You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
494 lines
32 KiB
494 lines
32 KiB
#pragma once
|
|
#include <stdint.h>
|
|
|
|
#include "api/basic_type.hpp"
|
|
#include "api/i_mini_servo_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_run_param = CMDID(1006, 100), // 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_run_param = CMDID(1007, 100), // 设置运行参数
|
|
kcmd_step_motor_ctrl_set_warning_limit_param = CMDID(1007, 101), // 设置警告限制参数
|
|
kcmd_step_motor_ctrl_set_run_to_zero_param = CMDID(1007, 102), // 设置归零参数
|
|
|
|
/*******************************************************************************
|
|
* |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_read_block = CMDID(1009, 0), // 读取EEPROM
|
|
kcmd_eeprom_write_block = CMDID(1009, 1), // 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_read_stop_temperature = CMDID(1011, 1), // 读取停止温度
|
|
|
|
kcmd_heater_ctrl_module_read_version = CMDID(1011, 50), // 读取模块型号版本信息
|
|
kcmd_heater_ctrl_module_read_status = CMDID(1011, 51), // 读取模块精简状态信息
|
|
kcmd_heater_ctrl_module_read_detailed_status = CMDID(1011, 52), // 读取模块详细状态信息
|
|
|
|
kcmd_heater_ctrl_module_set_run_param = CMDID(1011, 100), // 设置运行参数
|
|
kcmd_heater_ctrl_module_set_warning_limit_param = CMDID(1011, 101), // 设置限制参数
|
|
|
|
/*******************************************************************************
|
|
* |Module_1012:光学模组扫码器 *
|
|
*******************************************************************************/
|
|
kcmd_optical_barcode_reader_start_scan = CMDID(1012, 0), // 开始扫码
|
|
kcmd_optical_barcode_reader_stop_scan = CMDID(1012, 1), // 停止扫码
|
|
kcmd_optical_barcode_reader_motor_move_to = CMDID(1012, 4), // 水平电机移动到
|
|
kcmd_optical_barcode_reader_motor_move_to_zero = CMDID(1012, 6), // 电机校准
|
|
kcmd_optical_barcode_reader_motor_move_to_zero_with_calibrate = CMDID(1012, 7), // 电机校准
|
|
kcmd_optical_barcode_reader_motor_stop = CMDID(1012, 8), // 电机停止
|
|
kcmd_optical_barcode_reader_motor_enable = CMDID(1012, 9), // 电机使能
|
|
|
|
kcmd_optical_barcode_reader_read_version = CMDID(1012, 50), // 读取模块型号版本信息
|
|
kcmd_optical_barcode_reader_read_status = CMDID(1012, 51), // 读取模块精简状态信息
|
|
kcmd_optical_barcode_reader_read_detailed_status = CMDID(1012, 52), // 读取模块详细状态信息
|
|
|
|
kcmd_optical_barcode_reader_set_run_param = CMDID(1012, 100), // 设置运行参数
|
|
kcmd_optical_barcode_reader_set_warning_limit_param = CMDID(1012, 101), // 设置限制参数
|
|
kcmd_optical_barcode_reader_set_run_to_zero_param = CMDID(1012, 102), // 设置归零参数
|
|
|
|
/*******************************************************************************
|
|
* |Module_1013:板夹仓 *
|
|
*******************************************************************************/
|
|
|
|
kcmd_board_clamp_module_push_and_scan = CMDID(1013, 0), // 推出反应板并扫码
|
|
kcmd_board_clamp_module_moter_move_to = CMDID(1013, 1), // 电机移动到
|
|
kcmd_board_clamp_module_moter_move_by = CMDID(1013, 2), // 电机移动到
|
|
kcmd_board_clamp_module_moter_move_to_zero = CMDID(1013, 3), // 电机归零
|
|
kcmd_board_clamp_module_moter_move_to_zero_with_calibrate = CMDID(1013, 4), // 电机归零并校准
|
|
kcmd_board_clamp_module_moter_stop = CMDID(1013, 5), // 电机停止
|
|
kcmd_board_clamp_module_moter_enable = CMDID(1013, 6), // 电机使能
|
|
|
|
kcmd_board_clamp_module_read_version = CMDID(1013, 50), // 读取模块型号版本信息
|
|
kcmd_board_clamp_module_read_status = CMDID(1013, 51), // 读取模块精简状态信息
|
|
kcmd_board_clamp_module_read_detailed_status = CMDID(1013, 52), // 读取模块详细状态信息
|
|
|
|
kcmd_board_clamp_module_set_run_param = CMDID(1013, 100), // 设置运行参数
|
|
kcmd_board_clamp_module_set_warning_limit_param = CMDID(1013, 101), // 设置限制参数
|
|
kcmd_board_clamp_module_set_run_to_zero_param = CMDID(1013, 102), // 设置归零参数
|
|
|
|
// 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
|
|
kcmd_fan_module_fan_read_detailed_status = CMDID(1014, 51), // 读取模块详细状态信息
|
|
|
|
// 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
|
|
|
|
// 移液枪控制
|
|
/*******************************************************************************
|
|
* |Module_1016:移液枪控制 *
|
|
*******************************************************************************/
|
|
kcmd_pipette_module_z_motor_enable = CMDID(1016, 0), // 使能
|
|
kcmd_pipette_module_z_motor_move_to = CMDID(1016, 1), // 移动到
|
|
kcmd_pipette_module_z_motor_move_to_zero = CMDID(1016, 2), // 归零
|
|
kcmd_pipette_module_z_motor_move_to_zero_with_calibrate = CMDID(1016, 3), // 归零并校准
|
|
kcmd_pipette_module_z_motor_stop = CMDID(1016, 4), // 停止
|
|
|
|
kcmd_pipette_module_take_liquid = CMDID(1016, 4), // 取液体
|
|
kcmd_pipette_module_split_liquid = CMDID(1016, 5), // 吐液体
|
|
kcmd_pipette_module_take_tip = CMDID(1016, 6), // 取tip
|
|
kcmd_pipette_module_remove_tip = CMDID(1016, 7), // 移除tip
|
|
|
|
kcmd_pipette_module_read_version = CMDID(1016, 50), // 读取模块型号版本信息
|
|
kcmd_pipette_module_read_status = CMDID(1016, 51), // 读取模块精简状态信息
|
|
kcmd_pipette_module_read_detailed_status = CMDID(1016, 52), // 读取模块详细状态信息
|
|
|
|
kcmd_pipette_module_set_run_param = CMDID(1016, 100), // 设置运行参数
|
|
kcmd_pipette_module_set_warning_limit_param = CMDID(1016, 101), // 设置限制参数
|
|
kcmd_pipette_module_set_run_to_zero_param = CMDID(1016, 102), // 设置归零参数
|
|
|
|
} 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(u8 id; u8 enable;), ACK(u8 id;));
|
|
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_stop, CMD(u8 id; u8 stop_type;), ACK(u8 id;));
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero, CMD(u8 id;), ACK(u8 id;), REPORT(u8 id; I_XYRobotCtrlModule::move_to_zero_cb_status_t status;));
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate, CMD(u8 id; s32 nowx; s32 nowy;), ACK(u8 id;), REPORT(u8 id; I_XYRobotCtrlModule::move_to_zero_with_calibrate_cb_status_t status;));
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to, CMD(u8 id; s32 x; s32 y; s32 speed;), ACK(u8 id;), REPORT(u8 id; I_XYRobotCtrlModule::move_to_cb_status_t status;));
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_by, CMD(u8 id; s32 dx; s32 dy; s32 speed;), ACK(u8 id;), REPORT(u8 id; I_XYRobotCtrlModule::move_by_cb_status_t status;));
|
|
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_force_change_current_pos, CMD(u8 id; s32 x; s32 y;), ACK(u8 id;));
|
|
// READ
|
|
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_version, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::version_t ack;));
|
|
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_status, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::status_t ack;));
|
|
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_detailed_status, CMD(u8 id;), ACK(u8 id; I_XYRobotCtrlModule::detailed_status_t ack;));
|
|
// SET
|
|
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_param, CMD(u8 id; u8 opt_type; I_XYRobotCtrlModule::run_param_t param;), ACK(u8 id; I_XYRobotCtrlModule::run_param_t ack;));
|
|
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_warning_limit_param, CMD(u8 id; u8 opt_type; I_XYRobotCtrlModule::warning_limit_param_t param;), ACK(u8 id; I_XYRobotCtrlModule::warning_limit_param_t ack;));
|
|
ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_to_zero_param, CMD(u8 id; u8 opt_type; I_XYRobotCtrlModule::run_to_zero_param_t param;), ACK(u8 id; 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(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; int32_t exec_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; int32_t exec_status;));
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to, CMD(u8 id; s32 x; s32 speed;), ACK(u8 id;), REPORT(u8 id; int32_t exec_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; int32_t exec_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; int32_t exec_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_detailed_status, CMD(u8 id;), ACK(u8 id; I_StepMotorCtrlModule::detailed_status_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 *
|
|
*******************************************************************************/
|
|
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;));
|
|
|
|
/*******************************************************************************
|
|
* |Module_1009:EEPROM *
|
|
*******************************************************************************/
|
|
|
|
ZPACKET_CMD_ACK(kcmd_eeprom_read_block,
|
|
CMD(u8 id; u16 addr; u16 len;), //
|
|
ACK(u8 id; u16 addr; u16 len; u8 data[0];));
|
|
ZPACKET_CMD_ACK(kcmd_eeprom_write_block,
|
|
CMD(u8 id; u16 addr; u16 len; u8 data[0];), //
|
|
ACK(u8 id; u16 addr; u16 len;));
|
|
/*******************************************************************************
|
|
* |Module_1010:扫码器 *
|
|
*******************************************************************************/
|
|
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_barcode_reader_start_scan,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id;), //
|
|
REPORT(u8 id; u8 status; u16 barcodelen; u8 barcode[0];));
|
|
ZPACKET_CMD_ACK(kcmd_barcode_reader_stop_scan,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id;));
|
|
/*******************************************************************************
|
|
* |Module_1011:帕尔贴-水泵-风扇控温系统 *
|
|
*******************************************************************************/
|
|
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_start_ctrl_temperature,
|
|
CMD(u8 id; s32 target_temperature;), //
|
|
ACK(u8 id;));
|
|
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_stop_temperature,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id;));
|
|
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_version,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id; uint32_t version;));
|
|
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_status,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id; u8 status; s32 temperature;));
|
|
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_read_detailed_status,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id; u8 status; s32 temperature;));
|
|
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_set_run_param,
|
|
CMD(u8 id; u8 opt_type; s32 kp; s32 ki; s32 kd; s32 max_pwm; s32 min_temperature; s32 max_temperature;), //
|
|
ACK(u8 id; u8 opt_type; s32 kp; s32 ki; s32 kd; s32 max_pwm; s32 min_temperature; s32 max_temperature;));
|
|
ZPACKET_CMD_ACK(kcmd_heater_ctrl_module_set_warning_limit_param,
|
|
CMD(u8 id; u8 opt_type;), //
|
|
ACK(u8 id; u8 opt_type;));
|
|
|
|
/*******************************************************************************
|
|
* |Module_1012:光学模组扫码器 *
|
|
*******************************************************************************/
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_optical_barcode_reader_start_scan,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id;), //
|
|
REPORT(u8 id; u8 status; u16 codelen; u16 code[0];));
|
|
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_stop_scan,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id;));
|
|
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_optical_barcode_reader_motor_move_to,
|
|
CMD(u8 id; u8 motor_id; s32 pos; s32 speed;), //
|
|
ACK(u8 id;), //
|
|
REPORT(u8 id; u8 status; s32 pos;));
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_optical_barcode_reader_motor_move_to_zero,
|
|
CMD(u8 id; u8 motor_id;), //
|
|
ACK(u8 id;), //
|
|
REPORT(u8 id; u8 status;));
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_optical_barcode_reader_motor_move_to_zero_with_calibrate,
|
|
CMD(u8 id; u8 motor_id; s32 now_pos;), //
|
|
ACK(u8 id;), //
|
|
REPORT(u8 id; u8 status; s32 zero_shift;));
|
|
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_motor_stop,
|
|
CMD(u8 id; u8 motor_id;), //
|
|
ACK(u8 id;));
|
|
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_version,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id;));
|
|
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_status,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2];));
|
|
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_read_detailed_status,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2]; s32 acc[2]; s32 speed[2];));
|
|
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_set_run_param, //
|
|
CMD(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];), //
|
|
ACK(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];));
|
|
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_set_warning_limit_param,
|
|
CMD(u8 id; u8 opt_type; s32 pad;), //
|
|
ACK(u8 id; u8 opt_type; s32 pad;));
|
|
ZPACKET_CMD_ACK(kcmd_optical_barcode_reader_set_run_to_zero_param,
|
|
CMD(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];), //
|
|
ACK(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];));
|
|
|
|
/*******************************************************************************
|
|
* Module_1013:板夹仓 *
|
|
*******************************************************************************/
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_push_and_scan,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id;), //
|
|
REPORT(u8 id; u8 status; u16 barcodelen; u8 barcode[0];));
|
|
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_moter_move_to,
|
|
CMD(u8 id; u8 motor_id; s32 pos; s32 speed;), //
|
|
ACK(u8 id;), //
|
|
REPORT(u8 id; u8 status; s32 pos;));
|
|
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_moter_move_by,
|
|
CMD(u8 id; u8 motor_id; s32 pos; s32 speed;), //
|
|
ACK(u8 id;), //
|
|
REPORT(u8 id; u8 status; s32 pos;));
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_moter_move_to_zero,
|
|
CMD(u8 id; u8 motor_id;), //
|
|
ACK(u8 id;), //
|
|
REPORT(u8 id; u8 status;));
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_board_clamp_module_moter_move_to_zero_with_calibrate,
|
|
CMD(u8 id; u8 motor_id; s32 now_pos;), //
|
|
ACK(u8 id;), //
|
|
REPORT(u8 id; u8 status; s32 zero_shift;));
|
|
ZPACKET_CMD_ACK(kcmd_board_clamp_module_moter_stop,
|
|
CMD(u8 id; u8 motor_id;), //
|
|
ACK(u8 id;));
|
|
ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_version,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id;));
|
|
ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_status,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2];));
|
|
ZPACKET_CMD_ACK(kcmd_board_clamp_module_read_detailed_status,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id; u8 status; u8 hasmove2zero[2]; s32 pos[2]; s32 acc[2]; s32 speed[2];));
|
|
ZPACKET_CMD_ACK(kcmd_board_clamp_module_set_run_param, //
|
|
CMD(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];), //
|
|
ACK(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];));
|
|
ZPACKET_CMD_ACK(kcmd_board_clamp_module_set_warning_limit_param,
|
|
CMD(u8 id; u8 opt_type; s32 pad;), //
|
|
ACK(u8 id; u8 opt_type; s32 pad;));
|
|
ZPACKET_CMD_ACK(kcmd_board_clamp_module_set_run_to_zero_param,
|
|
CMD(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];), //
|
|
ACK(u8 id; u8 opt_type; s32 move_to_zero_max_d[2]; s32 leave_from_zero_max_d[2]; s32 speed[2]; s32 dec[2];));
|
|
|
|
/*******************************************************************************
|
|
* |Module_1014:风扇 *
|
|
*******************************************************************************/
|
|
ZPACKET_CMD_ACK(kcmd_fan_module_fan_ctrl,
|
|
CMD(u8 id; u8 level;), //
|
|
ACK(u8 id;));
|
|
ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_status,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id; u8 status; u8 level;));
|
|
ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_detailed_status,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id; u8 status; u8 level; int16_t fbcount;));
|
|
|
|
/*******************************************************************************
|
|
* |Module_1016:移液枪控制 *
|
|
*******************************************************************************/
|
|
|
|
ZPACKET_CMD_ACK(kcmd_pipette_module_motor_enable,
|
|
CMD(u8 id; u8 enable;), //
|
|
ACK(u8 id;));
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_motor_move_to,
|
|
CMD(u8 id; u8 motor_id; s32 pos; s32 speed;), //
|
|
ACK(u8 id;), //
|
|
REPORT(u8 id; u8 status; s32 pos;));
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_motor_move_to_zero,
|
|
CMD(u8 id; u8 motor_id;), //
|
|
ACK(u8 id;), //
|
|
REPORT(u8 id; u8 status;));
|
|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_motor_move_to_zero_with_calibrate,
|
|
CMD(u8 id; u8 motor_id; s32 now_pos;), //
|
|
ACK(u8 id;), //
|
|
REPORT(u8 id; u8 status; s32 zero_shift;));
|
|
ZPACKET_CMD_ACK(kcmd_pipette_module_motor_stop,
|
|
CMD(u8 id; u8 motor_id;), //
|
|
ACK(u8 id;));
|
|
|
|
ZPACKET_CMD_ACK(kcmd_pipette_module_take_liquid,
|
|
CMD(u8 id; u8 motor_id; s32 speed; s32 pos;), //
|
|
ACK(u8 id;));
|
|
ZPACKET_CMD_ACK(kcmd_pipette_module_split_liquid,
|
|
CMD(u8 id; u8 motor_id; s32 speed; s32 pos;), //
|
|
ACK(u8 id;));
|
|
ZPACKET_CMD_ACK(kcmd_pipette_module_take_tip,
|
|
CMD(u8 id; u8 motor_id; s32 speed; s32 pos;), //
|
|
ACK(u8 id;));
|
|
ZPACKET_CMD_ACK(kcmd_pipette_module_remove_tip,
|
|
CMD(u8 id; u8 motor_id; s32 speed; s32 pos;), //
|
|
ACK(u8 id;));
|
|
|
|
#if 0
|
|
kcmd_pipette_module_read_status = CMDID(1016, 51), // 读取模块精简状态信息
|
|
kcmd_pipette_module_read_detailed_status = CMDID(1016, 52), // 读取模块详细状态信息
|
|
|
|
kcmd_pipette_module_set_run_param = CMDID(1016, 100), // 设置运行参数
|
|
kcmd_pipette_module_set_warning_limit_param = CMDID(1016, 101), // 设置限制参数
|
|
kcmd_pipette_module_set_run_to_zero_param = CMDID(1016, 102), // 设置归零参数
|
|
#endif
|
|
|
|
ZPACKET_CMD_ACK(kcmd_pipette_module_read_version,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id;));
|
|
ZPACKET_CMD_ACK(kcmd_pipette_module_read_status,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id; u8 status; s32 pos[2];));
|
|
ZPACKET_CMD_ACK(kcmd_pipette_module_read_detailed_status,
|
|
CMD(u8 id;), //
|
|
ACK(u8 id; u8 status; s32 pos[2]; s32 acc[2]; s32 speed[2];));
|
|
ZPACKET_CMD_ACK(kcmd_pipette_module_set_run_param,
|
|
CMD(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];), //
|
|
ACK(u8 id; u8 opt_type; s32 acc[2]; s32 dec[2]; s32 max_speed[2]; s32 min_pos[2]; s32 max_pos[2];));
|
|
ZPACKET_CMD_ACK(kcmd_pipette_module_set_warning_limit_param,
|
|
CMD(u8 id; u8 opt_type; s32 pad;), //
|
|
ACK(u8 id; u8 opt_type; s32 pad;));
|
|
|
|
#pragma pack(pop)
|
|
|
|
} // namespace zcr
|
|
} // namespace iflytop
|