5), // 取tip kcmd_pipette_module_remove_tip = CMDID(1016, 6), // 移除tip kcmd_pipette_module_move_to = CMDID(1016, 7), // 移动到 kcmd_pipette_module_move_to_with_lld = CMDID(1016, 8), // 移动到 kcmd_pipette_module_shake = CMDID(1016, 9), // 吸吐摇匀 kcmd_pipette_module_pipette_move_to_ul = CMDID(1016, 10), // 取液 kcmd_pipette_module_get_status = CMDID(1016, 50), // 读取模块精简状态信息 kcmd_pipette_module_set_z_motor_para = CMDID(1016, 100), // 设置Z轴电机参数 kcmd_pipette_module_get_z_motor_para = CMDID(1016, 101), // 读取Z轴电机参数 kcmd_pipette_module_set_base_param = CMDID(1016, 102), // 设置运行参数 kcmd_pipette_module_get_base_param = CMDID(1016, 103), // 读取运行参数 } CmdID_t; #pragma pack(push, 1) ZPACKET_CMD_ACK(kcmd_ping, // CMD(u8 boardid;), // ACK(u8 boardid;)); ZPACKET_CMD_ACK(kcmd_read_io, // CMD(u8 ioid;), // ACK(u8 ioid; u8 val;)); ZPACKET_CMD_ACK(kcmd_set_io, // CMD(u8 ioid; u8 val;), // ACK(u8 ioid; u8 val;)); ZPACKET_CMD_ACK(kcmd_readadc_raw, // CMD(u8 sensorid;), // ACK(u8 sensorid; s32 val;)); /******************************************************************************* * |Module_1006:XYRobot机器人控制模组 * *******************************************************************************/ // ACTION ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_enable, CMD(u16 id; u8 enable;), ACK(u8 pad;)); ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_stop, CMD(u16 id; u8 stop_type;), ACK(u8 pad;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero, CMD(u16 id;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate, CMD(u16 id; s32 nowx; s32 nowy;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to, CMD(u16 id; s32 x; s32 y; s32 speed;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_by, CMD(u16 id; s32 dx; s32 dy; s32 speed;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_force_change_current_pos, CMD(u16 id; s32 x; s32 y;), ACK(u8 pad;)); // READ ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_version, CMD(u16 id;), ACK(I_XYRobotCtrlModule::version_t ack;)); ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_status, CMD(u16 id;), ACK(I_XYRobotCtrlModule::status_t ack;)); ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_detailed_status, CMD(u16 id;), ACK(I_XYRobotCtrlModule::detailed_status_t ack;)); // SET ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_base_param, CMD(u16 id; I_XYRobotCtrlModule::base_param_t param;), ACK(u8 pad;)); ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_get_base_param, CMD(u16 id;), ACK(I_XYRobotCtrlModule::base_param_t ack;)); // ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_warning_limit_param, CMD(u16 id; u8 opt_type; I_XYRobotCtrlModule::warning_limit_param_t param;), ACK( I_XYRobotCtrlModule::warning_limit_param_t ack;)); // ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_to_zero_param, CMD(u16 id; u8 opt_type; I_XYRobotCtrlModule::run_to_zero_param_t param;), ACK( I_XYRobotCtrlModule::run_to_zero_param_t ack;)); /******************************************************************************* * |Module_1007:步进电机控制模组 * *******************************************************************************/ ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_enable, CMD(u16 id; u8 enable;), ACK(u8 pad;)); ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_stop, CMD(u16 id; u8 stop_type;), ACK(u8 pad;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero, CMD(u16 id;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero_with_calibrate, CMD(u16 id; s32 nowx; s32 nowy;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to, CMD(u16 id; s32 x; s32 speed;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_by, CMD(u16 id; s32 dx; s32 speed;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_force_change_current_pos, CMD(u16 id; s32 x;), ACK(u8 pad;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_rotate, CMD(u16 id; s32 speed; s32 run_time;), ACK(u8 pad;), REPORT(int32_t exec_status;)); // READ ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_version, CMD(u16 id;), ACK(I_StepMotorCtrlModule::version_t ack;)); ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_status, CMD(u16 id;), ACK(I_StepMotorCtrlModule::status_t ack;)); ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_detailed_status, CMD(u16 id;), ACK(I_StepMotorCtrlModule::detailed_status_t ack;)); // SET ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_base_param, CMD(u16 id; u8 opt_type; I_StepMotorCtrlModule::base_param_t param;), ACK(u8 pad;)); ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_get_base_param, CMD(u16 id;), ACK(I_StepMotorCtrlModule::base_param_t ack;)); /******************************************************************************* * |Module_1008:舵机 * *******************************************************************************/ ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_enable, CMD(u16 id; u8 enable;), ACK(u8 pad;)); ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_stop, CMD(u16 id; u8 stop_type;), ACK(u8 pad;)); ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_position_calibrate, CMD(u16 id; s32 calibrate_pos;), ACK(u8 pad;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_rotate, CMD(u16 id; s32 speed; s32 torque; s32 run_time;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_to, CMD(u16 id; s32 pos; s32 speed; s32 torque;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by, CMD(u16 id; s32 pos; s32 speed; s32 torque;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_run_with_torque, CMD(u16 id; s32 torque; s32 run_time;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by_nolimit, CMD(u16 id; s32 pos; s32 speed; s32 torque;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_version, CMD(u16 id;), ACK(I_MiniServoModule::version_t ack;)); ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_status, CMD(u16 id;), ACK(I_MiniServoModule::status_t ack;)); ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_detailed_status, CMD(u16 id;), ACK(I_MiniServoModule::detailed_status_t ack;)); ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_run_param, CMD(u16 id; u8 opt_type; I_MiniServoModule::run_param_t param;), ACK(I_MiniServoModule::run_param_t ack;)); ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_basic_param, CMD(u16 id; u8 opt_type; I_MiniServoModule::basic_param_t param;), ACK(I_MiniServoModule::basic_param_t ack;)); ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_warning_limit_param, CMD(u16 id; u8 opt_type; I_MiniServoModule::warning_limit_param_t param;), ACK(I_MiniServoModule::warning_limit_param_t ack;)); ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_run_param, CMD(u16 id; u8 opt_type;), ACK(I_MiniServoModule::run_param_t ack;)); ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_basic_param, CMD(u16 id; u8 opt_type;), ACK(I_MiniServoModule::basic_param_t ack;)); ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_warning_limit_param, CMD(u16 id; u8 opt_type;), ACK(I_MiniServoModule::warning_limit_param_t ack;)); /******************************************************************************* * |Module_1009:EEPROM * *******************************************************************************/ ZPACKET_CMD_ACK_AND_REPORT(kcmd_eeprom_start_monitor_status, CMD(u16 id;), ACK(u8 pad;), REPORT(I_EEPROMModule::eeprom_status_t status;)); ZPACKET_CMD_ACK(kcmd_eeprom_stop_monitor_status, CMD(u16 id;), ACK(u8 pad;)); ZPACKET_CMD_ACK(kcmd_eeprom_read_block, CMD(u16 id; u16 sector_index; u16 sector_size;), // ACK(zcancmder_read_ram_ack_t ack;)); /******************************************************************************* * |Module_1010:扫码器 * *******************************************************************************/ ZPACKET_CMD_ACK_AND_REPORT(kcmd_barcode_reader_start_scan, CMD(u16 id;), // ACK(u8 pad;), // REPORT(u8 status; u16 barcodelen; u8 barcode[0];)); ZPACKET_CMD_ACK(kcmd_barcode_reader_stop_scan, CMD(u16 id;), // ACK(u8 pad;)); /******************************************************************************* * |Module_1011:帕尔贴-水泵-风扇控温系统 * *******************************************************************************/ /******************************************************************************* * |Module_1012:电机激光扫码器 * *******************************************************************************/ ZPACKET_CMD_ACK_AND_REPORT(kcmd_motor_laser_code_scanner_scan, CMD(u8 id; // s32 moveby_distance; // s32 scan_interval_distance; // s32 each_sample_times; // s32 transmitting_tube_amplification; // 0.001 s32 receiving_tube_amplification; // 0.001 ), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_stop_scan, CMD(u16 id;), ACK(u8 pad;)); ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_get_scan_result, CMD(u16 id; u16 sector_index; u16 sector_size;), ACK(zcancmder_read_ram_ack_t ack;)); /******************************************************************************* * Module_1013:板夹仓 * *******************************************************************************/ /******************************************************************************* * |Module_1014:风扇 * *******************************************************************************/ /******************************************************************************* * |Module_1016:移液枪控制 * *******************************************************************************/ ZPACKET_CMD_ACK(kcmd_pipette_module_enable, CMD(u16 id; u8 enable;), ACK(u8 pad;)); ZPACKET_CMD_ACK(kcmd_pipette_module_stop, CMD(u16 id; u8 stop_type;), ACK(u8 pad;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_zero_pos_calibrate, CMD(u16 id;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipeete_module_zmotor_reset, CMD(u16 id;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipeete_module_pipette_reset, CMD(u16 id;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_take_tip, CMD(u16 id; s16 vel; s16 height_mm; s16 tip_hight_mm;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_remove_tip, CMD(u16 id; s16 vel; s16 height_mm;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_move_to, CMD(u16 id; s16 vel; s16 height_mm;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_move_to_with_lld, CMD(u16 id; s16 vel; s16 lld_cap_thr; s16 lld_max_hight_mm; s16 lld_rela_hight_mm;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_shake, CMD(u16 id; s16 shake_times; s16 shake_volume;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_pipette_move_to_ul, CMD(u16 id; s16 take_volume_mm;), ACK(u8 pad;), REPORT(int32_t exec_status;)); ZPACKET_CMD_ACK(kcmd_pipette_module_get_status, CMD(u16 id;), ACK(I_PipetteModule::status_t ack;)); ZPACKET_CMD_ACK(kcmd_pipette_module_set_z_motor_para, CMD(u16 id; I_StepMotorCtrlModule::base_param_t param;), ACK(u8 pad;)); ZPACKET_CMD_ACK(kcmd_pipette_module_get_z_motor_para, CMD(u16 id;), ACK(I_StepMotorCtrlModule::base_param_t ack;)); ZPACKET_CMD_ACK(kcmd_pipette_module_set_base_param, CMD(u16 id; I_PipetteModule::base_param_t param;), ACK(u8 pad;)); ZPACKET_CMD_ACK(kcmd_pipette_module_get_base_param, CMD(u16 id;), ACK(I_PipetteModule::base_param_t ack;)); #pragma pack(pop) } // namespace zcr } // namespace iflytop