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update piette gun protocol

change_pipette_api
zhaohe 8 months ago
parent
ba614e601a
commit
5d083e13b6
4 changed files with 153 additions and 151 deletions
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  1. 200
      api/apibasic/cmdid.cpp
  2. 48
      api/apibasic/cmdid.hpp
  3. 28
      api/apibasic/reg_index.cpp
  4. 28
      api/apibasic/reg_index.hpp

200
api/apibasic/cmdid.cpp
View File

@ -11,89 +11,129 @@ static cmdinfo_t table[] = {
CMD_ITERM(kevent_bus_reg_change_report), 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(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), 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_init_device), //
CMD_ITERM(kpipette_put_tip), // 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), //
CMD_ITERM(kpipette_get_sensor_sample_data_num), // CMD_ITERM(kpipette_get_sensor_sample_data_num), //
CMD_ITERM(kpipette_zmotor_read_zero_point_state), // 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) { const char* cmdid2str(int32_t code) {

48
api/apibasic/cmdid.hpp
View File

@ -134,49 +134,11 @@ typedef enum {
kpipette_zmotor_move_by = 0x7405, kpipette_zmotor_move_by = 0x7405,
kpipette_zmotor_move_to = 0x7406, 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_init_device = 0x7501,
kpipette_put_tip = 0x7502, kpipette_put_tip = 0x7502,

28
api/apibasic/reg_index.cpp
View File

@ -37,20 +37,20 @@ static reginfo_t table[] = {
REG_ITERM(kreg_pipette_capactitance_val), REG_ITERM(kreg_pipette_capactitance_val),
REG_ITERM(kreg_pipette_tip_state), 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_pos),
REG_ITERM(kreg_pipette_zm_is_enable), REG_ITERM(kreg_pipette_zm_is_enable),

28
api/apibasic/reg_index.hpp
View File

@ -47,20 +47,20 @@ typedef enum {
kreg_pipette_capactitance_val = 4001, // 移液枪电容值 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_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_pos = 4101,
kreg_pipette_zm_is_enable = 4102, kreg_pipette_zm_is_enable = 4102,

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