From 5d083e13b654460d9de05192ce9446c9b1d62069 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Mon, 16 Dec 2024 19:24:44 +0800 Subject: [PATCH] update piette gun protocol --- api/apibasic/cmdid.cpp | 200 +++++++++++++++++++++++++++------------------ api/apibasic/cmdid.hpp | 48 ++--------- api/apibasic/reg_index.cpp | 28 +++---- api/apibasic/reg_index.hpp | 28 +++---- 4 files changed, 153 insertions(+), 151 deletions(-) diff --git a/api/apibasic/cmdid.cpp b/api/apibasic/cmdid.cpp index ed827f0..89ac9b7 100644 --- a/api/apibasic/cmdid.cpp +++ b/api/apibasic/cmdid.cpp @@ -11,89 +11,129 @@ static cmdinfo_t table[] = { CMD_ITERM(kevent_bus_reg_change_report), - CMD_ITERM(kmodule_ping), CMD_ITERM(kmodule_get_status), CMD_ITERM(kmodule_stop), CMD_ITERM(kmodule_set_reg), CMD_ITERM(kmodule_get_reg), CMD_ITERM(kmodule_get_error), CMD_ITERM(kmodule_clear_error), CMD_ITERM(kmodule_active_cfg), - - CMD_ITERM(kxymotor_enable), CMD_ITERM(kxymotor_move_by), CMD_ITERM(kxymotor_move_to), CMD_ITERM(kxymotor_move_to_zero), CMD_ITERM(kxymotor_read_pos), CMD_ITERM(kxymotor_read_inio_index_in_stm32), CMD_ITERM(kxymotor_read_inio), CMD_ITERM(kxymotor_set_pos), - CMD_ITERM(kxymotor_motor_move_by_direct), CMD_ITERM(kxymotor_read_enc_direct), - - // CMD_ITERM(kpipette_ctrl_init_device), - // CMD_ITERM(kpipette_ctrl_put_tip), - // CMD_ITERM(kpipette_ctrl_move_to_ul), - // CMD_ITERM(kpipette_lld_prepare), - // CMD_ITERM(kpipette_plld), - // CMD_ITERM(kpipette_clld), - // CMD_ITERM(kpipette_mlld), - // CMD_ITERM(kpipette_lld_is_detect_liquid), - // CMD_ITERM(kpipette_aspirate), - // CMD_ITERM(kpipette_distribut), - // CMD_ITERM(kpipette_shake_up), - // CMD_ITERM(kpipette_enable_zmotor), - // CMD_ITERM(kpipette_write_cmd_direct), - // CMD_ITERM(kpipette_get_sensor_sample_data), - // CMD_ITERM(kpipette_get_sensor_sample_data_num), - // CMD_ITERM(kpipette_sensor_sample_data_report), - // CMD_ITERM(kpipette_aspirate_llf), - // CMD_ITERM(kpipette_distribut_llf), - // CMD_ITERM(kpipette_shake_up_llf), - - CMD_ITERM(ka8000_optical_module_power_ctrl), CMD_ITERM(ka8000_optical_open_laser), CMD_ITERM(ka8000_optical_close_laser), CMD_ITERM(ka8000_optical_set_laster_gain), CMD_ITERM(ka8000_optical_set_scan_amp_gain), CMD_ITERM(ka8000_optical_read_scanner_adc_val), - CMD_ITERM(ka8000_optical_read_laster_adc_val), CMD_ITERM(ka8000_optical_scan_current_point_amp_adc_val), CMD_ITERM(ka8000_optical_start_capture), CMD_ITERM(ka8000_optical_read_raw), - - CMD_ITERM(ka8k_opt_v2_t_start_scan), CMD_ITERM(ka8k_opt_v2_f_start_scan), CMD_ITERM(ka8k_opt_v2_t_open_laster), CMD_ITERM(ka8k_opt_v2_t_close_laster), CMD_ITERM(ka8k_opt_v2_t_readVal), CMD_ITERM(ka8k_opt_v2_f_open_laster), CMD_ITERM(ka8k_opt_v2_f_close_laster), CMD_ITERM(ka8k_opt_v2_f_readVal), - - CMD_ITERM(kstep_motor_enable), CMD_ITERM(kstep_motor_read_pos), CMD_ITERM(kstep_motor_easy_rotate), CMD_ITERM(kstep_motor_easy_move_by), CMD_ITERM(kstep_motor_easy_move_to), CMD_ITERM(kstep_motor_easy_move_to_zero), CMD_ITERM(kstep_motor_easy_set_current_pos), - CMD_ITERM(kstep_motor_easy_move_to_io), CMD_ITERM(kstep_motor_stop), CMD_ITERM(kstep_motor_active_cfg), CMD_ITERM(kstep_motor_read_io_state), CMD_ITERM(kstep_motor_easy_move_to_end_point), CMD_ITERM(kstep_motor_read_tmc5130_status), CMD_ITERM(kstep_motor_read_tmc5130_state), - CMD_ITERM(kstep_motor_read_io_index_in_stm32), CMD_ITERM(kstep_motor_set_subdevice_reg), CMD_ITERM(kstep_motor_get_subdevice_reg), CMD_ITERM(kstep_motor_easy_reciprocating_motion), CMD_ITERM(kstep_motor_easy_move_to_zero_point_quick), - - CMD_ITERM(kmini_servo_enable), CMD_ITERM(kmini_servo_read_pos), CMD_ITERM(kmini_servo_active_cfg), CMD_ITERM(kmini_servo_stop), CMD_ITERM(kmini_servo_set_mid_point), CMD_ITERM(kmini_servo_read_io_state), - - CMD_ITERM(kmini_servo_move_to), CMD_ITERM(kmini_servo_rotate), CMD_ITERM(kmini_servo_rotate_with_torque), CMD_ITERM(kmini_servo_set_cur_pos), - - CMD_ITERM(kextboard_read_inio), CMD_ITERM(kextboard_write_outio), CMD_ITERM(kextboard_read_muti_inio), CMD_ITERM(kextboard_read_inio_index_in_stm32), CMD_ITERM(kextboard_read_outio_index_in_stm32), CMD_ITERM(kextboard_read_outio), - - CMD_ITERM(kcode_scaner_start_scan), CMD_ITERM(kcode_scaner_stop_scan), CMD_ITERM(kcode_scaner_result_is_ready), CMD_ITERM(kcode_scaner_read_scaner_result), CMD_ITERM(kcode_scaner_get_result_length), + CMD_ITERM(kmodule_ping), + CMD_ITERM(kmodule_get_status), + CMD_ITERM(kmodule_stop), + CMD_ITERM(kmodule_set_reg), + CMD_ITERM(kmodule_get_reg), + CMD_ITERM(kmodule_get_error), + CMD_ITERM(kmodule_clear_error), + CMD_ITERM(kmodule_active_cfg), + + CMD_ITERM(kxymotor_enable), + CMD_ITERM(kxymotor_move_by), + CMD_ITERM(kxymotor_move_to), + CMD_ITERM(kxymotor_move_to_zero), + CMD_ITERM(kxymotor_read_pos), + CMD_ITERM(kxymotor_read_inio_index_in_stm32), + CMD_ITERM(kxymotor_read_inio), + CMD_ITERM(kxymotor_set_pos), + CMD_ITERM(kxymotor_motor_move_by_direct), + CMD_ITERM(kxymotor_read_enc_direct), + + CMD_ITERM(ka8000_optical_module_power_ctrl), + CMD_ITERM(ka8000_optical_open_laser), + CMD_ITERM(ka8000_optical_close_laser), + CMD_ITERM(ka8000_optical_set_laster_gain), + CMD_ITERM(ka8000_optical_set_scan_amp_gain), + CMD_ITERM(ka8000_optical_read_scanner_adc_val), + CMD_ITERM(ka8000_optical_read_laster_adc_val), + CMD_ITERM(ka8000_optical_scan_current_point_amp_adc_val), + CMD_ITERM(ka8000_optical_start_capture), + CMD_ITERM(ka8000_optical_read_raw), + + CMD_ITERM(ka8k_opt_v2_t_start_scan), + CMD_ITERM(ka8k_opt_v2_f_start_scan), + CMD_ITERM(ka8k_opt_v2_t_open_laster), + CMD_ITERM(ka8k_opt_v2_t_close_laster), + CMD_ITERM(ka8k_opt_v2_t_readVal), + CMD_ITERM(ka8k_opt_v2_f_open_laster), + CMD_ITERM(ka8k_opt_v2_f_close_laster), + CMD_ITERM(ka8k_opt_v2_f_readVal), + + CMD_ITERM(kstep_motor_enable), + CMD_ITERM(kstep_motor_read_pos), + CMD_ITERM(kstep_motor_easy_rotate), + CMD_ITERM(kstep_motor_easy_move_by), + CMD_ITERM(kstep_motor_easy_move_to), + CMD_ITERM(kstep_motor_easy_move_to_zero), + CMD_ITERM(kstep_motor_easy_set_current_pos), + CMD_ITERM(kstep_motor_easy_move_to_io), + CMD_ITERM(kstep_motor_stop), + CMD_ITERM(kstep_motor_active_cfg), + CMD_ITERM(kstep_motor_read_io_state), + CMD_ITERM(kstep_motor_easy_move_to_end_point), + CMD_ITERM(kstep_motor_read_tmc5130_status), + CMD_ITERM(kstep_motor_read_tmc5130_state), + CMD_ITERM(kstep_motor_read_io_index_in_stm32), + CMD_ITERM(kstep_motor_set_subdevice_reg), + CMD_ITERM(kstep_motor_get_subdevice_reg), + CMD_ITERM(kstep_motor_easy_reciprocating_motion), + CMD_ITERM(kstep_motor_easy_move_to_zero_point_quick), + + CMD_ITERM(kmini_servo_enable), + CMD_ITERM(kmini_servo_read_pos), + CMD_ITERM(kmini_servo_active_cfg), + CMD_ITERM(kmini_servo_stop), + CMD_ITERM(kmini_servo_set_mid_point), + CMD_ITERM(kmini_servo_read_io_state), + + CMD_ITERM(kmini_servo_move_to), + CMD_ITERM(kmini_servo_rotate), + CMD_ITERM(kmini_servo_rotate_with_torque), + CMD_ITERM(kmini_servo_set_cur_pos), + + CMD_ITERM(kextboard_read_inio), + CMD_ITERM(kextboard_write_outio), + CMD_ITERM(kextboard_read_muti_inio), + CMD_ITERM(kextboard_read_inio_index_in_stm32), + CMD_ITERM(kextboard_read_outio_index_in_stm32), + CMD_ITERM(kextboard_read_outio), + + CMD_ITERM(kcode_scaner_start_scan), + CMD_ITERM(kcode_scaner_stop_scan), + CMD_ITERM(kcode_scaner_result_is_ready), + CMD_ITERM(kcode_scaner_read_scaner_result), + CMD_ITERM(kcode_scaner_get_result_length), CMD_ITERM(kfan_controler_set_speed), - CMD_ITERM(ktemp_controler_start_hearting), CMD_ITERM(ktemp_controler_stop_hearting), CMD_ITERM(ktemp_controler_set_peltier_power_level), CMD_ITERM(ktemp_controler_set_pump_level), CMD_ITERM(ktemp_controler_set_fan_level), CMD_ITERM(ktemp_controler_enable_log), - - CMD_ITERM(ka8000_idcard_reader_read_raw), CMD_ITERM(ka8000_idcard_write_raw), CMD_ITERM(ka8000_idcard_erase), CMD_ITERM(ka8000_idcard_earse_unlock), CMD_ITERM(kevent_a8000_idcard_online), CMD_ITERM(kevent_a8000_idcard_offline), - - CMD_ITERM(kplate_code_scaner_push_card_and_scan), CMD_ITERM(kplate_code_scaner_stop_scan), CMD_ITERM(kplate_code_scaner_read_result), CMD_ITERM(kplate_code_scaner_read_result_point_num), CMD_ITERM(kplate_code_scaner_read_code), CMD_ITERM(kplate_code_scaner_adc_readraw), - CMD_ITERM(kplate_code_scaner_open_laser), CMD_ITERM(kplate_code_scaner_close_laser), - - CMD_ITERM(kpipette_zmotor_enable), CMD_ITERM(kpipette_zmotor_move_zero), CMD_ITERM(kpipette_zmotor_move_to_zero_point_quick), CMD_ITERM(kpipette_zmotor_measure_distance), CMD_ITERM(kpipette_zmotor_read_measure_distance_result), CMD_ITERM(kpipette_zmotor_move_by), + CMD_ITERM(ktemp_controler_start_hearting), + CMD_ITERM(ktemp_controler_stop_hearting), + CMD_ITERM(ktemp_controler_set_peltier_power_level), + CMD_ITERM(ktemp_controler_set_pump_level), + CMD_ITERM(ktemp_controler_set_fan_level), + CMD_ITERM(ktemp_controler_enable_log), + + CMD_ITERM(ka8000_idcard_reader_read_raw), + CMD_ITERM(ka8000_idcard_write_raw), + CMD_ITERM(ka8000_idcard_erase), + CMD_ITERM(ka8000_idcard_earse_unlock), + CMD_ITERM(kevent_a8000_idcard_online), + CMD_ITERM(kevent_a8000_idcard_offline), + + CMD_ITERM(kplate_code_scaner_push_card_and_scan), + CMD_ITERM(kplate_code_scaner_stop_scan), + CMD_ITERM(kplate_code_scaner_read_result), + CMD_ITERM(kplate_code_scaner_read_result_point_num), + CMD_ITERM(kplate_code_scaner_read_code), + CMD_ITERM(kplate_code_scaner_adc_readraw), + CMD_ITERM(kplate_code_scaner_open_laser), + CMD_ITERM(kplate_code_scaner_close_laser), + + CMD_ITERM(kpipette_zmotor_enable), + CMD_ITERM(kpipette_zmotor_move_zero), + CMD_ITERM(kpipette_zmotor_move_to_zero_point_quick), + CMD_ITERM(kpipette_zmotor_measure_distance), + CMD_ITERM(kpipette_zmotor_read_measure_distance_result), + CMD_ITERM(kpipette_zmotor_move_by), CMD_ITERM(kpipette_zmotor_move_to), -#if 0 - CMD_ITERM(kpipette_init_device), - CMD_ITERM(kpipette_put_tip), - CMD_ITERM(kpipette_lld_prepare), - CMD_ITERM(kpipette_lld), - CMD_ITERM(kpipette_aspirate_prepare), - CMD_ITERM(kpipette_set_llf_velocity), - CMD_ITERM(kpipette_set_aspirate_operation_verifi_p_thre), - CMD_ITERM(kpipette_set_aspirate_operation_verifi_eigen_time), - CMD_ITERM(kpipette_set_aspirate_operation_verifi_tolerance), - CMD_ITERM(kpipette_aspirate), - CMD_ITERM(kpipette_aspirate_and_verify), - CMD_ITERM(kpipette_shake_up), - CMD_ITERM(kpipette_aspirate_infer_pressure), - CMD_ITERM(kpipette_aspirate_infer_eigen_time), - CMD_ITERM(kpipette_get_aspirate_infer_pressure_result), - CMD_ITERM(kpipette_get_aspirate_infer_eigen_time_result), - CMD_ITERM(kpipette_get_sensor_sample_data), - CMD_ITERM(kpipette_get_sensor_sample_data_num), - CMD_ITERM(kpipette_zmotor_read_zero_point_state), - CMD_ITERM(kpipette_zmotor_read_dev_status_cache), - CMD_ITERM(kpipette_set_lld_startz), - CMD_ITERM(kpipette_set_lld_endz), - CMD_ITERM(kpipette_set_lld_type), - CMD_ITERM(kpipette_set_lld_c_threshold), - CMD_ITERM(kpipette_set_lld_p_threshold), - CMD_ITERM(kpipette_set_llf_startz), - CMD_ITERM(kpipette_set_llf_endz), - CMD_ITERM(kpipette_clear_hanging_liquid), -#endif + + CMD_ITERM(kliquid_operation_clear_params), // + CMD_ITERM(kliquid_operation_set_gun_runparams), // + CMD_ITERM(kliquid_operation_set_zmotor_runparams), // + CMD_ITERM(kliquid_operation_enable_lld_record), // + CMD_ITERM(kliquid_operation_fresh_params), // CMD_ITERM(kpipette_init_device), // CMD_ITERM(kpipette_put_tip), // @@ -107,7 +147,7 @@ static cmdinfo_t table[] = { CMD_ITERM(kpipette_get_sensor_sample_data), // CMD_ITERM(kpipette_get_sensor_sample_data_num), // CMD_ITERM(kpipette_zmotor_read_zero_point_state), // - CMD_ITERM(kpipette_zmotor_read_dev_status_cache), // + CMD_ITERM(kpipette_zmotor_read_dev_status_cache) // }; const char* cmdid2str(int32_t code) { diff --git a/api/apibasic/cmdid.hpp b/api/apibasic/cmdid.hpp index 9cb6422..5712da2 100644 --- a/api/apibasic/cmdid.hpp +++ b/api/apibasic/cmdid.hpp @@ -134,49 +134,11 @@ typedef enum { kpipette_zmotor_move_by = 0x7405, kpipette_zmotor_move_to = 0x7406, -#if 0 - kpipette_init_device = 0x7407, - kpipette_put_tip = 0x7408, - kpipette_lld_prepare = 0x7409, - kpipette_lld = 0x740A, - kpipette_aspirate_prepare = 0x740B, - kpipette_set_llf_velocity = 0x740C, - kpipette_set_aspirate_operation_verifi_p_thre = 0x740D, - kpipette_set_aspirate_operation_verifi_eigen_time = 0x740E, - kpipette_set_aspirate_operation_verifi_tolerance = 0x740F, - kpipette_aspirate = 0x7410, - kpipette_aspirate_and_verify = 0x7411, - kpipette_shake_up = 0x7412, - kpipette_aspirate_infer_pressure = 0x7413, - kpipette_aspirate_infer_eigen_time = 0x7414, - kpipette_get_aspirate_infer_pressure_result = 0x7415, - kpipette_get_aspirate_infer_eigen_time_result = 0x7416, - kpipette_get_sensor_sample_data = 0x7417, - kpipette_get_sensor_sample_data_num = 0x7418, - kpipette_zmotor_read_zero_point_state = 0x7419, - kpipette_zmotor_read_dev_status_cache = 0x741A, - kpipette_lld_is_detect_liquid = 0x741B, - kpipette_lld_test = 0x741C, - kpipette_set_lld_startz = 0x741D, - kpipette_set_lld_endz = 0x741E, - kpipette_set_lld_type = 0x741F, - kpipette_set_lld_c_threshold = 0x7420, - kpipette_set_lld_p_threshold = 0x7421, - kpipette_set_llf_startz = 0x7422, - kpipette_set_llf_endz = 0x7423, - kpipette_clear_hanging_liquid = 0x7424, -#endif - - // - // virtual int32_t pipette_pump_move_to(int32_t pumpv, int32_t ul); - // virtual int32_t pipette_lld(int32_t lldtype, int32_t maxzpos, int32_t c_threshold, int32_t p_threshold); - // virtual int32_t pipette_aspirate(int32_t llfrpm, int32_t llftpos, int32_t pumpv, int32_t ul); - // virtual int32_t pipette_distribu(int32_t llfrpm, int32_t pumpv, int32_t ul); - // virtual int32_t pipette_shake_up(int32_t llfrpm, int32_t maxzpos, int32_t pumpv, int32_t ul, int32_t times); - // pipette_get_sensor_sample_data - // pipette_get_sensor_sample_data_num - // pipette_zmotor_read_zero_point_state - // pipette_zmotor_read_dev_status_cache + kliquid_operation_clear_params = 0x7450, + kliquid_operation_set_gun_runparams = 0x7451, + kliquid_operation_set_zmotor_runparams = 0x7452, + kliquid_operation_enable_lld_record = 0x7453, + kliquid_operation_fresh_params = 0x7454, kpipette_init_device = 0x7501, kpipette_put_tip = 0x7502, diff --git a/api/apibasic/reg_index.cpp b/api/apibasic/reg_index.cpp index be78ede..7a2dab9 100644 --- a/api/apibasic/reg_index.cpp +++ b/api/apibasic/reg_index.cpp @@ -37,20 +37,20 @@ static reginfo_t table[] = { REG_ITERM(kreg_pipette_capactitance_val), 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_aspirate_pump_vel), - REG_ITERM(kreg_pipette_lld_pump_vel), - REG_ITERM(kreg_pipette_lld_motor_vel_rpm), - REG_ITERM(kreg_pipette_lld_detect_period_ms), - REG_ITERM(kreg_pipette_lld_prepare_pos), - REG_ITERM(kreg_pipette_lld_prepare_pre_distribut_ul), - REG_ITERM(kreg_pipette_lld_enable_record_data), - REG_ITERM(kreg_pipette_distribu_pump_vel), + // 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_aspirate_pump_vel), + // REG_ITERM(kreg_pipette_lld_pump_vel), + // REG_ITERM(kreg_pipette_lld_motor_vel_rpm), + // REG_ITERM(kreg_pipette_lld_detect_period_ms), + // REG_ITERM(kreg_pipette_lld_prepare_pos), + // REG_ITERM(kreg_pipette_lld_prepare_pre_distribut_ul), + // REG_ITERM(kreg_pipette_lld_enable_record_data), + // REG_ITERM(kreg_pipette_distribu_pump_vel), REG_ITERM(kreg_pipette_zm_pos), REG_ITERM(kreg_pipette_zm_is_enable), diff --git a/api/apibasic/reg_index.hpp b/api/apibasic/reg_index.hpp index 60d46f8..e4c5667 100644 --- a/api/apibasic/reg_index.hpp +++ b/api/apibasic/reg_index.hpp @@ -47,20 +47,20 @@ typedef enum { kreg_pipette_capactitance_val = 4001, // 移液枪电容值 kreg_pipette_tip_state = 4002, // 移动液枪tip状态 - kreg_pipette_limit_ul = 4051, // - kreg_pipette_pump_acc = 4052, // - kreg_pipette_pump_dec = 4053, // - kreg_pipette_pump_vstart = 4054, // - kreg_pipette_pump_vstop = 4055, // - kreg_pipette_pump_vmax = 4056, // - kreg_pipette_aspirate_pump_vel = 4057, // - kreg_pipette_lld_pump_vel = 4058, // - kreg_pipette_lld_motor_vel_rpm = 4059, // - kreg_pipette_lld_detect_period_ms = 4060, // - kreg_pipette_lld_prepare_pos = 4061, // - kreg_pipette_lld_prepare_pre_distribut_ul = 4062, // - kreg_pipette_lld_enable_record_data = 4063, // - kreg_pipette_distribu_pump_vel = 4064, // + // kreg_pipette_limit_ul = 4051, // + // kreg_pipette_pump_acc = 4052, // + // kreg_pipette_pump_dec = 4053, // + // kreg_pipette_pump_vstart = 4054, // + // kreg_pipette_pump_vstop = 4055, // + // kreg_pipette_pump_vmax = 4056, // + // kreg_pipette_aspirate_pump_vel = 4057, // + // kreg_pipette_lld_pump_vel = 4058, // + // kreg_pipette_lld_motor_vel_rpm = 4059, // + // kreg_pipette_lld_detect_period_ms = 4060, // + // kreg_pipette_lld_prepare_pos = 4061, // + // kreg_pipette_lld_prepare_pre_distribut_ul = 4062, // + // kreg_pipette_lld_enable_record_data = 4063, // + // kreg_pipette_distribu_pump_vel = 4064, // kreg_pipette_zm_pos = 4101, kreg_pipette_zm_is_enable = 4102,