update

api/apibasic/cmdid.hpp

@@ -30,14 +30,7 @@ typedef enum {
   kxymotor_move_by      = CMDID(3, 2),
   kxymotor_move_to      = CMDID(3, 3),
   kxymotor_move_to_zero = CMDID(3, 4),
-  // kxymotor_move_to_zero_and_calculated_shift = CMDID(3, 5),
-  kxymotor_read_pos = CMDID(3, 6),
-  // kxymotor_calculated_pos_by_move_to_zero    = CMDID(3, 7),
-
-  kpipette_ctrl_init_device = CMDID(5, 1),  // para:{}, ack:{}
-  kpipette_ctrl_put_tip     = CMDID(5, 2),  // para:{}, ack:{}
-  kpipette_ctrl_move_to_ul  = CMDID(5, 3),  // para:{4}, ack:{}
-  kpipette_write_cmd_direct = CMDID(5, 4),  // para:{nbyte}, ack:{nbyte}
+  kxymotor_read_pos     = CMDID(3, 6),
 
   /***********************************************************************************************************************
    *                                                      光学模组                                                       *
@@ -131,6 +124,20 @@ typedef enum {
    ***********************************************************************************************************************/
   ka8000_idcard_reader_read_raw = CMDID(0x71, 0),  // para:{index}, ack:{}
 
+  /***********************************************************************************************************************
+   *                                                       移液枪                                                        *
+   ***********************************************************************************************************************/
+
+  kpipette_ctrl_init_device           = CMDID(0x72, 1),   // para:{}     , ack:{}
+  kpipette_ctrl_put_tip               = CMDID(0x72, 2),   // para:{}     , ack:{}
+  kpipette_ctrl_move_to_ul            = CMDID(0x72, 3),   // para:{ul}   , ack:{}
+  kpipette_clld_test                  = CMDID(0x72, 4),   // para:{zdpos}, ack:{}
+  kpipette_plld_test                  = CMDID(0x72, 5),   // para:{zdpos}, ack:{}
+  kpipette_enable_zmotor              = CMDID(0x72, 20),  // para:{enable}, ack:{}
+  kpipette_write_cmd_direct           = CMDID(0x72, 21),  // para:{strbuf}, ack:{strbuf}
+  kpipette_get_sensor_sample_data     = CMDID(0x72, 22),  // para:{index} , ack:{motor_pos,cval,pval}
+  kpipette_get_sensor_sample_data_num = CMDID(0x72, 23),  // para:{}      , ack:{num}
+
 } cmdid_t;
 
 typedef struct {

api/apibasic/reg_index.cpp

@@ -44,6 +44,14 @@ static reginfo_t table[] = {
     REG_ITERM(kreg_pipette_tip_state),
     REG_ITERM(kreg_pipette_limit_ul),
 
+    REG_ITERM(kreg_pipette_pump_acc),
+    REG_ITERM(kreg_pipette_pump_dec),
+    REG_ITERM(kreg_pipette_pump_vstart),
+    REG_ITERM(kreg_pipette_pump_vstop),
+    REG_ITERM(kreg_pipette_pump_vmax),
+    REG_ITERM(kreg_pipette_lld_velocity),
+    REG_ITERM(kreg_pipette_data_sample_period),
+
     REG_ITERM(kreg_boditech_optical_module_raw_sector_size),
     REG_ITERM(kreg_boditech_optical_module_raw_sector_num),
     REG_ITERM(kreg_boditech_optical_scan_type),

api/apibasic/reg_index.hpp

@@ -54,6 +54,14 @@ typedef enum {
   kreg_pipette_tip_state        = REG_INDEX(40, 0, 2),   // 移动液枪tip状态
   kreg_pipette_limit_ul         = REG_INDEX(40, 50, 0),  // 移液枪ul限制
 
+  kreg_pipette_pump_acc           = REG_INDEX(40, 50, 1),  // 移液枪-泵机加速度
+  kreg_pipette_pump_dec           = REG_INDEX(40, 50, 2),  // 移液枪-泵机减速度
+  kreg_pipette_pump_vstart        = REG_INDEX(40, 50, 3),  // 移液枪-泵机启动速度
+  kreg_pipette_pump_vstop         = REG_INDEX(40, 50, 4),  // 移液枪-泵机停止速度
+  kreg_pipette_pump_vmax          = REG_INDEX(40, 50, 5),  // 移液枪-泵机最大速度
+  kreg_pipette_lld_velocity       = REG_INDEX(40, 50, 6),  // 移液枪-泵机Z轴-液面探测速度RPM
+  kreg_pipette_data_sample_period = REG_INDEX(40, 50, 7),  // 移液枪-传感器数据采样周期
+
   /***********************************************************************************************************************
    *                                                      光学模组                                                       *
    ***********************************************************************************************************************/

api/zi_pipette_ctrl_module.hpp

@@ -9,9 +9,15 @@ namespace iflytop {
 using namespace std;
 class ZIPipetteCtrlModule {
  public:
-  virtual int32_t pipette_ctrl_init_device()                                                      = 0;
-  virtual int32_t pipette_ctrl_put_tip()                                                          = 0;
-  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul)                                             = 0;
-  virtual int32_t pipette_write_cmd_direct(uint8_t* tx, int32_t len, uint8_t* rx, int32_t* rxlen) = 0;
+  virtual int32_t pipette_ctrl_init_device()          = 0;
+  virtual int32_t pipette_ctrl_put_tip()              = 0;
+  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) = 0;
+  virtual int32_t pipette_clld_test(int32_t zdpos)    = 0;
+  virtual int32_t pipette_plld_test(int32_t zdpos)    = 0;
+
+  virtual int32_t pipette_enable_zmotor(int32_t enable);
+  virtual int32_t pipette_write_cmd_direct(uint8_t *tx, int32_t len, uint8_t *rx, int32_t *rxlen)                 = 0;
+  virtual int32_t pipette_get_sensor_sample_data(int32_t index, int32_t *motor_pos, int32_t *cval, int32_t *pval) = 0;
+  virtual int32_t pipette_get_sensor_sample_data_num(int32_t *num)                                                = 0;
 };
 }  // namespace iflytop