From 24d216ced0a6d5f8ebc636067c2d5b174d9edbe6 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Wed, 12 Jun 2024 10:43:05 +0800 Subject: [PATCH] update --- api/apibasic/cmdid.hpp | 23 +++++++++++++++-------- api/apibasic/reg_index.cpp | 8 ++++++++ api/apibasic/reg_index.hpp | 8 ++++++++ api/zi_pipette_ctrl_module.hpp | 14 ++++++++++---- 4 files changed, 41 insertions(+), 12 deletions(-) diff --git a/api/apibasic/cmdid.hpp b/api/apibasic/cmdid.hpp index 88b1612..4fed3b9 100644 --- a/api/apibasic/cmdid.hpp +++ b/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 { diff --git a/api/apibasic/reg_index.cpp b/api/apibasic/reg_index.cpp index 8142812..0ea4e79 100644 --- a/api/apibasic/reg_index.cpp +++ b/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), diff --git a/api/apibasic/reg_index.hpp b/api/apibasic/reg_index.hpp index e25520f..72b1784 100644 --- a/api/apibasic/reg_index.hpp +++ b/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 * ***********************************************************************************************************************/ diff --git a/api/zi_pipette_ctrl_module.hpp b/api/zi_pipette_ctrl_module.hpp index 3142c0b..38b735d 100644 --- a/api/zi_pipette_ctrl_module.hpp +++ b/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 \ No newline at end of file