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#pragma once
#include <stdint.h>
namespace iflytop {using namespace std;
#define REG_INDEX(type, subconfigindex) (type + subconfigindex)
typedef enum { /*******************************************************************************
* ģ��ͨ�����ú�״̬(0->1000) * *******************************************************************************/ kreg_module_version = REG_INDEX(0, 0), // ģ���汾
kreg_module_type = REG_INDEX(0, 1), // ģ������
kreg_module_status = REG_INDEX(0, 2), // 0idle,1busy,2error
kreg_module_errorcode = REG_INDEX(0, 3), // inited_flag
kreg_module_initflag = REG_INDEX(0, 4), // inited_flag
kreg_module_enableflag = REG_INDEX(0, 5), // 0idle,1busy,2error
kreg_module_errorbitflag0 = REG_INDEX(0, 6), // ģ���쳣��־��bit��ÿ��ģ���Զ���
kreg_module_errorbitflag1 = REG_INDEX(0, 7), //
kreg_module_input_state = REG_INDEX(0, 8), //
kreg_module_output_state = REG_INDEX(0, 9), //
kreg_module_last_cmd_exec_status = REG_INDEX(20, 0), // ��һ��ָ��ִ�е�״̬
kreg_module_last_cmd_exec_val0 = REG_INDEX(20, 1), // ��һ��ָ��ִ�еĽ���0
kreg_module_last_cmd_exec_val1 = REG_INDEX(20, 2), // ��һ��ָ��ִ�еĽ���1
kreg_module_last_cmd_exec_val2 = REG_INDEX(20, 3), // ��һ��ָ��ִ�еĽ���2
kreg_module_last_cmd_exec_val3 = REG_INDEX(20, 4), // ��һ��ָ��ִ�еĽ���3
kreg_module_last_cmd_exec_val4 = REG_INDEX(20, 5), // ��һ��ָ��ִ�еĽ���4
kreg_module_last_cmd_exec_val5 = REG_INDEX(20, 6), // ��һ��ָ��ִ�еĽ���5
kreg_module_private0 = REG_INDEX(200, 0), // ģ��˽��״̬0
kreg_module_private1 = REG_INDEX(200, 1), // ģ��˽��״̬1
kreg_module_private2 = REG_INDEX(200, 2), // ģ��˽��״̬2
kreg_module_private3 = REG_INDEX(200, 3), // ģ��˽��״̬3
kreg_module_private4 = REG_INDEX(200, 4), // ģ��˽��״̬4
kreg_module_private5 = REG_INDEX(200, 5), // ģ��˽��״̬5
kreg_module_private6 = REG_INDEX(200, 6), // ģ��˽��״̬6
kreg_module_private7 = REG_INDEX(200, 7), // ģ��˽��״̬7
kreg_module_private8 = REG_INDEX(200, 8), // ģ��˽��״̬8
kreg_module_private9 = REG_INDEX(200, 9), // ģ��˽��״̬9
/*******************************************************************************
* �����������ú�״̬(1000->1999 * *******************************************************************************/ kreg_motor_x_shift = REG_INDEX(1000, 0), // xƫ��
kreg_motor_y_shift = REG_INDEX(1000, 1), // yƫ��
kreg_motor_z_shift = REG_INDEX(1000, 2), // zƫ��
kreg_motor_x_shaft = REG_INDEX(1000, 3), // x���Ƿ���ת
kreg_motor_y_shaft = REG_INDEX(1000, 4), // y���Ƿ���ת
kreg_motor_z_shaft = REG_INDEX(1000, 5), // z���Ƿ���ת
kreg_motor_x_one_circle_pulse = REG_INDEX(1000, 6), // x��һȦ������
kreg_motor_y_one_circle_pulse = REG_INDEX(1000, 7), // y��һȦ������
kreg_motor_z_one_circle_pulse = REG_INDEX(1000, 8), // z��һȦ������
kreg_motor_default_velocity = REG_INDEX(1000, 9), // Ĭ���ٶ�
kreg_motor_default_acc = REG_INDEX(1000, 10), // Ĭ�ϼ��ٶ�
kreg_motor_default_dec = REG_INDEX(1000, 11), // Ĭ�ϼ��ٶ�
kreg_motor_default_break_dec = REG_INDEX(1000, 12), // Ĭ�ϼ��ٶ�
kreg_stepmotor_ihold = REG_INDEX(1000, 13), // ����������������
kreg_stepmotor_irun = REG_INDEX(1000, 14), // ����������������
kreg_stepmotor_iholddelay = REG_INDEX(1000, 15), // ����������������
kreg_motor_run_to_zero_max_x_d = REG_INDEX(1050, 0), // x��������������
kreg_motor_run_to_zero_max_y_d = REG_INDEX(1050, 1), // y��������������
kreg_motor_run_to_zero_max_z_d = REG_INDEX(1050, 2), // z��������������
kreg_motor_look_zero_edge_max_x_d = REG_INDEX(1050, 3), // x��������Ե��������
kreg_motor_look_zero_edge_max_y_d = REG_INDEX(1050, 4), // y��������Ե��������
kreg_motor_look_zero_edge_max_z_d = REG_INDEX(1050, 5), // z��������Ե��������
kreg_motor_run_to_zero_speed = REG_INDEX(1050, 6), // �����ٶ�
kreg_motor_run_to_zero_dec = REG_INDEX(1050, 7), // �������ٶ�
kreg_motor_look_zero_edge_speed = REG_INDEX(1050, 8), // ������Ե�ٶ�
kreg_motor_look_zero_edge_dec = REG_INDEX(1050, 9), // ������Ե���ٶ�
kreg_xyrobot_robot_type = REG_INDEX(1100, 0), // ���������� 0:hbot 1:corexy
kreg_robot_move = REG_INDEX(1500, 0), // �������Ƿ����ƶ�
kreg_robot_x_pos = REG_INDEX(1500, 1), // ������x����
kreg_robot_y_pos = REG_INDEX(1500, 2), // ������y����
kreg_robot_z_pos = REG_INDEX(1500, 3), // ������z����
kreg_robot_x_velocity = REG_INDEX(1500, 4), // ������x�ٶ�
kreg_robot_y_velocity = REG_INDEX(1500, 5), // ������y�ٶ�
kreg_robot_z_velocity = REG_INDEX(1500, 6), // ������z�ٶ�
kreg_robot_x_torque = REG_INDEX(1500, 7), // ������x����
kreg_robot_y_torque = REG_INDEX(1500, 8), // ������y����
kreg_robot_z_torque = REG_INDEX(1500, 9), // ������z����
/*******************************************************************************
* ������״̬(2000->2999) * *******************************************************************************/ kreg_sensor_current = REG_INDEX(2000, 0), // ����
kreg_sensor_voltage = REG_INDEX(2000, 1), // ��ѹ
kreg_sensor_temperature = REG_INDEX(2000, 2), // �¶�
kreg_sensor_humidity = REG_INDEX(2000, 3), // ʪ��
kreg_sensor_wind_speed = REG_INDEX(2000, 4), // ����
kreg_sensor_wind_dir = REG_INDEX(2000, 5), // ����
kreg_sensor_air_press = REG_INDEX(2000, 6), // ��ѹ
kreg_sensor_pm25 = REG_INDEX(2000, 7), // PM2.5
kreg_sensor_pm10 = REG_INDEX(2000, 8), // PM10
kreg_sensor_co = REG_INDEX(2000, 9), // CO
kreg_sensor_co2 = REG_INDEX(2000, 10), // CO
kreg_sensor_no2 = REG_INDEX(2000, 11), // NO2
kreg_sensor_so2 = REG_INDEX(2000, 12), // SO2
kreg_sensor_o3 = REG_INDEX(2000, 13), // O3
kreg_sensor_light_intensity = REG_INDEX(2000, 14), // ����ǿ��
kreg_sensor_radiation = REG_INDEX(2000, 15), // �ܷ�����
kreg_sensor_hydrogen_peroxide_volume = REG_INDEX(2000, 16), // ppm 0x0100
kreg_sensor_h2o_h2o2_rs = REG_INDEX(2000, 17), // %RS * 100
kreg_sensor_relative_humidity = REG_INDEX(2000, 18), // %RH * 100
kreg_sensor_absolute_hydrogen_peroxide = REG_INDEX(2000, 19), // mg/m3
kreg_sensor_h2o_h2o2dew_point_temperature = REG_INDEX(2000, 20), // ��C * 100
kreg_sensor_water_volume = REG_INDEX(2000, 21), // ppm
kreg_sensor_water_vapor_pressure = REG_INDEX(2000, 22), // hpa
kreg_sensor_absolute_humidity = REG_INDEX(2000, 23), // g/m3
kreg_sensor_water_vapor_saturation_pressure_h2o = REG_INDEX(2000, 24), // hpa
kreg_sensor_h2o2_vapor_pressure = REG_INDEX(2000, 25), // hpa
kreg_sensor_water_vapor_saturation_pressure_h2o_h2o2 = REG_INDEX(2000, 26), // hpa
kreg_sensor_temperature0 = REG_INDEX(2100, 0), // �¶�1
kreg_sensor_temperature1 = REG_INDEX(2100, 1), // �¶�2
kreg_sensor_temperature2 = REG_INDEX(2100, 2), // �¶�3
kreg_sensor_temperature3 = REG_INDEX(2100, 3), // �¶�4
kreg_sensor_temperature4 = REG_INDEX(2100, 4), // �¶�5
kreg_sensor_temperature5 = REG_INDEX(2100, 5), // �¶�6
kreg_sensor_temperature6 = REG_INDEX(2100, 6), // �¶�7
kreg_sensor_temperature7 = REG_INDEX(2100, 7), // �¶�8
kreg_sensor_temperature8 = REG_INDEX(2100, 8), // �¶�9
kreg_sensor_temperature9 = REG_INDEX(2100, 9), // �¶�10
kreg_sensor_pressure0 = REG_INDEX(2120, 0), // ѹ��0
kreg_sensor_pressure1 = REG_INDEX(2120, 1), // ѹ��1
kreg_sensor_pressure2 = REG_INDEX(2120, 2), // ѹ��2
kreg_sensor_pressure3 = REG_INDEX(2120, 3), // ѹ��3
kreg_sensor_pressure4 = REG_INDEX(2120, 4), // ѹ��4
kreg_sensor_pressure5 = REG_INDEX(2120, 5), // ѹ��5
kreg_sensor_pressure6 = REG_INDEX(2120, 6), // ѹ��6
kreg_sensor_pressure7 = REG_INDEX(2120, 7), // ѹ��7
kreg_sensor_pressure8 = REG_INDEX(2120, 8), // ѹ��8
kreg_sensor_pressure9 = REG_INDEX(2120, 9), // ѹ��9
kreg_sensor_humidity0 = REG_INDEX(2130, 0), // ʪ��0
kreg_sensor_humidity1 = REG_INDEX(2130, 1), // ʪ��1
kreg_sensor_humidity2 = REG_INDEX(2130, 2), // ʪ��2
kreg_sensor_humidity3 = REG_INDEX(2130, 3), // ʪ��3
kreg_sensor_humidity4 = REG_INDEX(2130, 4), // ʪ��4
kreg_sensor_humidity5 = REG_INDEX(2130, 5), // ʪ��5
kreg_sensor_humidity6 = REG_INDEX(2130, 6), // ʪ��6
kreg_sensor_humidity7 = REG_INDEX(2130, 7), // ʪ��7
kreg_sensor_humidity8 = REG_INDEX(2130, 8), // ʪ��8
kreg_sensor_humidity9 = REG_INDEX(2130, 9), // ʪ��9
/*******************************************************************************
* PID������(3000->4000) * *******************************************************************************/ kreg_pid_kp = REG_INDEX(3000, 0), // kp
kreg_pid_ki = REG_INDEX(3000, 1), // ki
kreg_pid_kd = REG_INDEX(3000, 2), // kd
kreg_pid_max_output = REG_INDEX(3000, 3), // ��������
kreg_pid_min_output = REG_INDEX(3000, 4), // ������
kreg_pid_max_integral = REG_INDEX(3000, 5), // ��������
kreg_pid_min_integral = REG_INDEX(3000, 6), // ������
kreg_error_limit = REG_INDEX(3000, 7), // ��������
kreg_compute_interval = REG_INDEX(3000, 8), // ��������
kreg_pid_target = REG_INDEX(3050, 0), // Ŀ����ֵ
kreg_pid_nowoutput = REG_INDEX(3050, 1), // ��ǰ����
kreg_pid_feedbackval = REG_INDEX(3050, 2), // ��ǰ����
/*******************************************************************************
* ���ȿ��� * *******************************************************************************/ kreg_fan0_ctrl_speed_level = REG_INDEX(4000, 0), // ����ת��0,1,2,3
kreg_fan1_ctrl_speed_level = REG_INDEX(4000, 1), // ����ת��0,1,2,3
kreg_fan2_ctrl_speed_level = REG_INDEX(4000, 2), // ����ת��0,1,2,3
kreg_fan3_ctrl_speed_level = REG_INDEX(4000, 3), // ����ת��0,1,2,3
kreg_fan4_ctrl_speed_level = REG_INDEX(4000, 4), // ����ת��0,1,2,3
kreg_fan0_speed_level = REG_INDEX(4010, 0), // ����ʵʱת��0,1,2,3
kreg_fan1_speed_level = REG_INDEX(4010, 1), // ����ʵʱת��0,1,2,3
kreg_fan2_speed_level = REG_INDEX(4010, 2), // ����ʵʱת��0,1,2,3
kreg_fan3_speed_level = REG_INDEX(4010, 3), // ����ʵʱת��0,1,2,3
kreg_fan4_speed_level = REG_INDEX(4010, 4), // ����ʵʱת��0,1,2,3
kreg_pwm_pump0_ctrl_speed_level = REG_INDEX(4030, 0), // PWMˮ��0,1,2,3
kreg_pwm_pump1_ctrl_speed_level = REG_INDEX(4030, 1), // PWMˮ��0,1,2,3
kreg_pwm_pump2_ctrl_speed_level = REG_INDEX(4030, 2), // PWMˮ��0,1,2,3
kreg_pwm_pump3_ctrl_speed_level = REG_INDEX(4030, 3), // PWMˮ��0,1,2,3
kreg_pwm_pump4_ctrl_speed_level = REG_INDEX(4030, 4), // PWMˮ��0,1,2,3
kreg_pwm_pump0_speed_level = REG_INDEX(4040, 0), // PWMˮ��0,1,2,3
kreg_pwm_pump1_speed_level = REG_INDEX(4040, 1), // PWMˮ��0,1,2,3
kreg_pwm_pump2_speed_level = REG_INDEX(4040, 2), // PWMˮ��0,1,2,3
kreg_pwm_pump3_speed_level = REG_INDEX(4040, 3), // PWMˮ��0,1,2,3
kreg_pwm_pump4_speed_level = REG_INDEX(4040, 4), // PWMˮ��0,1,2,3
/*******************************************************************************
* ��Һǹ״̬ * *******************************************************************************/ kreg_pipette_pos_ul = REG_INDEX(4100, 0), // ��Һǹλ��
kreg_pipette_capactitance_val = REG_INDEX(4100, 1), // ��Һǹ����ֵ
kreg_pipette_tip_state = REG_INDEX(4100, 2), // �ƶ�Һǹtip״̬
kreg_pipette_limit_ul = REG_INDEX(4100, 3), // ��Һǹul����
} reg_index_t;
} // namespace iflytop
/**
* @brief * * ģ��ͨ�����ú�״̬ 0->1000 * Robot/Motorͨ�����ú�״̬ 1000->2000 * Sensorͨ�����ú�״̬ 2000->3000 * PIDͨ�����ú�״̬ 4000->4100 */
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