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zhaohe 2 months ago
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08144f4736
7 changed files with 336 additions and 76 deletions
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  1. 6
      TODO.md
  2. 15
      sdk/components/pipette_module/base/constant_cfg.hpp
  3. 20
      sdk/components/pipette_module/base/pipette_action_param.hpp
  4. 47
      sdk/components/pipette_module/base/pipette_cfg.hpp
  5. 14
      sdk/components/pipette_module/base/pipette_enum.hpp
  6. 277
      sdk/components/pipette_module/pipette_ctrl_module.cpp
  7. 33
      sdk/components/pipette_module/pipette_ctrl_module.hpp

6
TODO.md
View File

@ -0,0 +1,6 @@
```
步进电机的加速度换算是错的
现在的单位是:[1/60 r/s^2]
```

15
sdk/components/pipette_module/base/constant_cfg.hpp
View File

@ -6,12 +6,13 @@
* 配置份数 *
***********************************************************************************************************************/
#define PM_BCFG_CPY_NUM 1
#define PLATINFO_CPY_NUM 1
#define ZM_BCFG_CPY_NUM 1
#define PM_BCFG_CPY_NUM 1
#define ZM_BCFG_CPY_NUM 1
#define ZM_VCFG_CPY_NUM 20
#define PM_VCFG_CPY_NUM 20
#define PLATINFO_CPY_NUM 5
#define CONTAINER_INFO_CPY_NUM 15
#define LIQUID_INFO_CPY_NUM 10
#define ZM_VCFG_CPY_NUM 10
#define PM_VCFG_CPY_NUM 10
#define CONTAINER_INFO_CPY_NUM 15
#define LIQUID_INFO_CPY_NUM 10

20
sdk/components/pipette_module/base/pipette_action_param.hpp
View File

@ -10,6 +10,7 @@ typedef struct {
//
// 参数索引
//
int32_t platinfo_index; // 平台配置索引
int32_t container_info_index; // 容器配置索引
int32_t liquid_cfg_index; // 液体配置索引
//
@ -43,25 +44,26 @@ typedef enum {
//
// 参数索引
//
kaspiration_paramid_container_info_index = 1,
kaspiration_paramid_liquid_cfg_index = 2,
kaspiration_paramid_platinfo_index = 1,
kaspiration_paramid_container_info_index = 2,
kaspiration_paramid_liquid_cfg_index = 3,
//
// 吸取模式
//
kaspiration_paramid_aspiration_mode = 3,
kaspiration_paramid_aspiration_mode = 4,
//
// lld配置
//
kaspiration_paramid_lld_type = 4,
kaspiration_paramid_lld_enable_protect = 5,
kaspiration_paramid_lld_type = 5,
kaspiration_paramid_lld_enable_protect = 6,
//
// llf配置
//
kaspiration_paramid_mix_llf_enable = 6,
kaspiration_paramid_llf_enable = 7,
kaspiration_paramid_mix_llf_enable = 7,
kaspiration_paramid_llf_enable = 8,
//
// 混匀配置
//
kaspiration_paramid_mix_volume = 8,
kaspiration_paramid_mix_times = 9,
kaspiration_paramid_mix_volume = 9,
kaspiration_paramid_mix_times = 10,
} aspiration_paramid_t;

47
sdk/components/pipette_module/base/pipette_cfg.hpp
View File

@ -4,23 +4,36 @@
* 平台参数 *
***********************************************************************************************************************/
typedef struct {
int32_t zm_ref_level; // 移液枪带上tip后，参考面高度(绝对位置0.1mm)，建议选择一个大部分操作都在其之上的平面
int32_t tip_picking_pos; // 开始取tip位置(绝对位置0.1mm)
int32_t tip_picking_max_pos; // 结束取tip位置(绝对位置0.1mm)
int32_t tip_deposit_pos; // 丢tip位置(绝对位置0.1mm)
int32_t transform_pos; // 移液枪安全移动的高度(绝对位置0.1mm)
int32_t tip_type; // tip类型
int32_t tip_length; // tip长度
/**
* @brief 工作参考平面
*
*/
int32_t work_ref_plane; // 移液枪带上tip后，tip刚好与平面接触时候，z轴的坐标，后续系统中非特殊情况，所有坐标参考这个坐标
int32_t tip_picking_pos; // 开始取tip位置(参考位0.1mm)
int32_t tip_picking_search_range; // 取tip的范围
int32_t tip_deposit_pos; // 丢tip位置(参考位0.1mm)
// int32_t transform_pos; // 移液枪安全移动的高度(参考位0.1mm)
/**
* @brief tip类型
*
* TS1000UL = 0, // 1000ul, max=1002.6ul
* TS200UL = 1, // 200ul, max=250ul
* TS50UL = 2, // 50ul, max=62ul
* TS20UL = 3, // 20ul, max=40ul
*/
int32_t tip_type;
int32_t tip_length; // tip长度
} platinfo_t;
typedef enum {
kplatinfo_zm_ref_level = 100,
kplatinfo_tip_picking_pos = 101,
kplatinfo_tip_picking_max_pos = 102,
kplatinfo_tip_deposit_pos = 103,
kplatinfo_transform_pos = 104,
kplatinfo_tip_type = 105,
kplatinfo_tip_length = 106,
kplatinfo_work_ref_plane = 100,
kplatinfo_tip_picking_pos = 101,
kplatinfo_tip_picking_search_range = 102,
kplatinfo_tip_deposit_pos = 103,
// kplatinfo_transform_pos = 104,
kplatinfo_tip_type = 105,
kplatinfo_tip_length = 106,
} platinfo_index_t;
/***********************************************************************************************************************
@ -103,11 +116,11 @@ typedef enum {
* 移液枪速度配置 *
***********************************************************************************************************************/
typedef struct {
int32_t acc; // 加速度 level 1…20 default:14 1:797 nl/s^2 ... 20:797*20 nl/s^2
int32_t acc; // 加速度 level 1…20 default:14 1:797.5 ul/s^2 ... 20:797*20 nl/s^2
int32_t dec; // 减速度 level 1…20 default:14
int32_t vstart; // 启动速度 ul/s (0...319)
int32_t vstop; // 停止速度 nl/s (0...319)
int32_t vmax; // 最大速度 nl/s (0...2552)
int32_t vstop; // 停止速度 ul/s (0...319)
int32_t vmax; // 最大速度 ul/s (0...2552)
} pm_vcfg_t;
typedef enum {

14
sdk/components/pipette_module/base/pipette_enum.hpp
View File

@ -3,12 +3,14 @@
* 泵机预设速度配置 *
***********************************************************************************************************************/
typedef enum {
kpm_v_default = 0, // 默认速度
kpm_v_min = 1, // 最低速
kpm_v_slow = 2, // 慢速
kpm_v_mid = 3, // 中速
kpm_v_quick = 4, // 快速
kpm_v_max = 5, // 高速
kpm_v_default = 0, // 默认速度
kpm_v_slow_lv1 = 1, // 慢速
kpm_v_slow_lv2 = 2, // 慢速
kpm_v_slow_lv3 = 3, // 慢速
kpm_v_mid = 4, // 中速
kpm_v_quick = 5, // 快速
kpm_v_max = 6, // 高速
kpm_v_lld = 7, // 液面探测vlld
} pm_vindex_t;
/***********************************************************************************************************************

277
sdk/components/pipette_module/pipette_ctrl_module.cpp
View File

@ -28,8 +28,10 @@ void PipetteModule::initialize(int32_t id, hardward_config_t *hardwaredcfg) { /
m_zm->getGState(); // 读取状态，清空下复位标识
//! TODO: 将初始化代码移动到模块外部
m_piette_gun_io1.initAsInput(PB1, ZGPIO::kMode_pullup, ZGPIO::kIRQ_noIrq, true); // lld输入高
//! 测试IO1是否联通
m_smtp2.pump_set_io1_mode(2); // lld输入高
m_smtp2.pump_set_io1_state(0);
osDelay(100);
@ -39,7 +41,8 @@ void PipetteModule::initialize(int32_t id, hardward_config_t *hardwaredcfg) { /
osDelay(100);
ZLOGI(TAG, "read io1 state:%d", m_piette_gun_io1.getState());
m_smtp2.pump_set_io1_mode(0); // lld输入高
// m_smtp2.dumpparam();
parameter_init();
}
int32_t PipetteModule::module_stop() {
@ -117,15 +120,22 @@ int32_t PipetteModule::pipette_get_pmbcfg(pm_bcfg_index_t index, int32_t *val) {
}
return 0;
}
int32_t PipetteModule::pipette_set_platinfo(platinfo_index_t index, int32_t val) {
int32_t PipetteModule::pipette_set_platinfo(int32_t cpyid, platinfo_index_t index, int32_t val) {
if (cpyid < 0 || cpyid >= ARRARY_SIZE(m_platinfo)) {
ZLOGE(TAG, "pipette_set_platinfo cpyid %d out of range", cpyid);
return err::kparam_out_of_range;
}
platinfo_t *platinfo = &m_platinfo[cpyid];
switch (index) {
SET_CFG(kplatinfo_zm_ref_level, m_platform_info.zm_ref_level, val);
SET_CFG(kplatinfo_tip_picking_pos, m_platform_info.tip_picking_pos, val);
SET_CFG(kplatinfo_tip_picking_max_pos, m_platform_info.tip_picking_max_pos, val);
SET_CFG(kplatinfo_tip_deposit_pos, m_platform_info.tip_deposit_pos, val);
SET_CFG(kplatinfo_transform_pos, m_platform_info.transform_pos, val);
SET_CFG(kplatinfo_tip_type, m_platform_info.tip_type, val);
SET_CFG(kplatinfo_tip_length, m_platform_info.tip_length, val);
SET_CFG(kplatinfo_work_ref_plane, platinfo->work_ref_plane, val);
SET_CFG(kplatinfo_tip_picking_pos, platinfo->tip_picking_pos, val);
SET_CFG(kplatinfo_tip_picking_search_range, platinfo->tip_picking_search_range, val);
SET_CFG(kplatinfo_tip_deposit_pos, platinfo->tip_deposit_pos, val);
// SET_CFG(kplatinfo_transform_pos, platinfo->transform_pos, val);
SET_CFG(kplatinfo_tip_type, platinfo->tip_type, val);
SET_CFG(kplatinfo_tip_length, platinfo->tip_length, val);
default: {
ZLOGE(TAG, "pipette_set_platinfo index %d out of range", index);
return err::kparam_out_of_range;
@ -133,15 +143,21 @@ int32_t PipetteModule::pipette_set_platinfo(platinfo_index_t index, int32_t val)
}
return 0;
}
int32_t PipetteModule::pipette_get_platinfo(platinfo_index_t index, int32_t *val) {
int32_t PipetteModule::pipette_get_platinfo(int32_t cpyid, platinfo_index_t index, int32_t *val) {
if (cpyid < 0 || cpyid >= ARRARY_SIZE(m_platinfo)) {
ZLOGE(TAG, "pipette_get_platinfo cpyid %d out of range", cpyid);
return err::kparam_out_of_range;
}
platinfo_t *platinfo = &m_platinfo[cpyid];
switch (index) {
GET_CFG(kplatinfo_zm_ref_level, m_platform_info.zm_ref_level, val);
GET_CFG(kplatinfo_tip_picking_pos, m_platform_info.tip_picking_pos, val);
GET_CFG(kplatinfo_tip_picking_max_pos, m_platform_info.tip_picking_max_pos, val);
GET_CFG(kplatinfo_tip_deposit_pos, m_platform_info.tip_deposit_pos, val);
GET_CFG(kplatinfo_transform_pos, m_platform_info.transform_pos, val);
GET_CFG(kplatinfo_tip_type, m_platform_info.tip_type, val);
GET_CFG(kplatinfo_tip_length, m_platform_info.tip_length, val);
GET_CFG(kplatinfo_work_ref_plane, platinfo->work_ref_plane, val);
GET_CFG(kplatinfo_tip_picking_pos, platinfo->tip_picking_pos, val);
GET_CFG(kplatinfo_tip_picking_search_range, platinfo->tip_picking_search_range, val);
GET_CFG(kplatinfo_tip_deposit_pos, platinfo->tip_deposit_pos, val);
// GET_CFG(kplatinfo_transform_pos, platinfo->transform_pos, val);
GET_CFG(kplatinfo_tip_type, platinfo->tip_type, val);
GET_CFG(kplatinfo_tip_length, platinfo->tip_length, val);
default: {
ZLOGE(TAG, "pipette_get_platinfo index %d out of range", index);
return err::kparam_out_of_range;
@ -387,6 +403,13 @@ liquid_info_t *PipetteModule::get_liquid_info(int32_t index) {
}
return &m_liquid_info[index];
}
platinfo_t *PipetteModule::get_platinfo(int32_t index) {
if (index < 0 || index >= ARRARY_SIZE(m_platinfo)) {
ZLOGE(TAG, "get_platinfo index %d out of range", index);
return &m_platinfo[0];
}
return &m_platinfo[index];
}
void PipetteModule::get_cfg_smart(int32_t index, zm_vcfg_t *cfg) { //
zm_vcfg_t *cfg0 = get_zm_vcfg(0);
@ -538,8 +561,6 @@ int32_t PipetteModule::pipette_pump_init_device() {
pump_apply_vcfg(kpm_v_max); // 默认配置
DO_IN_THREAD(m_smtp2.pump_init());
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
});
return 0;
}
@ -618,12 +639,16 @@ int32_t PipetteModule::pipette_pump_aspirate() {
if (pump_read_tip_state() == 0) {
throw zapp_exception(err::kpipette_error_no_tip_when_lld);
}
check_pipette_pump_aspirate_params();
// 移液枪部分参数初始化
DO_IN_THREAD(m_smtp2.pump_enable_temp_compensation(0)); // 关闭温度补偿
DO_IN_THREAD(m_smtp2.pump_set_back_clearance(0)); // 设置背隙为0
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
platinfo_t *platform_info = &m_platform_info;
aspiration_param_t *acfg = &m_aspiration_param;
platinfo_t *platform_info = get_platinfo(acfg->platinfo_index);
liquid_info_t *liquidinfo = get_liquid_info(acfg->liquid_cfg_index);
container_info_t *container_cfg = get_container_info(acfg->container_info_index);
/***********************************************************************************************************************
@ -633,7 +658,7 @@ int32_t PipetteModule::pipette_pump_aspirate() {
if (acfg->lld_type != 0) {
_do_lld(platform_info, container_cfg, liquidinfo, acfg);
} else {
m_state.water_level = platform_info->zm_ref_level - container_cfg->container_neck_pos + container_cfg->fix_aspiration_depth;
m_state.water_level = platform_info->work_ref_plane - container_cfg->container_neck_pos + container_cfg->fix_aspiration_depth;
ZLOGI(TAG, "lld isn't enable,use fix depth %d", m_state.water_level);
zm_move_to_block(m_state.water_level - 150, kzm_v_default, 0); //
pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vindex); // 清空tip
@ -650,12 +675,12 @@ void PipetteModule::_do_lld(platinfo_t *platform_info, container_info_t *contain
ZLOGI(TAG, "start lld, lld_type %d lld_pm_vindex %d plld_threshold %d", acfg->lld_type, liquidinfo->plld_pm_vindex, liquidinfo->plld_threshold);
// 移动到转移位置
zm_move_to_block(platform_info->transform_pos, kzm_v_default, 0);
zm_move_to_block(0, kzm_v_default, 0);
// 清空tip
pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vindex);
// 移动到瓶口
zm_move_to_pr_block(platform_info, container_cfg->container_neck_pos + 50 /*5mm*/, //
zm_wp_move_to_block(platform_info, container_cfg->container_neck_pos + 50 /*5mm*/, //
kzm_v_default, 0);
pump_move_to_x100nl_block(0, kpm_v_default); // 回转一下，消除齿轮间隙
@ -666,10 +691,10 @@ void PipetteModule::_do_lld(platinfo_t *platform_info, container_info_t *contain
DO_IN_THREAD(m_smtp2.pump_aspirate_plld(liquidinfo->plld_threshold));
// 快速移动到瓶口
zm_move_to_pr_block(platform_info, container_cfg->container_neck_pos + container_cfg->lld_start_search_depth, //
zm_wp_move_to_block(platform_info, container_cfg->container_neck_pos + container_cfg->lld_start_search_depth, //
kzm_v_default, 0);
// lld,zm移动到瓶底
zm_move_to_pr(platform_info, container_cfg->container_neck_pos - container_cfg->container_depth, kzm_v_lld, 0);
zm_wp_move_to(platform_info, container_cfg->container_neck_pos - container_cfg->container_depth, kzm_v_lld, 0);
/**
* @brief 等待压力大于阈值
@ -745,7 +770,7 @@ void PipetteModule::_do_sapirate(platinfo_t *platform_info, container_info_t *co
int32_t mix_start_pos = zm_get_now_pos();
for (size_t i = 0; i < acfg->mix_times; i++) {
if (acfg->mix_llf_enable > 0) {
zm_move_to_pr(platform_info,
zm_wp_move_to(platform_info,
container_cfg->container_neck_pos - container_cfg->container_depth, // 瓶底
kzm_v_llf, // 基础速度配置
compute_zm_llf_vel(liquidinfo->mix_pm_vindex, container_cfg)); // 计算llf速度
@ -771,7 +796,7 @@ void PipetteModule::_do_sapirate(platinfo_t *platform_info, container_info_t *co
int32_t x100nl = acfg->x100nl * liquidinfo->volume_calibration_coefficient_k * 0.0001 + liquidinfo->volume_calibration_coefficient_b * 0.0001;
if (acfg->llf_enable > 0) {
zm_move_to_pr(platform_info, //
zm_wp_move_to(platform_info, //
container_cfg->container_neck_pos - container_cfg->container_depth, // 瓶底
kzm_v_llf, //
compute_zm_llf_vel(aspiration_pm_index, container_cfg) //
@ -793,7 +818,7 @@ void PipetteModule::_do_sapirate(platinfo_t *platform_info, container_info_t *co
}
// z轴移动transform_pos
zm_move_to_block(platform_info->transform_pos, kzm_v_default, 0);
zm_move_to_block(0, kzm_v_default, 0);
}
int32_t PipetteModule::pipette_pump_distribu(int32_t distribu_cfg_index, int32_t n100nl /*0.1ul*/) { return 0; }
@ -865,15 +890,15 @@ void PipetteModule::zm_move_to_block(int32_t x, int32_t vbaseindex, int32_t vel)
zm_move_to(x, vbaseindex, vel);
zm_waitfor_stop();
}
void PipetteModule::zm_move_to_pr(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel) {
void PipetteModule::zm_wp_move_to(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel) {
/**
* @brief 以平台的参考位置为基准，向上为正向，向下为负向
*/
zm_move_to(platform->zm_ref_level - x, vbaseindex, vel);
zm_move_to(platform->work_ref_plane - x, vbaseindex, vel);
}
void PipetteModule::zm_move_to_pr_block(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel) {
zm_move_to_pr(platform, x, vbaseindex, vel);
void PipetteModule::zm_wp_move_to_block(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel) {
zm_wp_move_to(platform, x, vbaseindex, vel);
zm_waitfor_stop();
}
@ -922,6 +947,22 @@ void PipetteModule::zm_apply_vcfg(int32_t vbasecfgindex, int32_t vel) {
m_zm->set_vstop(cfg.vstop);
}
void PipetteModule::zm_sync_base_cfg() {
m_zm->enable(false);
m_zm->setMRES((mres_type_t)zm_base_cfg.mres);
m_zm->setIHOLD_IRUN(zm_base_cfg.ihold, zm_base_cfg.irun, zm_base_cfg.iholddelay);
m_zm->setScale(zm_base_cfg.one_circle_pulse);
m_zm->setScaleDenominator(zm_base_cfg.one_circle_pulse_denominator);
m_zm->setMotorShaft(zm_base_cfg.shaft);
m_zm->setGlobalScale(zm_base_cfg.iglobalscaler);
m_zm->set_tzerowait(zm_base_cfg.tzerowait);
m_zm->set_enc_resolution(zm_base_cfg.enc_resolution);
zm_apply_vcfg(kzm_v_default, 0);
if (m_state.enable) {
m_zm->enable(true);
}
}
void PipetteModule::zm_waitfor_zm0p_trigger_and_stop_motor() {
while (!zm0p_is_trigger()) {
if (m_zm->isStoped()) {
@ -1188,3 +1229,175 @@ void PipetteModule::thread_start_work(const char *fnname, function<void()> fn) {
ZLOGI(TAG, "<- end work");
});
}
void PipetteModule::check_platinfo_cpyid(int32_t cpyid) {
if (cpyid < 0 || cpyid >= ARRARY_SIZE(m_platinfo)) {
ZLOGE(TAG, "pipette_get_container_info cpyid %d out of range", cpyid);
throw zapp_exception(err::kparam_out_of_range);
}
}
void PipetteModule::check_zmvcfg_cpyid(int32_t cpyid) {
if (cpyid < 0 || cpyid >= ARRARY_SIZE(m_zm_vcfg)) {
ZLOGE(TAG, "pipette_get_zmvcfg cpyid %d out of range", cpyid);
throw zapp_exception(err::kparam_out_of_range);
}
}
void PipetteModule::check_pmvcfg_cpyid(int32_t cpyid) {
if (cpyid < 0 || cpyid >= ARRARY_SIZE(m_pm_vcfg)) {
ZLOGE(TAG, "pipette_get_pmvcfg cpyid %d out of range", cpyid);
throw zapp_exception(err::kparam_out_of_range);
}
}
void PipetteModule::check_container_info_cpyid(int32_t cpyid) {
if (cpyid < 0 || cpyid >= ARRARY_SIZE(m_container_info)) {
ZLOGE(TAG, "pipette_get_container_info cpyid %d out of range", cpyid);
throw zapp_exception(err::kparam_out_of_range);
}
}
void PipetteModule::check_liquid_info_cpyid(int32_t cpyid) {
if (cpyid < 0 || cpyid >= ARRARY_SIZE(m_liquid_info)) {
ZLOGE(TAG, "pipette_get_liquid_info cpyid %d out of range", cpyid);
throw zapp_exception(err::kparam_out_of_range);
}
}
void PipetteModule::check_pipette_pump_aspirate_params() {
aspiration_param_t *acfg = &m_aspiration_param;
if (acfg->x100nl < 0) {
ZLOGE(TAG, "pipette_pump_aspirate_set_param x100nl %d out of range", acfg->x100nl);
throw zapp_exception(err::kparam_out_of_range);
}
check_platinfo_cpyid(acfg->platinfo_index);
check_container_info_cpyid(acfg->container_info_index);
check_liquid_info_cpyid(acfg->liquid_cfg_index);
}
void PipetteModule::parameter_init() {
/***********************************************************************************************************************
* zm_base_cfg *
***********************************************************************************************************************/
zm_base_cfg.shaft = 0; // Z轴电机运动方向调整
zm_base_cfg.one_circle_pulse = 80; // 电子齿轮比-分子
zm_base_cfg.one_circle_pulse_denominator = 1; // 电子齿轮比-分母
zm_base_cfg.ihold = 7; //
zm_base_cfg.irun = 7; //
zm_base_cfg.iholddelay = 10; //
zm_base_cfg.iglobalscaler = 0; //
zm_base_cfg.min_d = 0; //
zm_base_cfg.max_d = 0; //
zm_base_cfg.tzerowait = 0; //
zm_base_cfg.enc_resolution = 0; //
zm_base_cfg.enable_enc = 0; //
zm_base_cfg.dzero = 92; //
zm_base_cfg.io_trigger_append_distance = 20; //
zm_base_cfg.pos_devi_tolerance = 20; //
zm_base_cfg.mres = 0; //
/***********************************************************************************************************************
* pm_base_cfg *
***********************************************************************************************************************/
pm_base_cfg.pad = 0;
/***********************************************************************************************************************
* m_platinfo *
***********************************************************************************************************************/
for (int32_t i = 0; i < ARRARY_SIZE(m_platinfo); i++) {
m_platinfo[i].work_ref_plane = 0;
m_platinfo[i].tip_picking_pos = 0;
m_platinfo[i].tip_picking_search_range = 0;
m_platinfo[i].tip_deposit_pos = 0;
// m_platinfo[i].transform_pos = 0; //
m_platinfo[i].tip_type = smtp2::TS200UL;
m_platinfo[i].tip_length = 500; // 50mm
}
/***********************************************************************************************************************
* m_zm_vcfg *
***********************************************************************************************************************/
for (int32_t i = 0; i < ARRARY_SIZE(m_zm_vcfg); i++) {
m_zm_vcfg[i].vstart = -1;
m_zm_vcfg[i].a1 = -1;
m_zm_vcfg[i].amax = -1;
m_zm_vcfg[i].v1 = -1;
m_zm_vcfg[i].dmax = -1;
m_zm_vcfg[i].d1 = -1;
m_zm_vcfg[i].vstop = -1;
m_zm_vcfg[i].vmax = -1;
}
m_zm_vcfg[kzm_v_default].vstart = 100;
m_zm_vcfg[kzm_v_default].a1 = 10;
m_zm_vcfg[kzm_v_default].amax = 50;
m_zm_vcfg[kzm_v_default].v1 = 300;
m_zm_vcfg[kzm_v_default].dmax = 50;
m_zm_vcfg[kzm_v_default].d1 = 10;
m_zm_vcfg[kzm_v_default].vstop = 100;
m_zm_vcfg[kzm_v_default].vmax = 1200;
m_zm_vcfg[kzm_v_move_to_zero].vmax = 600;
m_zm_vcfg[kzm_v_look_zero_edge].vmax = 100;
m_zm_vcfg[kzm_v_lld].vmax = 600;
m_zm_vcfg[kzm_v_swap].vmax = 300;
m_zm_vcfg[kzm_v_llf].vmax = 500;
/***********************************************************************************************************************
* m_pm_vcfg *
***********************************************************************************************************************/
for (int32_t i = 0; i < ARRARY_SIZE(m_pm_vcfg); i++) {
m_pm_vcfg[i].acc = 1;
m_pm_vcfg[i].dec = 1;
m_pm_vcfg[i].vstart = 0;
m_pm_vcfg[i].vstop = 0;
m_pm_vcfg[i].vmax = 2500;
}
m_pm_vcfg[kpm_v_default].vmax = 2500;
m_pm_vcfg[kpm_v_slow_lv1].vmax = 5;
m_pm_vcfg[kpm_v_slow_lv2].vmax = 10;
m_pm_vcfg[kpm_v_slow_lv3].vmax = 50;
m_pm_vcfg[kpm_v_mid].vmax = 1000;
m_pm_vcfg[kpm_v_quick].vmax = 2000;
m_pm_vcfg[kpm_v_max].vmax = 2500;
m_pm_vcfg[kpm_v_lld].vmax = 100;
/***********************************************************************************************************************
* m_container_info *
***********************************************************************************************************************/
for (int32_t i = 0; i < ARRARY_SIZE(m_container_info); i++) {
m_container_info[i].container_type = 0;
m_container_info[i].container_neck_pos = 0;
m_container_info[i].container_depth = 0;
m_container_info[i].container_round = 0;
m_container_info[i].container_bottom_section_height = 0;
m_container_info[i].immersion_depth = 0;
m_container_info[i].leaving_height = 150;
m_container_info[i].jet_height = 0;
}
/***********************************************************************************************************************
* m_liquid_info *
***********************************************************************************************************************/
for (int32_t i = 0; i < ARRARY_SIZE(m_liquid_info); i++) {
m_liquid_info[i].plld_pm_vindex = kpm_v_lld;
m_liquid_info[i].plld_threshold = 30;
m_liquid_info[i].empty_tip_pm_vindex = kpm_v_max;
m_liquid_info[i].blowout_air_volume = 0;
m_liquid_info[i].blowout_air_pm_vindex = kpm_v_quick;
m_liquid_info[i].over_aspirated_volume = 100; // 100(x100nl) == 10ul
m_liquid_info[i].over_aspirated_pm_vindex = kpm_v_slow_lv2;
m_liquid_info[i].aspiration_pm_vindex_low = kpm_v_slow_lv1;
m_liquid_info[i].aspiration_pm_vindex_high = kpm_v_slow_lv3;
m_liquid_info[i].aspiration_volume_break_val = 500; // 500(x100nl) == 50ul
m_liquid_info[i].volume_calibration_coefficient_b = 1.0f;
m_liquid_info[i].volume_calibration_coefficient_k = 1.0f;
m_liquid_info[i].settling_time = 1000; // ms
m_liquid_info[i].transport_volume = 50; // 50(x100nl) == 5ul
m_liquid_info[i].transport_volume_pm_vindex = kpm_v_slow_lv2;
m_liquid_info[i].mix_pm_vindex = kpm_v_max;
}
zm_sync_base_cfg();
}

33
sdk/components/pipette_module/pipette_ctrl_module.hpp
View File

@ -70,7 +70,8 @@ class PipetteModule : public ZIModule {
zm_bcfg_t zm_base_cfg;
pump_bcfg_t pm_base_cfg;
platinfo_t m_platform_info;
platinfo_t m_platinfo[PLATINFO_CPY_NUM];
zm_vcfg_t m_zm_vcfg[ZM_VCFG_CPY_NUM];
pm_vcfg_t m_pm_vcfg[PM_VCFG_CPY_NUM];
@ -103,16 +104,22 @@ class PipetteModule : public ZIModule {
virtual int32_t pipette_set_zmbcfg(zm_bcfg_index_t index, int32_t val);
virtual int32_t pipette_get_zmbcfg(zm_bcfg_index_t index, int32_t *val);
virtual int32_t pipette_set_pmbcfg(pm_bcfg_index_t index, int32_t val);
virtual int32_t pipette_get_pmbcfg(pm_bcfg_index_t index, int32_t *val);
virtual int32_t pipette_set_platinfo(platinfo_index_t index, int32_t val);
virtual int32_t pipette_get_platinfo(platinfo_index_t index, int32_t *val);
virtual int32_t pipette_set_platinfo(int32_t cpyid, platinfo_index_t index, int32_t val);
virtual int32_t pipette_get_platinfo(int32_t cpyid, platinfo_index_t index, int32_t *val);
virtual int32_t pipette_set_zmvcfg(int32_t cpyid, zm_vcfg_index_t index, int32_t val);
virtual int32_t pipette_get_zmvcfg(int32_t cpyid, zm_vcfg_index_t index, int32_t *val);
virtual int32_t pipette_set_pmvcfg(int32_t cpyid, pm_vcfg_index_t index, int32_t val);
virtual int32_t pipette_get_pmvcfg(int32_t cpyid, pm_vcfg_index_t index, int32_t *val);
virtual int32_t pipette_set_container_info(int32_t cpyid, container_info_index_t index, int32_t val);
virtual int32_t pipette_get_container_info(int32_t cpyid, container_info_index_t index, int32_t *val);
virtual int32_t pipette_set_liquid_info(int32_t cpyid, liquid_info_index_t index, int32_t val);
virtual int32_t pipette_get_liquid_info(int32_t cpyid, liquid_info_index_t index, int32_t *val);
@ -165,8 +172,8 @@ class PipetteModule : public ZIModule {
void zm_move_to(int32_t x, int32_t vbaseindex, int32_t vel);
void zm_move_to_block(int32_t x, int32_t vbaseindex, int32_t vel);
void zm_move_to_pr(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel);
void zm_move_to_pr_block(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel);
void zm_wp_move_to(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel);
void zm_wp_move_to_block(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel);
void zm_move_by(int32_t dx, int32_t vindex, int32_t vel);
void zm_stop();
void zm_move_to_end(int32_t direction, int32_t vindex);
@ -177,6 +184,7 @@ class PipetteModule : public ZIModule {
bool zm0p_is_trigger();
void zm_apply_vcfg(int32_t vbasecfgindex, int32_t vel);
void zm_sync_base_cfg();
void zm_waitfor_zm0p_trigger_and_stop_motor();
void zm_waitfor_zm0p_not_trigger_and_stop_motor();
@ -207,6 +215,7 @@ class PipetteModule : public ZIModule {
pm_vcfg_t *get_pm_vcfg(int32_t index);
container_info_t *get_container_info(int32_t index);
liquid_info_t *get_liquid_info(int32_t index);
platinfo_t *get_platinfo(int32_t index);
void get_cfg_smart(int32_t index, zm_vcfg_t *cfg);
void get_cfg_smart(int32_t index, pm_vcfg_t *cfg);
@ -222,5 +231,19 @@ class PipetteModule : public ZIModule {
void runingcheck();
void thread_delay(int32_t delayms);
void thread_start_work(const char *fnname, function<void()> fn);
/***********************************************************************************************************************
* CHECK *
***********************************************************************************************************************/
void check_platinfo_cpyid(int32_t cpyid);
void check_zmvcfg_cpyid(int32_t cpyid);
void check_pmvcfg_cpyid(int32_t cpyid);
void check_container_info_cpyid(int32_t cpyid);
void check_liquid_info_cpyid(int32_t cpyid);
void check_pipette_pump_aspirate_params();
void parameter_init();
};
} // namespace iflytop
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