diff --git a/a8000_protocol b/a8000_protocol index 24d216c..cab27e0 160000 --- a/a8000_protocol +++ b/a8000_protocol @@ -1 +1 @@ -Subproject commit 24d216ced0a6d5f8ebc636067c2d5b174d9edbe6 +Subproject commit cab27e09a7e78e662b55de7b72e6b232988d5b27 diff --git a/iflytop_canbus/iflytop_canbus_master.cpp b/iflytop_canbus/iflytop_canbus_master.cpp index abec558..698fa1b 100644 --- a/iflytop_canbus/iflytop_canbus_master.cpp +++ b/iflytop_canbus/iflytop_canbus_master.cpp @@ -110,7 +110,7 @@ void IflytopCanbusMaster::readreg(int32_t device_id, int32_t regaddr, int32_t *v *val = *(int32_t *)(&m_receipt_frame->data[0]); } -int32_t IflytopCanbusMaster::getAck(int32_t index) { return *(int32_t *)(&m_receipt_frame->data[index]); } +int32_t IflytopCanbusMaster::getAck(int32_t index) { return ((int32_t *)(m_receipt_frame->data))[index]; } uint8_t *IflytopCanbusMaster::getAckBuf() { return m_receipt_frame->data; } int32_t IflytopCanbusMaster::getAckBufLen() { return m_receipt_len - sizeof(zcr_cmd_header_t); } diff --git a/iflytop_canbus/waveshare_can.cpp b/iflytop_canbus/waveshare_can.cpp index 4f5c61f..c1e2a97 100644 --- a/iflytop_canbus/waveshare_can.cpp +++ b/iflytop_canbus/waveshare_can.cpp @@ -47,7 +47,12 @@ bool WaveshareCan::init(IDataChannel* ch, frame_callback_t framecb) { { lock_guard lock(lock_); + if (m_rxlen == 0) { + continue; + } + // 1.找头部 + int32_t headerpos = -1; for (int32_t i = 0; i < m_rxlen - 1; i++) { if (isHeader(m_rxcache + i)) { @@ -61,6 +66,7 @@ bool WaveshareCan::init(IDataChannel* ch, frame_callback_t framecb) { } // 将包头移动到缓存头部 + // ZLOGI(TAG, "rxlen:%d headerpos:%d", m_rxlen, headerpos); if (headerpos != 0) { memmove(m_rxcache, m_rxcache + headerpos, m_rxlen - headerpos); m_rxlen = m_rxlen - headerpos; @@ -68,6 +74,7 @@ bool WaveshareCan::init(IDataChannel* ch, frame_callback_t framecb) { } if (m_rxlen < 20) continue; + // ZLOGI(TAG, "rxlen:%d find header %s ", m_rxlen, zhex2str(m_rxcache, 20).c_str()); onReceivePacket(m_rxcache, 20); memmove(m_rxcache, m_rxcache + 20, m_rxlen - 20); diff --git a/iflytop_canbus/waveshare_can.hpp b/iflytop_canbus/waveshare_can.hpp index fa4ec0d..d089e08 100644 --- a/iflytop_canbus/waveshare_can.hpp +++ b/iflytop_canbus/waveshare_can.hpp @@ -93,7 +93,7 @@ class WaveshareCan { mutex lock_; uint8_t m_rxcache[1024] = {0}; - uint8_t m_rxlen = 0; + int32_t m_rxlen = 0; public: bool init(IDataChannel* ch, frame_callback_t framecb); diff --git a/src/qt_serial_datachannel.cpp b/src/qt_serial_datachannel.cpp index 5446e92..d5b3afa 100644 --- a/src/qt_serial_datachannel.cpp +++ b/src/qt_serial_datachannel.cpp @@ -24,6 +24,7 @@ void QTDataChannel::init() { uint8_t rx[1024] = {0}; int rx_cnt = com_receive(rx, 1024); if (rx_cnt != 0) { + ZLOGI(TAG, "rx %s ", zhex2str(rx, rx_cnt).c_str()); // ZLOGI(TAG, "rx %s ", zhe x2str(rx, rx_cnt).c_str()); if (m_rxcb) m_rxcb(rx, rx_cnt); } diff --git a/src/tab/pipette_ctrl_tab.cpp b/src/tab/pipette_ctrl_tab.cpp index 5e03ba1..99f1b03 100644 --- a/src/tab/pipette_ctrl_tab.cpp +++ b/src/tab/pipette_ctrl_tab.cpp @@ -27,8 +27,12 @@ PipetteCtrlTab *PipetteCtrlTab::inst() { static void pipette_ctrl_read_state(int32_t index, string &state) { char txbuf[256]; snprintf(txbuf, sizeof(txbuf), "/1?%dR\r", index); - ICM->callcmd(getDeviceId(), kpipette_write_cmd_direct, (uint8_t *)txbuf, strlen(txbuf) + 1, 100); - state = string((char *)ICM->getAckBuf()); + try { + ICM->callcmd(getDeviceId(), kpipette_write_cmd_direct, (uint8_t *)txbuf, strlen(txbuf) + 1, 1000); + state = string((char *)ICM->getAckBuf()); + } catch (const std::exception &e) { + state = e.what(); + } } void PipetteCtrlTab::construct(QTabWidget *fathertab) { @@ -47,6 +51,30 @@ void PipetteCtrlTab::construct(QTabWidget *fathertab) { box->newFunc("初始化操作", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kpipette_ctrl_init_device); }); box->newFunc("推出吸头", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kpipette_ctrl_put_tip); }); box->newFunc("移动到指定位置", {"ul"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kpipette_ctrl_move_to_ul, atoi(args[0])); }); + + box->newFunc("测试CLLD", {"dpos"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kpipette_clld_test, atoi(args[0])); }); + box->newFunc("测试PLLD", {"dpos"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kpipette_plld_test, atoi(args[0])); }); + box->newFunc("使能Z轴电机", {"enable"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kpipette_enable_zmotor, atoi(args[0])); }); + + 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); + + int32_t sample_period = 0; + ICM->readreg(getDeviceId(), kreg_pipette_data_sample_period, &sample_period); + + ZQUI::ins()->ishow("%5s, %5s, %5s, %5s", "time", "zpos", "cval", "pval"); + + for (int32_t i = 0; i < nsample; i++) { + ICM->callcmd1(getDeviceId(), kpipette_get_sensor_sample_data, i); + int32_t motor_pos = ICM->getAck(0); + int32_t cval = ICM->getAck(1); + int32_t pval = ICM->getAck(2); + + ZQUI::ins()->ishow("%5d, %5d, %5d, %5d", i * sample_period, motor_pos, cval, pval); + } + }); + // box->newFunc("获取传感器数据数量", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kpipette_get_sensor_sample_data_num); }); } { diff --git a/移液枪测试笔记.md b/移液枪测试笔记.md new file mode 100644 index 0000000..c5e7c23 --- /dev/null +++ b/移液枪测试笔记.md @@ -0,0 +1,18 @@ +``` +1. 新的tip 4 +2. tip上有水滴 10 +3. 用手摸tip 150 +4. tip浸没在水中 30 +5. tip浸没在水中,用手摸试管 50 + +只有没有tip的情况下允许调用lld_prepare + +移液枪的使用流程: + 1. 丢tip + 2. 移动泵机到z轴中间（液面探测准备） + 3. 装tip + 4. 检测是否有tip,检测是否已经执行过吸液,液面探测(记录吸液排液水平线) + 5. 吸液()记录最大值，如果超过最大值则，不允许继续吸液 + 6. 排液()记录最大值，如果超过最大值则，不允许继续吸液 + +``` \ No newline at end of file