From 2cf06044c56234500f92bd836a3a4bec69c176e9 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Mon, 24 Jun 2024 10:27:52 +0800
Subject: [PATCH] V11

---
 a8000_protocol                           | 2 +-
 iflytop_canbus/iflytop_canbus_master.cpp | 9 ++++++++-
 iflytop_canbus/iflytop_canbus_master.hpp | 1 +
 src/tab/pipette_ctrl_tab.cpp             | 4 ++++
 src/version.h                            | 2 +-
 5 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/a8000_protocol b/a8000_protocol
index bc67dc0..f31a251 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit bc67dc08d746f2ec40dcf7b46a0504a3fed903b9
+Subproject commit f31a251dd7c826e3125212681c4381cf4e86f0b7
diff --git a/iflytop_canbus/iflytop_canbus_master.cpp b/iflytop_canbus/iflytop_canbus_master.cpp
index 698fa1b..c8dcea8 100644
--- a/iflytop_canbus/iflytop_canbus_master.cpp
+++ b/iflytop_canbus/iflytop_canbus_master.cpp
@@ -137,7 +137,14 @@ void IflytopCanbusMaster::callcmd3(int32_t device_id, int32_t cmdid, int32_t par
   param[2] = param2;
   callcmd(device_id, cmdid, (uint8_t *)param, 12, G_OVERTIME);
 }
-
+void IflytopCanbusMaster::callcmd4(int32_t device_id, int32_t cmdid, int32_t param0, int32_t param1, int32_t param2,int32_t param3) {
+  int32_t param[4];
+  param[0] = param0;
+  param[1] = param1;
+  param[2] = param2;
+  param[3] = param3;
+  callcmd(device_id, cmdid, (uint8_t *)param, 16, G_OVERTIME);
+}
 void IflytopCanbusMaster::callcmd(int32_t device_id, int32_t cmdid, uint8_t *param, int32_t paramLen, int32_t overtime) {  //
   zcr_cmd_header_t *frame = (zcr_cmd_header_t *)m_txbuf;
   frame->cmdMainId        = cmdid >> 8;
diff --git a/iflytop_canbus/iflytop_canbus_master.hpp b/iflytop_canbus/iflytop_canbus_master.hpp
index 83b4734..d0ab9fe 100644
--- a/iflytop_canbus/iflytop_canbus_master.hpp
+++ b/iflytop_canbus/iflytop_canbus_master.hpp
@@ -93,6 +93,7 @@ class IflytopCanbusMaster {
   void callcmd1(int32_t device_id, int32_t cmdid, int32_t param0);
   void callcmd2(int32_t device_id, int32_t cmdid, int32_t param0, int32_t param1);
   void callcmd3(int32_t device_id, int32_t cmdid, int32_t param0, int32_t param1, int32_t param2);
+  void callcmd4(int32_t device_id, int32_t cmdid, int32_t param0, int32_t param1, int32_t param2, int32_t param3);
 
   void sendraw(int32_t fromId, uint8_t *data, size_t len);
 
diff --git a/src/tab/pipette_ctrl_tab.cpp b/src/tab/pipette_ctrl_tab.cpp
index 20ba40a..f66eab1 100644
--- a/src/tab/pipette_ctrl_tab.cpp
+++ b/src/tab/pipette_ctrl_tab.cpp
@@ -69,6 +69,10 @@ void PipetteCtrlTab::construct(QTabWidget *fathertab) {
     box->newFunc("分配", {"ul"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kpipette_distribut, atoi(args[0])); });
     box->newFunc("吸吐摇匀", {"ul", "times"}, [this](int argn, const char **args) { ICM->callcmd2(getDeviceId(), kpipette_shake_up, atoi(args[0]), atoi(args[1])); });
 
+    box->newFunc("吸取-LLF", {"ul", "zmotor_v"}, [this](int argn, const char **args) { ICM->callcmd2(getDeviceId(), kpipette_aspirate_llf, atoi(args[0]), atoi(args[1])); });
+    box->newFunc("分配-LLF", {"ul", "zmotor_v"}, [this](int argn, const char **args) { ICM->callcmd2(getDeviceId(), kpipette_distribut_llf, atoi(args[0]), atoi(args[1])); });
+    box->newFunc("吸吐摇匀-LLF", {"ul", "zmotor_v", "times"}, [this](int argn, const char **args) { ICM->callcmd3(getDeviceId(), kpipette_shake_up_llf, atoi(args[0]), atoi(args[1]), atoi(args[2])); });
+
     box->newFunc("打印传感器数据记录", {}, [this](int argn, const char **args) {
       ICM->callcmd0(getDeviceId(), kpipette_get_sensor_sample_data_num);
       int32_t nsample = ICM->getAck(0);
diff --git a/src/version.h b/src/version.h
index d0d9e9a..6fbb9a1 100644
--- a/src/version.h
+++ b/src/version.h
@@ -1,4 +1,4 @@
 #pragma once
 
-#define VERSION "VERSION_10"
+#define VERSION "VERSION_11"
 #define MAUFACTURER "iflytop"
\ No newline at end of file