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update

master
zhaohe 8 months ago
parent
fe3b3dc19b
commit
01ea5629bc
7 changed files with 207 additions and 21 deletions
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  1. 4
      .settings/language.settings.xml
  2. 164
      log/死机日志.log
  3. 35
      sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
  4. 23
      sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
  5. 2
      sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
  6. 0
      serial.bat
  7. 0
      新建 文本文档.txt

4
.settings/language.settings.xml
View File

@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="357012465717748611" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1355509092133304966" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="430081415609304118" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1428578042024860473" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

164
log/死机日志.log
View File

@ -0,0 +1,164 @@
00188266 INFO [SMTP2 ] tx:/1N2v0R
00188293 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
00188294 INFO [SMTP2 ] tx:/1N2c287100R
00188349 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
00188350 INFO [SMTP2 ] pump_enable_temp_compensation 0
00188351 INFO [SMTP2 ] tx:/1u24,0R
00188403 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
00188404 INFO [SMTP2 ] tx:/1K0R
00188449 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
00188450 INFO [PipetteModuleV2] <- call success
00188467 INFO [PipetteModuleV2] m82 bfcall kpipette_aspirate(75000) ->
00188478 INFO [PipetteModuleV2] <- call success
00188479 INFO [PipetteModuleV2] start work -> pipette_aspirate
00188480 INFO [SMTP2 ] pump_aspirate 75000
00188481 INFO [SMTP2 ] tx:/1?3
00188503 INFO [SMTP2 ] rx:(12) (2F3060313439393839030D0A) /0`149989
00188504 INFO [SMTP2 ] pump_move_to_nl 224989
00188505 INFO [SMTP2 ] tx:/1T
00188518 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
00188519 INFO [SMTP2 ] tx:/1CR
00188527 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
00188528 INFO [SMTP2 ] tx:/1V31900A224989R
00188552 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
00188553 INFO [PipetteModuleV2] zm_move_to 300 10
00190998 INFO [SMTP2 ] tx:/1TR
00191013 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
00191014 INFO [SMTP2 ] tx:/1TR
00191029 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
00191030 INFO [PipetteModuleV2] <- end work
00191069 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_move_to(0) ->
00191089 INFO [PipetteModuleV2] <- call success
00191090 INFO [PipetteModuleV2] start work -> pipette_zmotor_move_to
00191091 INFO [PipetteModuleV2] zm_move_to 0 1500
00191466 INFO [SMTP2 ] tx:/1TR
00191481 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
00191482 INFO [PipetteModuleV2] <- end work
00191646 INFO [PipetteModuleV2] m82 bfcall kmodule_get_reg(4102) ->
00191647 INFO [PipetteModuleV2] <- call success
00191664 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_read_zero_point_state ->
00191665 INFO [PipetteModuleV2] <- call success
00191682 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_read_zero_point_state ->
00191683 INFO [PipetteModuleV2] <- call success
00192687 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_enable(1) ->
00192689 INFO [PipetteModuleV2] <- call success
00192725 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_move_to(50) ->
00192727 INFO [PipetteModuleV2] <- call success
00192728 INFO [PipetteModuleV2] start work -> pipette_zmotor_move_to
00192729 INFO [PipetteModuleV2] zm_move_to 50 1500
00192891 INFO [SMTP2 ] tx:/1TR
00192906 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
00192907 INFO [PipetteModuleV2] <- end work
00192990 INFO [PipetteModuleV2] m82 bfcall kliquid_operation_clear_params ->
00192991 INFO [PipetteModuleV2] <- call success
00193010 INFO [PipetteModuleV2] m82 bfcall kliquid_operation_set_gun_runparams(14,14,0,1000,8000) ->
00193011 INFO [PipetteModuleV2] <- call success
00193027 INFO [PipetteModuleV2] m82 bfcall kliquid_operation_fresh_params ->
00193028 INFO [PipetteModuleV2] liquid_operation_runparam:
00193029 INFO [PipetteModuleV2] pump_acc :14
00193030 INFO [PipetteModuleV2] pump_dec :14
00193031 INFO [PipetteModuleV2] pump_vstart :0
00193032 INFO [PipetteModuleV2] pump_vstop :1000
00193033 INFO [PipetteModuleV2] pump_vmax :8000
00193034 INFO [PipetteModuleV2] zmotor_posmin :0
00193035 INFO [PipetteModuleV2] zmotor_posmax :0
00193036 INFO [PipetteModuleV2] zmotor_vmax :0
00193037 INFO [PipetteModuleV2] lld_enable_record_data :0
00193038 INFO [SMTP2 ] tx:/1L14,14R
00193058 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
00193059 INFO [SMTP2 ] tx:/1N2v0R
00193086 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
00193087 INFO [SMTP2 ] tx:/1N2c319000R
00193191 INFO [SMTP2 ] rx:(0) ()
00193212 INFO [SMTP2 ] tx:/1N2c319000R
00193316 INFO [SMTP2 ] rx:(0) ()
00193337 INFO [SMTP2 ] tx:/1N2c319000R
00193441 INFO [SMTP2 ] rx:(0) ()
00193462 ERRO [PipetteModuleV2] [366] do m_smtp2.pump_set_vstop(liquid_operation_runparam.pump_vstop) fail, error kdevice_is_offline(1105)
00193463 INFO [PipetteModuleV2] <- call fail,kdevice_is_offline(1105)
00240684 INFO [PipetteModuleV2] m82 bfcall kmodule_get_reg(4002) ->
00240685 INFO [SMTP2 ] tx:/1?31
00240710 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
00240711 INFO [PipetteModuleV2] <- call success
00240779 INFO [PipetteModuleV2] m82 bfcall kmodule_get_reg(4102) ->
00240780 INFO [PipetteModuleV2] <- call success
00240797 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_read_zero_point_state ->
00240798 INFO [PipetteModuleV2] <- call success
00240813 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_move_to_zero_point_quick ->
00240830 INFO [PipetteModuleV2] <- call success
00240831 INFO [PipetteModuleV2] start work -> pipette_zmotor_move_to_zero_point_quick
00240832 INFO [PipetteModuleV2] zm_move_to 0 1500
00241002 INFO [PipetteModuleV2] leave from zero
00241003 INFO [TMC5130 ] moveToEnd 1 100
00241019 INFO [PipetteModuleV2] move to again
00241020 INFO [TMC5130 ] moveToEnd -1 200
00241047 INFO [SMTP2 ] tx:/1TR
00241062 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
00241063 INFO [PipetteModuleV2] <- end work
00241096 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_read_zero_point_state ->
00241097 INFO [PipetteModuleV2] <- call success
00242225 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_enable(1) ->
00242231 INFO [PipetteModuleV2] <- call success
00242247 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_move_to_zero_point_quick ->
00242250 INFO [PipetteModuleV2] <- call success
00242251 INFO [PipetteModuleV2] start work -> pipette_zmotor_move_to_zero_point_quick
00242252 INFO [PipetteModuleV2] zm_move_to 0 1500
00242278 INFO [PipetteModuleV2] move to zero
00242279 INFO [TMC5130 ] moveToEnd -1 200
00242305 INFO [PipetteModuleV2] leave from zero
00242306 INFO [TMC5130 ] moveToEnd 1 100
00242322 INFO [PipetteModuleV2] move to again
00242323 INFO [TMC5130 ] moveToEnd -1 200
00242350 INFO [SMTP2 ] tx:/1TR
00242365 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
00242366 INFO [PipetteModuleV2] <- end work
00242400 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_move_to(545) ->
00242415 INFO [PipetteModuleV2] <- call success
00242416 INFO [PipetteModuleV2] start work -> pipette_zmotor_move_to
00242417 INFO [PipetteModuleV2] zm_move_to 545 1500
00243001 INFO [SMTP2 ] tx:/1TR
00243016 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
00243017 INFO [PipetteModuleV2] <- end work
00243146 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_enable(1) ->
00243156 INFO [PipetteModuleV2] <- call success
00243190 INFO [PipetteModuleV2] m82 bfcall kpipette_init_device ->
00243194 INFO [PipetteModuleV2] <- call success
00243195 INFO [PipetteModuleV2] start work -> pipette_init_device
00243196 INFO [SMTP2 ] pump_set_io1_mode 0
00243197 INFO [SMTP2 ] tx:/1u9,0R
00243215 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
00243216 INFO [SMTP2 ] pump_set_io2_mode 0
00243217 INFO [SMTP2 ] tx:/1u10,0R
00243247 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
00243248 INFO [SMTP2 ] pump_set_tip_size 1
00243249 INFO [SMTP2 ] tx:/1u18,1R
00243279 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
00243280 INFO [SMTP2 ] tx:/1T
00243308 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
00243309 INFO [SMTP2 ] tx:/1CR
00243317 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
00243318 INFO [SMTP2 ] tx:/1N2V2552000ZR
00243341 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@

35
sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
View File

@ -221,7 +221,7 @@ int32_t PipetteModuleV2::pipette_zmotor_enable(int32_t enable) {
* @return int32_t
*/
int32_t PipetteModuleV2::pipette_zmotor_move_zero() { //
THREAD_START_WORK([this]() {
thread_start_work(__FUNCTION__, [this]() {
do_zm_move_0p(); // 移动到零点
zm_set_now_pos(0 + m_cfg.zm_dzero - m_cfg.zm_io_trigger_append_distance);
m_state.has_move_to_zero = 1;
@ -235,7 +235,7 @@ int32_t PipetteModuleV2::pipette_zmotor_move_zero() { //
* @return int32_t
*/
int32_t PipetteModuleV2::pipette_zmotor_measure_distance() {
THREAD_START_WORK([this]() {
thread_start_work(__FUNCTION__, [this]() {
int32_t startpos = zm_get_now_pos();
do_zm_move_0p(); // 移动到零点
int32_t dpos = zm_get_now_pos() - startpos;
@ -265,7 +265,7 @@ int32_t PipetteModuleV2::pipette_zmotor_read_measure_distance_result(int32_t *re
* @return int32_t
*/
int32_t PipetteModuleV2::pipette_zmotor_move_by(int32_t distance) {
THREAD_START_WORK([this, distance]() {
thread_start_work(__FUNCTION__, [this, distance]() {
module_active_cfg();
zm_move_by(distance, m_cfg.zm_default_velocity);
zm_waitfor_stop();
@ -282,7 +282,7 @@ int32_t PipetteModuleV2::pipette_zmotor_move_to(int32_t tox) {
if (m_cfg.zm_min_d != 0 && tox < m_cfg.zm_min_d) tox = m_cfg.zm_min_d;
if (m_cfg.zm_max_d != 0 && tox > m_cfg.zm_max_d) tox = m_cfg.zm_max_d;
THREAD_START_WORK([this, tox]() {
thread_start_work(__FUNCTION__, [this, tox]() {
zm_move_to(tox, m_cfg.zm_default_velocity);
zm_waitfor_stop();
});
@ -295,7 +295,7 @@ int32_t PipetteModuleV2::pipette_zmotor_move_to(int32_t tox) {
* @return int32_t
*/
int32_t PipetteModuleV2::pipette_zmotor_move_to_zero_point_quick() {
THREAD_START_WORK([this]() { do_pipette_zmotor_move_to_zero_point_quick(); });
thread_start_work(__FUNCTION__, [this]() { do_pipette_zmotor_move_to_zero_point_quick(); });
return 0;
}
@ -364,25 +364,26 @@ int32_t PipetteModuleV2::liquid_operation_fresh_params() {
DO(m_smtp2.pump_set_acc_and_dec(liquid_operation_runparam.pump_acc, liquid_operation_runparam.pump_dec));
DO(m_smtp2.pump_set_vstart(liquid_operation_runparam.pump_vstart));
DO(m_smtp2.pump_set_vstop(liquid_operation_runparam.pump_vstop));
DO(m_smtp2.pump_set_io1_mode(0)); // lld输入高
DO(m_smtp2.pump_set_io2_mode(0)); // 通用输入
DO(m_smtp2.pump_set_tip_size(1)); // 250ul
DO(m_smtp2.pump_enable_temp_compensation(0)); // 关闭温度补偿
DO(m_smtp2.write_cmd("/1K0R\r")); // 设置背隙为0
DO(m_smtp2.pump_set_back_clearance(0)); // 设置背隙为0
return 0;
}
int32_t PipetteModuleV2::pipette_init_device() {
THREAD_START_WORK([this]() {
thread_start_work(__FUNCTION__, [this]() {
DO_IN_THREAD(m_smtp2.pump_init(liquid_operation_runparam.pump_vmax));
pump_waitfor_stop();
DO_IN_THREAD(m_smtp2.pump_set_io1_mode(0)); // lld输入高
DO_IN_THREAD(m_smtp2.pump_set_io2_mode(0)); // 通用输入
DO_IN_THREAD(m_smtp2.pump_set_tip_size(1)); // 250ul
});
return 0;
}
int32_t PipetteModuleV2::pipette_put_tip() {
THREAD_START_WORK([this]() {
thread_start_work(__FUNCTION__, [this]() {
DO_IN_THREAD(m_smtp2.pump_put_tip());
pump_waitfor_stop();
});
@ -390,7 +391,7 @@ int32_t PipetteModuleV2::pipette_put_tip() {
}
int32_t PipetteModuleV2::pipette_pump_move_to(int32_t nl) {
THREAD_START_WORK([this, nl]() {
thread_start_work(__FUNCTION__, [this, nl]() {
int32_t pumpv = liquid_operation_runparam.pump_vmax;
DO_IN_THREAD(m_smtp2.pump_move_to_nl(pumpv, nl));
pump_waitfor_stop();
@ -494,7 +495,7 @@ int32_t PipetteModuleV2::pipette_aspirate(int32_t nl) {
return err::kparam_out_of_range;
}
THREAD_START_WORK([this, nl]() {
thread_start_work(__FUNCTION__, [this, nl]() {
int32_t llfrpm = liquid_operation_runparam.zmotor_vmax;
int32_t llftpos = liquid_operation_runparam.zmotor_posmax;
int32_t pumpv = liquid_operation_runparam.pump_vmax;
@ -517,7 +518,7 @@ int32_t PipetteModuleV2::pipette_distribu(int32_t nl) {
return err::kparam_out_of_range;
}
THREAD_START_WORK([this, nl]() {
thread_start_work(__FUNCTION__, [this, nl]() {
int32_t llfrpm = liquid_operation_runparam.zmotor_vmax;
int32_t pumpv = liquid_operation_runparam.pump_vmax;
@ -578,9 +579,9 @@ int32_t PipetteModuleV2::pipette_shake_up(int32_t nl, int32_t times) {
int32_t PipetteModuleV2::pipette_clear_hanging_liquid(int32_t repeat_times) {
// llf_startz
// llf_endz
thread_start_work(__FUNCTION__, [this, repeat_times]() {
});
// thread_start_work(__FUNCTION__,[this, repeat_times]() {
//
// });
return 0;
}

23
sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
View File

@ -91,6 +91,7 @@ int32_t SMTP2V2::pump_put_tip() { return runaction(true, "/1E0R\r"); }
int32_t SMTP2V2::pump_init(int32_t v) { return runaction(true, "/1N2V%dZR\r", v * 319); }
int32_t SMTP2V2::pump_reset() {
_sendcmd(true, "/1!0R\r"); // 复位指令没有回执，所以这里只能使用方法_sendcmd
_sendcmd(true, "/1!0R\r"); // 复位指令没有回执，所以这里只能使用方法_sendcmd
return 0;
}
#if 0
@ -288,6 +289,18 @@ int32_t SMTP2V2::pump_distribut_mlld_get_state(int32_t* detected) {
return ret;
}
int32_t SMTP2V2::pump_set_back_clearance(int32_t val) {
int32_t ret = 0;
for (size_t i = 0; i < 3; i++) {
ret = setstate(true, "/1K%dR\r", val);
if (ret == 0) {
return ret;
}
osDelay(1);
}
return ret;
}
/***********************************************************************************************************************
* 调试使用 *
***********************************************************************************************************************/
@ -373,7 +386,7 @@ int32_t SMTP2V2::_runaction(bool dump, const char* cmd) {
for (size_t i = 0; i < 3; i++) {
if (i != 0) {
ZLOGE(TAG, "resend cmd .......................................................");
osDelay(10);
osDelay(200);
}
if (!_sendcmd(dump, "/1T\r")) continue;
@ -394,7 +407,7 @@ int32_t SMTP2V2::readstate(bool dump, const char* format, ...) {
if (_sendcmd(dump, cmdbuf)) {
return getAckEcode();
}
osDelay(20);
osDelay(200);
}
return getAckEcode();
}
@ -517,5 +530,11 @@ bool SMTP2V2::_sendcmd_dma(const char* cmd) {
if (m_rxbuf[m_rxNum - 1] != '\n' || m_rxbuf[m_rxNum - 2] != '\r' || m_rxbuf[m_rxNum - 3] != 3) {
return false;
}
if (getAckEcode() == err::kpipette_error_InvalidCmd) {
return false;
}
osDelay(10);
return true;
}

2
sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
View File

@ -170,6 +170,7 @@ class SMTP2V2 {
int32_t pump_set_io2_mode(int32_t mode); // 0通用输入 1紧急制动 2Tip脱落输出高 3Tip脱落输出低
int32_t pump_set_tip_size(int32_t size); // Tip大小 0:1ml 1:200ul(max:250ul) 2:50ul(max:62ul) 3=20ul(max:40ul)
int32_t pump_enable_temp_compensation(int32_t enable); // 0:关闭 1:开启
int32_t pump_set_back_clearance(int32_t val);
/***********************************************************************************************************************
* STATE *
@ -217,6 +218,7 @@ class SMTP2V2 {
int32_t pump_aspirate_infer_eigen_time(int32_t v, int32_t ul);
int32_t pump_get_infer_eigen_time(int32_t* eigen_time);
public:
//

0
serial.bat
View File

0
新建 文本文档.txt
View File

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