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update

change_pipette_api
zhaohe 1 year ago
parent
ba9d9901d6
commit
8fa3934e83
5 changed files with 60 additions and 51 deletions
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  1. 9
      api/apibasic/cmdid.cpp
  2. 8
      api/apibasic/cmdid.hpp
  3. 35
      api/apibasic/reg_index.cpp
  4. 49
      api/apibasic/reg_index.hpp
  5. 10
      api/zi_water_cooling_temperature_controler.hpp

9
api/apibasic/cmdid.cpp
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@ -77,8 +77,13 @@ static cmdinfo_t table[] = {
CMD_ITERM(kcode_scaner_get_result_length),
CMD_ITERM(kfan_controler_set_speed),
CMD_ITERM(kwater_cooling_temp_start_hearting),
CMD_ITERM(kwater_cooling_temp_stop_hearting),
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),
};

8
api/apibasic/cmdid.hpp
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@ -109,8 +109,12 @@ typedef enum {
/***********************************************************************************************************************
* WATER_COOLING_TEMPERATURE *
***********************************************************************************************************************/
kwater_cooling_temp_start_hearting = CMDID(0x70, 0),
kwater_cooling_temp_stop_hearting = CMDID(0x70, 1),
ktemp_controler_start_hearting = CMDID(0x70, 0),
ktemp_controler_stop_hearting = CMDID(0x70, 1),
ktemp_controler_set_peltier_power_level = CMDID(0x70, 2), // 测试使用 para:{+-level100}
ktemp_controler_set_pump_level = CMDID(0x70, 3), // 测试使用 para:{+ level100}
ktemp_controler_set_fan_level = CMDID(0x70, 4), // 测试使用 para:{+ level100}
ktemp_controler_enable_log = CMDID(0x70, 5), // 测试使用 para:{enable log}
} cmdid_t;

35
api/apibasic/reg_index.cpp
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@ -13,22 +13,25 @@ static reginfo_t table[] = {
REG_ITERM(kreg_module_type),
REG_ITERM(kreg_module_status),
REG_ITERM(kreg_module_errorcode),
REG_ITERM(kreg_sensor_temperature0),
REG_ITERM(kreg_sensor_temperature1),
REG_ITERM(kreg_sensor_temperature2),
REG_ITERM(kreg_sensor_temperature3),
REG_ITERM(kreg_pid_target),
REG_ITERM(kreg_pid_nowoutput),
REG_ITERM(kreg_pid_feedbackval),
REG_ITERM(kreg_pid_kp),
REG_ITERM(kreg_pid_ki),
REG_ITERM(kreg_pid_kd),
REG_ITERM(kreg_pid_max_output),
REG_ITERM(kreg_pid_min_output),
REG_ITERM(kreg_pid_max_integral),
REG_ITERM(kreg_pid_min_integral),
REG_ITERM(kreg_error_limit),
REG_ITERM(kreg_compute_interval),
REG_ITERM(kreg_water_cooling_tmp_controler_pid_target),
REG_ITERM(kreg_water_cooling_tmp_controler_pid_nowoutput),
REG_ITERM(kreg_water_cooling_tmp_controler_pid_feedbackval),
REG_ITERM(kreg_water_cooling_tmp_controler_temp0),
REG_ITERM(kreg_water_cooling_tmp_controler_temp1),
REG_ITERM(kreg_water_cooling_tmp_controler_temp2),
REG_ITERM(kreg_water_cooling_tmp_controler_temp3),
REG_ITERM(kreg_water_cooling_tmp_controler_pid_kp),
REG_ITERM(kreg_water_cooling_tmp_controler_pid_ki),
REG_ITERM(kreg_water_cooling_tmp_controler_pid_kd),
REG_ITERM(kreg_water_cooling_tmp_controler_pid_max_output),
REG_ITERM(kreg_water_cooling_tmp_controler_pid_min_output),
REG_ITERM(kreg_water_cooling_tmp_controler_pid_max_integral),
REG_ITERM(kreg_water_cooling_tmp_controler_pid_min_integral),
REG_ITERM(kreg_water_cooling_tmp_controler_pid_error_limit),
REG_ITERM(kreg_water_cooling_tmp_controler_pid_compute_interval),
REG_ITERM(kreg_pipette_pos_ul),
REG_ITERM(kreg_pipette_capactitance_val),
REG_ITERM(kreg_pipette_tip_state),

49
api/apibasic/reg_index.hpp
View File

@ -13,37 +13,28 @@ typedef enum {
kreg_module_type = REG_INDEX(0, 0, 1), // 模块类型
kreg_module_status = REG_INDEX(0, 0, 2), // 0idle,1busy,2error
kreg_module_errorcode = REG_INDEX(0, 0, 3), // inited_flag
/*******************************************************************************
* SENSOR *
*******************************************************************************/
kreg_sensor_temperature0 = REG_INDEX(2, 0, 0), // 温度1
kreg_sensor_temperature1 = REG_INDEX(2, 0, 1), // 温度2
kreg_sensor_temperature2 = REG_INDEX(2, 0, 2), // 温度3
kreg_sensor_temperature3 = REG_INDEX(2, 0, 3), // 温度4
/*******************************************************************************
* 机械人通用配置 *
*******************************************************************************/
/*******************************************************************************
* MOTOR_X *
*******************************************************************************/
/***********************************************************************************************************************
* 水冷温度控制器 *
***********************************************************************************************************************/
/*******************************************************************************
* PID控制器(3000->4000) *
*******************************************************************************/
kreg_pid_target = REG_INDEX(30, 0, 0), // 目标数值
kreg_pid_nowoutput = REG_INDEX(30, 0, 1), // 当前输出
kreg_pid_feedbackval = REG_INDEX(30, 0, 2), // 当前输出
kreg_pid_kp = REG_INDEX(30, 50, 0), // kp
kreg_pid_ki = REG_INDEX(30, 50, 1), // ki
kreg_pid_kd = REG_INDEX(30, 50, 2), // kd
kreg_pid_max_output = REG_INDEX(30, 50, 3), // 最大输出
kreg_pid_min_output = REG_INDEX(30, 50, 4), // 最小输出
kreg_pid_max_integral = REG_INDEX(30, 50, 5), // 最大积分
kreg_pid_min_integral = REG_INDEX(30, 50, 6), // 最小积分
kreg_error_limit = REG_INDEX(30, 50, 7), // 误差限制
kreg_compute_interval = REG_INDEX(30, 50, 8), // 计算间隔
kreg_water_cooling_tmp_controler_pid_target = REG_INDEX(30, 0, 0), // 目标数值
kreg_water_cooling_tmp_controler_pid_nowoutput = REG_INDEX(30, 0, 1), // 当前输出
kreg_water_cooling_tmp_controler_pid_feedbackval = REG_INDEX(30, 0, 2), // 当前输出
kreg_water_cooling_tmp_controler_temp0 = REG_INDEX(30, 0, 3), // 温度1
kreg_water_cooling_tmp_controler_temp1 = REG_INDEX(30, 0, 4), // 温度2
kreg_water_cooling_tmp_controler_temp2 = REG_INDEX(30, 0, 5), // 温度3
kreg_water_cooling_tmp_controler_temp3 = REG_INDEX(30, 0, 6), // 温度4
kreg_water_cooling_tmp_controler_pid_kp = REG_INDEX(30, 50, 0), // kp
kreg_water_cooling_tmp_controler_pid_ki = REG_INDEX(30, 50, 1), // ki
kreg_water_cooling_tmp_controler_pid_kd = REG_INDEX(30, 50, 2), // kd
kreg_water_cooling_tmp_controler_pid_max_output = REG_INDEX(30, 50, 3), // 最大输出
kreg_water_cooling_tmp_controler_pid_min_output = REG_INDEX(30, 50, 4), // 最小输出
kreg_water_cooling_tmp_controler_pid_max_integral = REG_INDEX(30, 50, 5), // 最大积分
kreg_water_cooling_tmp_controler_pid_min_integral = REG_INDEX(30, 50, 6), // 最小积分
kreg_water_cooling_tmp_controler_pid_error_limit = REG_INDEX(30, 50, 7), // 误差限制
kreg_water_cooling_tmp_controler_pid_compute_interval = REG_INDEX(30, 50, 8), // 计算间隔
/*******************************************************************************
* 移液枪状态 *

10
api/zi_water_cooling_temperature_controler.hpp
View File

@ -9,7 +9,13 @@ namespace iflytop {
using namespace std;
class ZI_WaterCoolingTemperatureControler {
public:
virtual int32_t water_cooling_temp_start_hearting(int32_t targetTemperature) = 0;
virtual int32_t water_cooling_temp_stop_hearting() = 0;
virtual int32_t temp_controler_start_hearting(int32_t targetTemperature) = 0;
virtual int32_t temp_controler_stop_hearting() = 0;
virtual int32_t temp_controler_set_peltier_power_level(int32_t level) = 0; // 测试使用
virtual int32_t temp_controler_set_pump_level(int32_t level) = 0; // 测试使用
virtual int32_t temp_controler_set_fan_level(int32_t level) = 0; // 测试使用
virtual int32_t temp_controler_enable_log(int32_t level) = 0; // 测试使用
};
} // namespace iflytop
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