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335 lines
22 KiB
335 lines
22 KiB
#pragma once
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#include <stdint.h>
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#include "api/basic_type.hpp"
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#include "api/i_mini_servo_module.hpp"
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#include "api/i_pipette_module.hpp"
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#include "api/i_step_motor_ctrl_module.hpp"
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#include "api/i_xyrobot_ctrl_module.hpp"
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#include "api/i_eeprom.hpp"
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#include "zcancmder_protocol_basic.hpp"
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namespace iflytop {
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namespace zcr {
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typedef enum {
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kcmd_ping = CMDID(0, 0),
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kcmd_read_io = CMDID(1, 0),
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kcmd_set_io = CMDID(2, 0),
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kcmd_readadc_raw = CMDID(3, 0),
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kcmd_m211887_operation = CMDID(1000, 0), // 维萨拉臭氧传感器
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kcmd_read_presure_sensor = CMDID(1001, 0), // 压力传感器
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kcmd_triple_warning_light_ctl = CMDID(1002, 0), // 三色警示灯控制
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kcmd_high_power_electrical_ctl = CMDID(1003, 0), // 大功率电源控制
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kcmd_peristaltic_pump_ctl = CMDID(1004, 0), // 液泵控制
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kcmd_read_huacheng_pressure_sensor = CMDID(1005, 0), // 华诚压力传感器
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/*******************************************************************************
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* |Module_1006:XYRobot机器人控制模组 *
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*******************************************************************************/
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kcmd_xy_robot_ctrl_enable = CMDID(1006, 0), // 机器人使能
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kcmd_xy_robot_ctrl_stop = CMDID(1006, 1), // 机器人停止
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kcmd_xy_robot_ctrl_move_to_zero = CMDID(1006, 2), // 机器人回零
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kcmd_xy_robot_ctrl_move_to_zero_with_calibrate = CMDID(1006, 3), // 机器人回零并标定
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kcmd_xy_robot_ctrl_move_to = CMDID(1006, 4), // 机器人移动到指定位置
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kcmd_xy_robot_ctrl_move_by = CMDID(1006, 5), // 机器人移动指定距离
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kcmd_xy_robot_ctrl_force_change_current_pos = CMDID(1006, 6), // 强制修改当前位置
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kcmd_xy_robot_ctrl_read_version = CMDID(1006, 50), // 读取模块型号版本信息
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kcmd_xy_robot_ctrl_read_status = CMDID(1006, 51), // 读取模块精简状态信息
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kcmd_xy_robot_ctrl_read_detailed_status = CMDID(1006, 52), // 读取模块详细状态信息
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kcmd_xy_robot_ctrl_set_base_param = CMDID(1006, 100), // 设置运行参数
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kcmd_xy_robot_ctrl_get_base_param = CMDID(1006, 101), // 设置运行参数
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// kcmd_xy_robot_ctrl_set_warning_limit_param = CMDID(1006, 101), // 设置控制限制参数
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// kcmd_xy_robot_ctrl_set_run_to_zero_param = CMDID(1006, 102), // 设置归零参数
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/*******************************************************************************
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* |Module_1007:步进电机控制模组 *
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*******************************************************************************/
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kcmd_step_motor_ctrl_enable = CMDID(1007, 0), // 使能
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kcmd_step_motor_ctrl_stop = CMDID(1007, 1), // 停止
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kcmd_step_motor_ctrl_move_to_zero = CMDID(1007, 2), // 回零
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kcmd_step_motor_ctrl_move_to_zero_with_calibrate = CMDID(1007, 3), // 回零并校准
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kcmd_step_motor_ctrl_move_to = CMDID(1007, 4), // 移动到
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kcmd_step_motor_ctrl_move_by = CMDID(1007, 5), // 相对移动
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kcmd_step_motor_ctrl_force_change_current_pos = CMDID(1007, 6), // 相对移动
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kcmd_step_motor_ctrl_rotate = CMDID(1007, 7), // 相对移动
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kcmd_step_motor_ctrl_read_version = CMDID(1007, 50), // 读取模块型号版本信息
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kcmd_step_motor_ctrl_read_status = CMDID(1007, 51), // 读取模块精简状态信息
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kcmd_step_motor_ctrl_read_detailed_status = CMDID(1007, 52), // 读取模块详细状态信息
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kcmd_step_motor_ctrl_set_base_param = CMDID(1007, 100), // 设置运行参数
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kcmd_step_motor_ctrl_get_base_param = CMDID(1007, 101), // 设置运行参数
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/*******************************************************************************
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* |Module_1008:舵机 *
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*******************************************************************************/
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kcmd_mini_servo_ctrl_enable = CMDID(1008, 0), // 使能
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kcmd_mini_servo_ctrl_stop = CMDID(1008, 1), // 停止
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kcmd_mini_servo_ctrl_position_calibrate = CMDID(1008, 2), // 校准
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kcmd_mini_servo_ctrl_rotate = CMDID(1008, 3), // 速度模式
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kcmd_mini_servo_ctrl_move_to = CMDID(1008, 4), // 位置模式舵机
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kcmd_mini_servo_ctrl_move_by = CMDID(1008, 5), // 位置模式舵机
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kcmd_mini_servo_ctrl_run_with_torque = CMDID(1008, 6), // 开环扭矩模式
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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
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kcmd_mini_servo_ctrl_read_version = CMDID(1008, 50), // 读取模块型号版本信息
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kcmd_mini_servo_ctrl_read_status = CMDID(1008, 51), // 读取模块精简状态信息
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kcmd_mini_servo_ctrl_read_detailed_status = CMDID(1008, 52), // 读取模块详细状态信息
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kcmd_mini_servo_ctrl_set_run_param = CMDID(1008, 100),
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kcmd_mini_servo_ctrl_get_run_param = CMDID(1008, 101),
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kcmd_mini_servo_ctrl_set_warning_limit_param = CMDID(1008, 102),
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kcmd_mini_servo_ctrl_get_warning_limit_param = CMDID(1008, 103),
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kcmd_mini_servo_ctrl_set_basic_param = CMDID(1008, 104),
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kcmd_mini_servo_ctrl_get_basic_param = CMDID(1008, 105),
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/*******************************************************************************
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* |Module_1009:EEPROM *
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*******************************************************************************/
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kcmd_eeprom_start_monitor_status = CMDID(1009, 0), // 监控EEPROM状态
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kcmd_eeprom_stop_monitor_status = CMDID(1009, 1), // 停止监控EEPROM状态
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kcmd_eeprom_read_block = CMDID(1009, 2), // 读取EEPROM
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kcmd_eeprom_write_block = CMDID(1009, 3), // 写入EEPROM
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/*******************************************************************************
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* |Module_1010:扫码器 *
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*******************************************************************************/
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kcmd_barcode_reader_start_scan = CMDID(1010, 0), // 读取扫码器
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kcmd_barcode_reader_stop_scan = CMDID(1010, 1), // 停止读取扫码器
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/*******************************************************************************
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* |Module_1011:帕尔贴-水泵-风扇控温系统 *
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*******************************************************************************/
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// 设置目标温度
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kcmd_heater_ctrl_module_start_ctrl_temperature = CMDID(1011, 0), // 设置目标温度
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kcmd_heater_ctrl_module_stop_temperature = CMDID(1011, 1), // 读取停止温度
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kcmd_heater_ctrl_module_read_status = CMDID(1011, 50), // 读取模块精简状态信息
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kcmd_heater_ctrl_module_read_detail_status = CMDID(1011, 50), // 读取模块精简状态信息
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kcmd_heater_ctrl_module_set_base_param = CMDID(1011, 100), // 设置运行参数
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kcmd_heater_ctrl_module_get_base_param = CMDID(1011, 101), // 设置限制参数
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/*******************************************************************************
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* |Module_1012:电机激光扫码器 *
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*******************************************************************************/
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kcmd_motor_laser_code_scanner_scan = CMDID(1012, 1), // 开始扫码
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kcmd_motor_laser_code_scanner_stop_scan = CMDID(1012, 2), // 停止扫码
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kcmd_motor_laser_code_scanner_get_scan_result = CMDID(1012, 3), // 获取扫码结果
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/*******************************************************************************
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* |Module_1013:板夹仓 *
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*******************************************************************************/
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// 风扇
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/*******************************************************************************
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* |Module_1014:风扇 *
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*******************************************************************************/
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kcmd_fan_module_fan_ctrl = CMDID(1014, 0), // 风扇控制
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kcmd_fan_module_fan_read_status = CMDID(1014, 50), // 读取模块精简状态信息
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#if 0
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// 串口透传
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/*******************************************************************************
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* |Module_1015:串口透传 *
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*******************************************************************************/
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kcmd_serial_module_send_data = CMDID(1015, 0), // 串口透传发送数据
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kcmd_serial_module_start_read_data = CMDID(1015, 1), // 串口透传读取数据
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kcmd_serial_module_start_stop_data = CMDID(1015, 2), // 串口透传停止读取数据
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kcmd_serial_module_read_status = CMDID(1015, 50), // 读取模块状态信息
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kcmd_serial_module_set_cfg = CMDID(1015, 100), // 串口透传设置配置
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#endif
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// 移液枪控制
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/*******************************************************************************
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* |Module_1016:移液枪控制 *
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*******************************************************************************/
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kcmd_pipette_module_enable = CMDID(1016, 0), // 使能
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kcmd_pipette_module_stop = CMDID(1016, 1), // 停止
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kcmd_pipette_module_zero_pos_calibrate = CMDID(1016, 2), // 回零并校准
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kcmd_pipeete_module_zmotor_reset = CMDID(1016, 3), // Z轴复位
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kcmd_pipeete_module_pipette_reset = CMDID(1016, 4), // 移液枪复位
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kcmd_pipette_module_take_tip = CMDID(1016, 5), // 取tip
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kcmd_pipette_module_remove_tip = CMDID(1016, 6), // 移除tip
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kcmd_pipette_module_move_to = CMDID(1016, 7), // 移动到
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kcmd_pipette_module_move_to_with_lld = CMDID(1016, 8), // 移动到
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kcmd_pipette_module_shake = CMDID(1016, 9), // 吸吐摇匀
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kcmd_pipette_module_pipette_move_to_ul = CMDID(1016, 10), // 取液
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kcmd_pipette_module_get_status = CMDID(1016, 50), // 读取模块精简状态信息
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kcmd_pipette_module_set_z_motor_para = CMDID(1016, 100), // 设置Z轴电机参数
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kcmd_pipette_module_get_z_motor_para = CMDID(1016, 101), // 读取Z轴电机参数
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kcmd_pipette_module_set_base_param = CMDID(1016, 102), // 设置运行参数
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kcmd_pipette_module_get_base_param = CMDID(1016, 103), // 读取运行参数
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} CmdID_t;
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#pragma pack(push, 1)
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ZPACKET_CMD_ACK(kcmd_ping, //
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CMD(u8 boardid;), //
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ACK(u8 boardid;));
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ZPACKET_CMD_ACK(kcmd_read_io, //
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CMD(u8 ioid;), //
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ACK(u8 ioid; u8 val;));
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ZPACKET_CMD_ACK(kcmd_set_io, //
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CMD(u8 ioid; u8 val;), //
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ACK(u8 ioid; u8 val;));
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ZPACKET_CMD_ACK(kcmd_readadc_raw, //
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CMD(u8 sensorid;), //
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ACK(u8 sensorid; s32 val;));
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/*******************************************************************************
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* |Module_1006:XYRobot机器人控制模组 *
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*******************************************************************************/
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// ACTION
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ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_enable, CMD(u16 id; u8 enable;), ACK(u16 id;));
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ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_stop, CMD(u16 id; u8 stop_type;), ACK(u16 id;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero, CMD(u16 id;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate, CMD(u16 id; s32 nowx; s32 nowy;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_to, CMD(u16 id; s32 x; s32 y; s32 speed;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_by, CMD(u16 id; s32 dx; s32 dy; s32 speed;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_force_change_current_pos, CMD(u16 id; s32 x; s32 y;), ACK(u16 id;));
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// READ
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ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_version, CMD(u16 id;), ACK(u16 id; I_XYRobotCtrlModule::version_t ack;));
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ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_status, CMD(u16 id;), ACK(u16 id; I_XYRobotCtrlModule::status_t ack;));
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ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_detailed_status, CMD(u16 id;), ACK(u16 id; I_XYRobotCtrlModule::detailed_status_t ack;));
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// SET
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ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_base_param, CMD(u16 id; I_XYRobotCtrlModule::base_param_t param;), ACK(u16 id;));
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ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_get_base_param, CMD(u16 id;), ACK(u16 id; I_XYRobotCtrlModule::base_param_t ack;));
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// 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(u16 id; I_XYRobotCtrlModule::warning_limit_param_t ack;));
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// 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(u16 id; I_XYRobotCtrlModule::run_to_zero_param_t ack;));
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/*******************************************************************************
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* |Module_1007:步进电机控制模组 *
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*******************************************************************************/
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ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_enable, CMD(u16 id; u8 enable;), ACK(u16 id;));
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ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_stop, CMD(u16 id; u8 stop_type;), ACK(u16 id;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero, CMD(u16 id;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to_zero_with_calibrate, CMD(u16 id; s32 nowx; s32 nowy;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_to, CMD(u16 id; s32 x; s32 speed;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_move_by, CMD(u16 id; s32 dx; s32 speed;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_force_change_current_pos, CMD(u16 id; s32 x;), ACK(u16 id;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_step_motor_ctrl_rotate, CMD(u16 id; s32 speed; s32 run_time;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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// READ
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ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_version, CMD(u16 id;), ACK(u16 id; I_StepMotorCtrlModule::version_t ack;));
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ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_status, CMD(u16 id;), ACK(u16 id; I_StepMotorCtrlModule::status_t ack;));
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ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_read_detailed_status, CMD(u16 id;), ACK(u16 id; I_StepMotorCtrlModule::detailed_status_t ack;));
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// SET
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ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_base_param, CMD(u16 id; u8 opt_type; I_StepMotorCtrlModule::base_param_t param;), ACK(u16 id;));
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ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_get_base_param, CMD(u16 id;), ACK(u16 id; I_StepMotorCtrlModule::base_param_t ack;));
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/*******************************************************************************
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* |Module_1008:舵机 *
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*******************************************************************************/
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ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_enable, CMD(u16 id; u8 enable;), ACK(u16 id;));
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ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_stop, CMD(u16 id; u8 stop_type;), ACK(u16 id;));
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ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_position_calibrate, CMD(u16 id; s32 calibrate_pos;), ACK(u16 id;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_rotate, CMD(u16 id; s32 speed; s32 torque; s32 run_time;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_to, CMD(u16 id; s32 pos; s32 speed; s32 torque;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by, CMD(u16 id; s32 pos; s32 speed; s32 torque;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_run_with_torque, CMD(u16 id; s32 torque; s32 run_time;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by_nolimit, CMD(u16 id; s32 pos; s32 speed; s32 torque;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_version, CMD(u16 id;), ACK(u16 id; I_MiniServoModule::version_t ack;));
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ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_status, CMD(u16 id;), ACK(u16 id; I_MiniServoModule::status_t ack;));
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ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_detailed_status, CMD(u16 id;), ACK(u16 id; I_MiniServoModule::detailed_status_t ack;));
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ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_run_param, CMD(u16 id; u8 opt_type; I_MiniServoModule::run_param_t param;), ACK(u16 id; I_MiniServoModule::run_param_t ack;));
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ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_basic_param, CMD(u16 id; u8 opt_type; I_MiniServoModule::basic_param_t param;), ACK(u16 id; I_MiniServoModule::basic_param_t ack;));
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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(u16 id; I_MiniServoModule::warning_limit_param_t ack;));
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ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_run_param, CMD(u16 id; u8 opt_type;), ACK(u16 id; I_MiniServoModule::run_param_t ack;));
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ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_basic_param, CMD(u16 id; u8 opt_type;), ACK(u16 id; I_MiniServoModule::basic_param_t ack;));
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ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_warning_limit_param, CMD(u16 id; u8 opt_type;), ACK(u16 id; I_MiniServoModule::warning_limit_param_t ack;));
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/*******************************************************************************
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* |Module_1009:EEPROM *
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*******************************************************************************/
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_eeprom_start_monitor_status, CMD(u16 id;), ACK(u16 id;), REPORT(u16 id; I_EEPROMModule::eeprom_status_t status;));
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ZPACKET_CMD_ACK(kcmd_eeprom_stop_monitor_status, CMD(u16 id;), ACK(u16 id;));
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ZPACKET_CMD_ACK(kcmd_eeprom_read_block,
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CMD(u16 id; u16 sector_index; u16 sector_size;), //
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ACK(u16 id; zcancmder_read_ram_ack_t ack;));
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/*******************************************************************************
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* |Module_1010:扫码器 *
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*******************************************************************************/
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_barcode_reader_start_scan,
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CMD(u16 id;), //
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ACK(u16 id;), //
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REPORT(u16 id; u8 status; u16 barcodelen; u8 barcode[0];));
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ZPACKET_CMD_ACK(kcmd_barcode_reader_stop_scan,
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CMD(u16 id;), //
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ACK(u16 id;));
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/*******************************************************************************
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* |Module_1011:帕尔贴-水泵-风扇控温系统 *
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*******************************************************************************/
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/*******************************************************************************
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* |Module_1012:电机激光扫码器 *
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*******************************************************************************/
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_motor_laser_code_scanner_scan,
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CMD(u8 id; //
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s32 moveby_distance; //
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s32 scan_interval_distance; //
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s32 each_sample_times; //
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s32 transmitting_tube_amplification; // 0.001
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s32 receiving_tube_amplification; // 0.001
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),
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ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_stop_scan, CMD(u16 id;), ACK(u16 id;));
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ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_get_scan_result, CMD(u16 id; u16 sector_index; u16 sector_size;), ACK(u16 id; zcancmder_read_ram_ack_t ack;));
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/*******************************************************************************
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|
* Module_1013:板夹仓 *
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*******************************************************************************/
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|
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/*******************************************************************************
|
|
* |Module_1014:风扇 *
|
|
*******************************************************************************/
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/*******************************************************************************
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* |Module_1016:移液枪控制 *
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*******************************************************************************/
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ZPACKET_CMD_ACK(kcmd_pipette_module_enable, CMD(u16 id; u8 enable;), ACK(u16 id;));
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ZPACKET_CMD_ACK(kcmd_pipette_module_stop, CMD(u16 id; u8 stop_type;), ACK(u16 id;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_zero_pos_calibrate, CMD(u16 id;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipeete_module_zmotor_reset, CMD(u16 id;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipeete_module_pipette_reset, CMD(u16 id;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_take_tip, CMD(u16 id; s16 vel; s16 height_mm; s16 tip_hight_mm;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_remove_tip, CMD(u16 id; s16 vel; s16 height_mm;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_move_to, CMD(u16 id; s16 vel; s16 height_mm;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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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(u16 id;), REPORT(u16 id; int32_t exec_status;));
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|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_shake, CMD(u16 id; s16 shake_times; s16 shake_volume;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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|
ZPACKET_CMD_ACK_AND_REPORT(kcmd_pipette_module_pipette_move_to_ul, CMD(u16 id; s16 take_volume_mm;), ACK(u16 id;), REPORT(u16 id; int32_t exec_status;));
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|
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ZPACKET_CMD_ACK(kcmd_pipette_module_get_status, CMD(u16 id;), ACK(u16 id; I_PipetteModule::status_t ack;));
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|
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|
ZPACKET_CMD_ACK(kcmd_pipette_module_set_z_motor_para, CMD(u16 id; I_StepMotorCtrlModule::base_param_t param;), ACK(u16 id;));
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|
ZPACKET_CMD_ACK(kcmd_pipette_module_get_z_motor_para, CMD(u16 id;), ACK(u16 id; I_StepMotorCtrlModule::base_param_t ack;));
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|
ZPACKET_CMD_ACK(kcmd_pipette_module_set_base_param, CMD(u16 id; I_PipetteModule::base_param_t param;), ACK(u16 id;));
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|
ZPACKET_CMD_ACK(kcmd_pipette_module_get_base_param, CMD(u16 id;), ACK(u16 id; I_PipetteModule::base_param_t ack;));
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|
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#pragma pack(pop)
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} // namespace zcr
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} // namespace iflytop
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