diff --git a/api/apibasic/cmdid.cpp b/api/apibasic/cmdid.cpp index 12496d1..eb5f976 100644 --- a/api/apibasic/cmdid.cpp +++ b/api/apibasic/cmdid.cpp @@ -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), }; diff --git a/api/apibasic/cmdid.hpp b/api/apibasic/cmdid.hpp index c4994ee..3278da0 100644 --- a/api/apibasic/cmdid.hpp +++ b/api/apibasic/cmdid.hpp @@ -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; diff --git a/api/apibasic/reg_index.cpp b/api/apibasic/reg_index.cpp index ffc60a2..c283fde 100644 --- a/api/apibasic/reg_index.cpp +++ b/api/apibasic/reg_index.cpp @@ -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), diff --git a/api/apibasic/reg_index.hpp b/api/apibasic/reg_index.hpp index c738a69..aa2c0c6 100644 --- a/api/apibasic/reg_index.hpp +++ b/api/apibasic/reg_index.hpp @@ -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 * diff --git a/api/zi_water_cooling_temperature_controler.hpp b/api/zi_water_cooling_temperature_controler.hpp index ae5f7ee..eec16a8 100644 --- a/api/zi_water_cooling_temperature_controler.hpp +++ b/api/zi_water_cooling_temperature_controler.hpp @@ -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 \ No newline at end of file