project_boditech_vidas_a8000_v3
/
a8000_protocol
2
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

change_pipette_api

change_pipette_api
zhaohe 8 months ago
parent
86de5f61c4
commit
d80b7654e9
6 changed files with 81 additions and 145 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 157
      api/apibasic/cmdid.cpp
  2. 41
      api/apibasic/cmdid.hpp
  3. 1
      api/apibasic/errorcode.hpp
  4. 2
      api/apibasic/reg_index.cpp
  5. 2
      api/apibasic/reg_index.hpp
  6. 23
      api/zi_pipette_ctrl_module.hpp

157
api/apibasic/cmdid.cpp
View File

@ -11,25 +11,10 @@ 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(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),
@ -51,103 +36,35 @@ static cmdinfo_t table[] = {
// 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(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),
@ -168,7 +85,6 @@ static cmdinfo_t table[] = {
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),
@ -177,8 +93,19 @@ static cmdinfo_t table[] = {
CMD_ITERM(kpipette_set_llf_startz),
CMD_ITERM(kpipette_set_llf_endz),
CMD_ITERM(kpipette_clear_hanging_liquid),
#endif
CMD_ITERM(kpipette_init_device), //
CMD_ITERM(kpipette_put_tip), //
CMD_ITERM(kpipette_pump_move_to), //
CMD_ITERM(kpipette_lld), //
CMD_ITERM(kpipette_aspirate), //
CMD_ITERM(kpipette_distribu), //
CMD_ITERM(kpipette_shake_up), //
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), //
};
const char* cmdid2str(int32_t code) {

41
api/apibasic/cmdid.hpp
View File

@ -126,13 +126,15 @@ typedef enum {
/***********************************************************************************************************************
* 移液枪 *
***********************************************************************************************************************/
kpipette_zmotor_enable = 0x7400,
kpipette_zmotor_move_zero = 0x7401,
kpipette_zmotor_move_to_zero_point_quick = 0x7402,
kpipette_zmotor_measure_distance = 0x7403,
kpipette_zmotor_read_measure_distance_result = 0x7404,
kpipette_zmotor_move_by = 0x7405,
kpipette_zmotor_move_to = 0x7406,
kpipette_zmotor_enable = 0x7400,
kpipette_zmotor_move_zero = 0x7401,
kpipette_zmotor_move_to_zero_point_quick = 0x7402,
kpipette_zmotor_measure_distance = 0x7403,
kpipette_zmotor_read_measure_distance_result = 0x7404,
kpipette_zmotor_move_by = 0x7405,
kpipette_zmotor_move_to = 0x7406,
#if 0
kpipette_init_device = 0x7407,
kpipette_put_tip = 0x7408,
kpipette_lld_prepare = 0x7409,
@ -163,6 +165,31 @@ typedef enum {
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
kpipette_init_device = 0x7501,
kpipette_put_tip = 0x7502,
kpipette_pump_move_to = 0x7503,
kpipette_lld = 0x7504,
kpipette_aspirate = 0x7505,
kpipette_distribu = 0x7506,
kpipette_shake_up = 0x7507,
kpipette_get_sensor_sample_data = 0x7510,
kpipette_get_sensor_sample_data_num = 0x7511,
kpipette_zmotor_read_zero_point_state = 0x7512,
kpipette_zmotor_read_dev_status_cache = 0x7513,
} cmdid_t;

1
api/apibasic/errorcode.hpp
View File

@ -59,6 +59,7 @@ typedef enum {
kpipette_error_VolumeError = 1419,
kpipette_error_TipAlreadyLoad = 1420,
kpipette_error_TipLoadFail = 1421,
kpipette_error_no_tip_when_lld = 1422,
kpipette_error_uninited = 1501,
kpipette_error_not_lld_prepare = 1502,

2
api/apibasic/reg_index.cpp
View File

@ -49,6 +49,8 @@ static reginfo_t table[] = {
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),

2
api/apibasic/reg_index.hpp
View File

@ -59,6 +59,8 @@ typedef enum {
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,

23
api/zi_pipette_ctrl_module.hpp
View File

@ -7,28 +7,5 @@
namespace iflytop {
using namespace std;
class ZIPipetteCtrlModule {
public:
virtual ~ZIPipetteCtrlModule() {}
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_lld_prepare() = 0;
virtual int32_t pipette_plld(int32_t zdpos, int32_t p_threshold) = 0;
virtual int32_t pipette_clld(int32_t zdpos, int32_t c_threshold) = 0;
virtual int32_t pipette_mlld(int32_t zdpos, int32_t c_threshold, int32_t p_threshold) = 0;
virtual int32_t pipette_lld_is_detect_liquid(int32_t *liquid) = 0;
virtual int32_t pipette_aspirate(int32_t ul) = 0;
virtual int32_t pipette_distribut(int32_t ul) = 0;
virtual int32_t pipette_shake_up(int32_t ul, int32_t times) = 0;
virtual int32_t pipette_aspirate_llf(int32_t ul, int32_t zmotor_v) = 0;
virtual int32_t pipette_distribut_llf(int32_t ul, int32_t zmotor_v) = 0;
virtual int32_t pipette_shake_up_llf(int32_t ul, int32_t zmotor_v, int32_t times) = 0;
virtual int32_t pipette_enable_zmotor(int32_t enable) = 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_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
Write Preview
Loading…
Cancel
Save