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update

master
zhaohe 2 months ago
parent
9fe3b4b7fb
commit
0c65636495
9 changed files with 279 additions and 156 deletions
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  1. 15
      sdk/chip/exhal/stm32_exhal_uart.cpp
  2. 2
      sdk/chip/exhal/stm32_exhal_uart.hpp
  3. 139
      sdk/components/pipette_module/base/pipette_cfg.hpp
  4. 130
      sdk/components/pipette_module/pipette_ctrl_module.cpp
  5. 17
      sdk/components/pipette_module/pipette_ctrl_module.hpp
  6. 10
      sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
  7. 1
      sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
  8. 50
      usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp
  9. 71
      usrc/subboards/subboard80_cliptip/subboard80_cliptip_board.c

15
sdk/chip/exhal/stm32_exhal_uart.cpp
View File

@ -1,6 +1,7 @@
#include "stm32_exhal_uart.hpp"
#include <stdio.h>
#include <string.h>
#include "sdk/chip/irq_dispatcher/zuart_irq_dispatcher.hpp"
#include "sdk/utils/hexutils.h"
@ -40,8 +41,6 @@ static EXHAL_UART_t* EXHAL_UART_Get(UART_HandleTypeDef* huart) {
return &Local_exhalUart[i];
}
}
ZEARLY_ASSERT(0);
return NULL;
}
@ -172,6 +171,7 @@ HAL_StatusTypeDef EXHAL_UART_BindRS485Uart(const char* name, UART_HandleTypeDef*
void EXHAL_UART_RS485_EnTx(UART_HandleTypeDef* huart, bool en) {
EXHAL_UART_t* exhal_uart = EXHAL_UART_Get(huart);
ZEARLY_ASSERT(exhal_uart != NULL);
if (exhal_uart->rs485_txen_port == NULL) return;
if (en) {
HAL_GPIO_WritePin(exhal_uart->rs485_txen_port, exhal_uart->rs485_txen_pin, GPIO_PIN_SET);
@ -182,12 +182,14 @@ void EXHAL_UART_RS485_EnTx(UART_HandleTypeDef* huart, bool en) {
HAL_StatusTypeDef EXHAL_UART_RegListener(UART_HandleTypeDef* huart, EXHAL_UART_Listener_t listener) {
EXHAL_UART_t* exhal_uart = EXHAL_UART_Get(huart);
ZEARLY_ASSERT(exhal_uart != NULL);
exhal_uart->listener = listener;
return HAL_OK;
}
HAL_StatusTypeDef EXHAL_UART_TransmitBlock_DMA(UART_HandleTypeDef* huart, uint8_t* data, size_t len) {
EXHAL_UART_t* exhal_uart = EXHAL_UART_Get(huart);
ZEARLY_ASSERT(exhal_uart != NULL);
exhal_uart->rxstate = TRANSMIT_BLOCK_DMA;
HAL_StatusTypeDef ret = HAL_UART_Transmit_DMA(huart, data, len);
@ -202,6 +204,9 @@ HAL_StatusTypeDef EXHAL_UART_TransmitBlock_DMA(UART_HandleTypeDef* huart, uint8_
return HAL_OK;
}
HAL_StatusTypeDef EXHAL_UART_TransmitStringBlock(UART_HandleTypeDef* huart, const char* data){//
return HAL_UART_Transmit(huart, (uint8_t*)data, strlen(data),100);
}
static void __attribute__((noinline)) clearUartRxCache(UART_HandleTypeDef* huart) { //
volatile uint32_t rxcache = huart->Instance->DR;
@ -209,6 +214,7 @@ static void __attribute__((noinline)) clearUartRxCache(UART_HandleTypeDef* huart
HAL_StatusTypeDef EXHAL_UARTEx_ReceiveToIdle_DMA_Start(UART_HandleTypeDef* huart, uint8_t* data, int32_t len) {
EXHAL_UART_t* exhal_uart = EXHAL_UART_Get(huart);
ZEARLY_ASSERT(exhal_uart != NULL);
exhal_uart->rxstate = RECEIVE_TO_IDLE_DMA;
exhal_uart->receiveToIdleDmaRxSize = 0;
@ -226,6 +232,7 @@ HAL_StatusTypeDef EXHAL_UARTEx_ReceiveToIdle_DMA_Start(UART_HandleTypeDef* huart
HAL_StatusTypeDef EXHAL_UARTEx_ReceiveToIdle_DMA_Wait(UART_HandleTypeDef* huart, size_t* rxlen, int32_t overtime) {
EXHAL_UART_t* exhal_uart = EXHAL_UART_Get(huart);
ZEARLY_ASSERT(exhal_uart != NULL);
uint32_t enterTicket = HAL_GetTick();
@ -254,6 +261,8 @@ HAL_StatusTypeDef EXHAL_UART_DMAStartAutoRead(UART_HandleTypeDef* huart) {
clearUartRxCache(huart);
EXHAL_UART_t* exhal_uart = EXHAL_UART_Get(huart);
ZEARLY_ASSERT(exhal_uart != NULL);
exhal_uart->rxstate = AUTO_READ_DMA;
HAL_UARTEx_ReceiveToIdle_DMA_force(huart, exhal_uart->autoRxBuffer, sizeof(exhal_uart->autoRxBuffer));
__HAL_DMA_DISABLE_IT(huart->hdmarx, DMA_IT_HT);
@ -290,6 +299,8 @@ HAL_StatusTypeDef EXHAL_UART_DMAStopAutoRead(UART_HandleTypeDef* huart) {
HAL_StatusTypeDef EXHAL_UART_ITStartAutoRead(UART_HandleTypeDef* huart) {
clearUartRxCache(huart);
EXHAL_UART_t* exhal_uart = EXHAL_UART_Get(huart);
ZEARLY_ASSERT(exhal_uart != NULL);
exhal_uart->rxstate = AUTO_READ_IT;
while (true) {

2
sdk/chip/exhal/stm32_exhal_uart.hpp
View File

@ -21,6 +21,8 @@ void EXHAL_UART_RS485_EnTx(UART_HandleTypeDef* huart, bool en);
// tx block
HAL_StatusTypeDef EXHAL_UART_TransmitBlock_DMA(UART_HandleTypeDef* huart, uint8_t* data, size_t len);
HAL_StatusTypeDef EXHAL_UART_TransmitStringBlock(UART_HandleTypeDef* huart, const char* data);
// rx blcok
HAL_StatusTypeDef EXHAL_UARTEx_ReceiveToIdle_DMA_Start(UART_HandleTypeDef* huart, uint8_t* data, int32_t len);

139
sdk/components/pipette_module/base/pipette_cfg.hpp
View File

@ -6,14 +6,16 @@
typedef struct {
/**
* @brief 工作参考平面
*
* 代码中并不使用这个位置，这个参数只是为了后续
* 如果平台高度发生变化时，可以通过调整dzero使得
* work_ref_plane数值不变。
*/
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 work_ref_pos; //
int32_t tip_picking_pos; // 开始取tip位置(参考位0.1mm)
int32_t tip_picking_pos; // 开始取tip位置(绝对位置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)
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)
/**
* @brief tip类型
*
@ -27,13 +29,13 @@ typedef struct {
} platinfo_t;
typedef enum {
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,
kplatinfo_work_ref_pos = 100,
kplatinfo_tip_picking_pos,
kplatinfo_tip_picking_search_range,
kplatinfo_tip_deposit_pos,
kplatinfo_transform_pos,
kplatinfo_tip_type,
kplatinfo_tip_length,
} platinfo_index_t;
/***********************************************************************************************************************
@ -59,22 +61,22 @@ typedef struct {
} zm_bcfg_t;
typedef enum {
kzm_bcfg_shaft = 200,
kzm_bcfg_one_circle_pulse = 201,
kzm_bcfg_one_circle_pulse_denominator = 202,
kzm_bcfg_ihold = 203,
kzm_bcfg_irun = 204,
kzm_bcfg_iholddelay = 205,
kzm_bcfg_iglobalscaler = 206,
kzm_bcfg_min_d = 207,
kzm_bcfg_max_d = 208,
kzm_bcfg_tzerowait = 209,
kzm_bcfg_enc_resolution = 210,
kzm_bcfg_enable_enc = 211,
kzm_bcfg_dzero = 212,
kzm_bcfg_io_trigger_append_distance = 213,
kzm_bcfg_pos_devi_tolerance = 214,
kzm_bcfg_mres = 215,
kzm_bcfg_shaft = 200,
kzm_bcfg_one_circle_pulse,
kzm_bcfg_one_circle_pulse_denominator,
kzm_bcfg_ihold,
kzm_bcfg_irun,
kzm_bcfg_iholddelay,
kzm_bcfg_iglobalscaler,
kzm_bcfg_min_d,
kzm_bcfg_max_d,
kzm_bcfg_tzerowait,
kzm_bcfg_enc_resolution,
kzm_bcfg_enable_enc,
kzm_bcfg_dzero,
kzm_bcfg_io_trigger_append_distance,
kzm_bcfg_pos_devi_tolerance,
kzm_bcfg_mres,
} zm_bcfg_index_t;
/***********************************************************************************************************************
@ -103,13 +105,13 @@ typedef struct {
typedef enum {
kzm_vcfg_vstart = 400,
kzm_vcfg_a1 = 401,
kzm_vcfg_amax = 402,
kzm_vcfg_v1 = 403,
kzm_vcfg_dmax = 404,
kzm_vcfg_d1 = 405,
kzm_vcfg_vstop = 406,
kzm_vcfg_vmax = 407,
kzm_vcfg_a1,
kzm_vcfg_amax,
kzm_vcfg_v1,
kzm_vcfg_dmax,
kzm_vcfg_d1,
kzm_vcfg_vstop,
kzm_vcfg_vmax,
} zm_vcfg_index_t;
/***********************************************************************************************************************
@ -124,11 +126,11 @@ typedef struct {
} pm_vcfg_t;
typedef enum {
kpm_vcfg_acc = 500,
kpm_vcfg_dec = 501,
kpm_vcfg_vstart = 502,
kpm_vcfg_vstop = 503,
kpm_vcfg_vmax = 504,
kpm_vcfg_acc = 500,
kpm_vcfg_dec,
kpm_vcfg_vstart,
kpm_vcfg_vstop,
kpm_vcfg_vmax,
} pm_vcfg_index_t;
/***********************************************************************************************************************
@ -149,17 +151,17 @@ typedef struct {
} container_info_t;
typedef enum {
kcontainer_info_container_type = 600,
kcontainer_info_container_neck_pos = 601,
kcontainer_info_container_depth = 602,
kcontainer_info_container_round = 603,
kcontainer_info_container_bottom_section_height = 604,
kcontainer_info_immersion_depth = 605,
kcontainer_info_leaving_height = 606,
kcontainer_info_jet_height = 607,
kcontainer_info_lld_start_search_depth = 608,
kcontainer_info_fix_aspiration_depth = 609,
kcontainer_info_llf_vconvert_coneff = 610,
kcontainer_info_container_type = 600,
kcontainer_info_container_neck_pos,
kcontainer_info_container_depth,
kcontainer_info_container_round,
kcontainer_info_container_bottom_section_height,
kcontainer_info_immersion_depth,
kcontainer_info_leaving_height,
kcontainer_info_jet_height,
kcontainer_info_lld_start_search_depth,
kcontainer_info_fix_aspiration_depth,
kcontainer_info_llf_vconvert_coneff,
} container_info_index_t;
/***********************************************************************************************************************
@ -185,6 +187,7 @@ typedef struct {
//
int32_t plld_pm_vindex; // 液面探测时泵机速率
int32_t plld_threshold; // 液面探测阈值
int32_t plld_zm_vel; // 液面探测时泵机速率
//
// 清空tip配置
@ -250,20 +253,22 @@ typedef struct {
} liquid_info_t;
typedef enum {
kliquid_info_plld_pm_vindex = 800,
kliquid_info_plld_threshold = 801,
kliquid_info_empty_tip_pm_vindex = 802,
kliquid_info_blowout_air_volume = 803,
kliquid_info_blowout_air_pm_vindex = 804,
kliquid_info_over_aspirated_volume = 805,
kliquid_info_over_aspirated_pm_vindex = 806,
kliquid_info_aspiration_pm_vindex_low = 807,
kliquid_info_aspiration_pm_vindex_high = 808,
kliquid_info_aspiration_volume_break_val = 809,
kliquid_info_volume_calibration_coefficient_b = 810,
kliquid_info_volume_calibration_coefficient_k = 811,
kliquid_info_settling_time = 812,
kliquid_info_transport_volume = 813,
kliquid_info_transport_volume_pm_vindex = 814,
kliquid_info_mix_pm_vindex = 815,
kliquid_info_plld_pm_vindex = 800,
kliquid_info_plld_threshold,
kliquid_info_plld_zm_vel,
kliquid_info_empty_tip_pm_vindex,
kliquid_info_blowout_air_volume,
kliquid_info_blowout_air_pm_vindex,
kliquid_info_over_aspirated_volume,
kliquid_info_over_aspirated_pm_vindex,
kliquid_info_aspiration_pm_vindex_low,
kliquid_info_aspiration_pm_vindex_high,
kliquid_info_aspiration_volume_break_val,
kliquid_info_volume_calibration_coefficient_b,
kliquid_info_volume_calibration_coefficient_k,
kliquid_info_settling_time,
kliquid_info_transport_volume,
kliquid_info_transport_volume_pm_vindex,
kliquid_info_mix_pm_vindex,
} liquid_info_index_t;

130
sdk/components/pipette_module/pipette_ctrl_module.cpp
View File

@ -5,9 +5,9 @@
#include "sdk\components\zcancmder\protocol_event_bus_sender.hpp"
//
#include "base/pipette_marco_utils.hpp"
#include "sdk/chip/exhal/stm32_exhal_uart.hpp"
#include "sdk\components\exception\zapp_exception.hpp"
#include "sdk\components\exception\zapp_thread_stoped_exception.hpp"
#define TAG "PipetteModule"
using namespace iflytop;
@ -22,27 +22,71 @@ void PipetteModule::initialize(int32_t id, hardward_config_t *hardwaredcfg) { /
m_zm = hardwaredcfg->zmotor;
m_zm0p = hardwaredcfg->zmotor_0point;
// m_smtp2.pump_init(zm_default_cfg.pump_vmax);
// osDelay(3000);
// m_smtp2.write_cmd("/1?23R\r");
m_zm->getGState(); // 读取状态，清空下复位标识
m_piette_gun_io1.initAsInput(hardwaredcfg->IO1, ZGPIO::kMode_pullup, ZGPIO::kIRQ_noIrq, hardwaredcfg->IO1Mirror);
// ZASSERT(hardwaredcfg->uart232);
// EXHAL_UART_BindUart("pipette-uart232", hardwaredcfg->uart232);
// EXHAL_UART_RegListener(hardwaredcfg->uart232, [this](UART_HandleTypeDef *huart, uint8_t *data, size_t len) {
// printf("!rx(%d): ", len);
// if (len > 0) {
// printf("%c", data[0]);
// }
// printf("\n");
// });
// EXHAL_UART_ITStartAutoRead(hardwaredcfg->uart232);
m_smtp2.pump_set_pressure_data_stream_port(0); //
// EXHAL_UART_BindUart("pipette-uart", hardwaredcfg->uart);
// EXHAL_UART_RegListener(hardwaredcfg->uart, [this](UART_HandleTypeDef *huart, uint8_t *data, size_t len) {
// printf("!rx(%d): ", len);
// for (size_t i = 0; i < len; i++) {
// printf("%c", data[i]);
// }
// printf("\n");
// });
// EXHAL_UART_DMAStartAutoRead(hardwaredcfg->uart);
// EXHAL_UART_TransmitStringBlock(hardwaredcfg->uart, "/1QR\r");
// HAL_Delay(1000);
// EXHAL_UART_TransmitStringBlock(hardwaredcfg->uart232, "/1QR\r");
test_connectivity();
parameter_init();
}
void PipetteModule::test_connectivity() {
bool io1_connected = false;
bool io1_reverse = false;
bool uart485_connected = false;
bool uart232_connected = false;
//! 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
uart485_connected = m_smtp2.pump_ping();
//! 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);
ZLOGI(TAG, "read io1 state:%d", m_piette_gun_io1.getState());
m_smtp2.pump_set_io1_state(1); // lld输入高
osDelay(100);
ZLOGI(TAG, "read io1 state:%d", m_piette_gun_io1.getState());
m_smtp2.pump_set_io1_mode(0); // lld输入高
if (uart485_connected) {
// 设置IO1为通用输出模式
m_smtp2.pump_set_io1_mode(2);
parameter_init();
// 设置IO1为低电平
m_smtp2.pump_set_io1_state(0);
osDelay(2);
bool io1_state1 = m_piette_gun_io1.getState();
// 设置IO1为高电平
m_smtp2.pump_set_io1_state(1); // lld输入高
osDelay(2);
bool io1_state2 = m_piette_gun_io1.getState();
io1_connected = (!io1_state1 && io1_state2) || (io1_state1 && !io1_state2);
io1_reverse = io1_state1 && !io1_state2;
}
//! 测试232是否联通
uart232_connected = false;
ZLOGI(TAG, "===================== connectivity test report ==========================");
ZLOGI(TAG, "= uart485_connected :%d", uart485_connected);
ZLOGI(TAG, "= io1_connected :%d(%s)", io1_connected, io1_reverse ? "Err:Reverse" : "");
ZLOGI(TAG, "= uart232_connected :%d", uart232_connected);
ZLOGI(TAG, "=");
}
int32_t PipetteModule::module_stop() {
@ -129,11 +173,11 @@ int32_t PipetteModule::pipette_set_platinfo(int32_t cpyid, platinfo_index_t inde
platinfo_t *platinfo = &m_platinfo[cpyid];
switch (index) {
SET_CFG(kplatinfo_work_ref_plane, platinfo->work_ref_plane, val);
SET_CFG(kplatinfo_work_ref_pos, platinfo->work_ref_pos, 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_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: {
@ -151,11 +195,11 @@ int32_t PipetteModule::pipette_get_platinfo(int32_t cpyid, platinfo_index_t inde
platinfo_t *platinfo = &m_platinfo[cpyid];
switch (index) {
GET_CFG(kplatinfo_work_ref_plane, platinfo->work_ref_plane, val);
GET_CFG(kplatinfo_work_ref_pos, platinfo->work_ref_pos, 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_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: {
@ -311,6 +355,7 @@ int32_t PipetteModule::pipette_set_liquid_info(int32_t cpyid, liquid_info_index_
switch (index) {
SET_CFG(kliquid_info_plld_pm_vindex, cfg->plld_pm_vindex, val);
SET_CFG(kliquid_info_plld_threshold, cfg->plld_threshold, val);
SET_CFG(kliquid_info_plld_zm_vel, cfg->plld_zm_vel, val);
SET_CFG(kliquid_info_empty_tip_pm_vindex, cfg->empty_tip_pm_vindex, val);
SET_CFG(kliquid_info_blowout_air_volume, cfg->blowout_air_volume, val);
SET_CFG(kliquid_info_blowout_air_pm_vindex, cfg->blowout_air_pm_vindex, val);
@ -343,6 +388,7 @@ int32_t PipetteModule::pipette_get_liquid_info(int32_t cpyid, liquid_info_index_
switch (index) {
GET_CFG(kliquid_info_plld_pm_vindex, cfg->plld_pm_vindex, val);
GET_CFG(kliquid_info_plld_threshold, cfg->plld_threshold, val);
GET_CFG(kliquid_info_plld_zm_vel, cfg->plld_zm_vel, val);
GET_CFG(kliquid_info_empty_tip_pm_vindex, cfg->empty_tip_pm_vindex, val);
GET_CFG(kliquid_info_blowout_air_volume, cfg->blowout_air_volume, val);
GET_CFG(kliquid_info_blowout_air_pm_vindex, cfg->blowout_air_pm_vindex, val);
@ -658,7 +704,7 @@ 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->work_ref_plane - container_cfg->container_neck_pos + container_cfg->fix_aspiration_depth;
m_state.water_level = 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
@ -680,8 +726,8 @@ void PipetteModule::_do_lld(platinfo_t *platform_info, container_info_t *contain
pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vindex);
// 移动到瓶口
zm_wp_move_to_block(platform_info, container_cfg->container_neck_pos + 50 /*5mm*/, //
kzm_v_default, 0);
zm_move_to_block(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
// 启动lld
@ -691,10 +737,10 @@ 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_wp_move_to_block(platform_info, container_cfg->container_neck_pos + container_cfg->lld_start_search_depth, //
kzm_v_default, 0);
zm_move_to_block(container_cfg->container_neck_pos + container_cfg->lld_start_search_depth, //
kzm_v_default, 0);
// lld,zm移动到瓶底
zm_wp_move_to(platform_info, container_cfg->container_neck_pos - container_cfg->container_depth, kzm_v_lld, 0);
zm_move_to(container_cfg->container_neck_pos + container_cfg->container_depth, kzm_v_lld, liquidinfo->plld_zm_vel);
/**
* @brief 等待压力大于阈值
@ -770,10 +816,9 @@ 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_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
zm_move_to(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
}
pump_move_by_x100nl_block(acfg->mix_volume, liquidinfo->mix_pm_vindex);
if (acfg->mix_llf_enable > 0) zm_stop();
@ -796,10 +841,10 @@ 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_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) //
zm_move_to( //
container_cfg->container_neck_pos + container_cfg->container_depth, // 瓶底
kzm_v_llf, //
compute_zm_llf_vel(aspiration_pm_index, container_cfg) //
);
}
pump_move_by_x100nl_block(x100nl, aspiration_pm_index);
@ -890,18 +935,6 @@ 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_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->work_ref_plane - 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();
}
void PipetteModule::zm_move_by(int32_t dx, int32_t vindex, int32_t vel) {
ZLOGI(TAG, "zm_move_by %d %d", dx);
if (zm_base_cfg.enable_enc != 0) {
@ -1302,7 +1335,7 @@ void PipetteModule::parameter_init() {
* m_platinfo *
***********************************************************************************************************************/
for (int32_t i = 0; i < ARRARY_SIZE(m_platinfo); i++) {
m_platinfo[i].work_ref_plane = 0;
m_platinfo[i].work_ref_pos = 0;
m_platinfo[i].tip_picking_pos = 0;
m_platinfo[i].tip_picking_search_range = 0;
m_platinfo[i].tip_deposit_pos = 0;
@ -1383,6 +1416,7 @@ void PipetteModule::parameter_init() {
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].plld_zm_vel = 0;
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;

17
sdk/components/pipette_module/pipette_ctrl_module.hpp
View File

@ -43,6 +43,13 @@ class PipetteModule : public ZIModule {
UART_HandleTypeDef *uart;
DMA_HandleTypeDef *hdma_rx;
DMA_HandleTypeDef *hdma_tx;
// uart232
UART_HandleTypeDef *uart232;
Pin_t IO1;
bool IO1Mirror;
// 泵机Z轴驱动
TMC51X0 *zmotor = nullptr;
ZGPIO *zmotor_0point = nullptr;
@ -90,6 +97,10 @@ class PipetteModule : public ZIModule {
public:
void initialize(int32_t id, hardward_config_t *hardwaredcfg);
private:
void test_connectivity();
public:
/*******************************************************************************
* Module *
*******************************************************************************/
@ -142,7 +153,7 @@ class PipetteModule : public ZIModule {
virtual int32_t pipette_pump_init_device();
virtual int32_t pipette_pump_take_tip(int32_t tip_pos);
virtual int32_t pipette_pump_put_tip(int32_t pos);
virtual int32_t pipette_pump_pierce_through(int32_t pos);
virtual int32_t pipette_pump_pierce_through(int32_t pos) { return 0; }
virtual int32_t pipette_pump_aspirate_set_param(aspiration_paramid_t param, int32_t val);
virtual int32_t pipette_pump_aspirate();
@ -172,8 +183,8 @@ 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_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_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);

10
sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
View File

@ -34,7 +34,7 @@ void SMTP2V2::initialize(UART_HandleTypeDef* uart, uint8_t id, DMA_HandleTypeDef
bool SMTP2V2::pump_ping() {
int32_t isbusy;
return pump_get_state(&isbusy);
return pump_get_state(&isbusy) == 0;
}
int32_t SMTP2V2::pump_get_state(int32_t* isbusy) {
size_t rxlen = 0;
@ -54,7 +54,7 @@ int32_t SMTP2V2::pump_get_capacitance(int32_t* capacitance) { return pump_get_st
int32_t SMTP2V2::pump_get_pressure(int32_t* pressure) { return pump_get_state_as_int(kstate_pressure_ad, pressure); }
int32_t SMTP2V2::pump_get_tip_state(int32_t* tipison) { return pump_get_state_as_int(kstate_tip_state, tipison); }
int32_t SMTP2V2::pump_get_nl(int32_t* nl) { return pump_get_state_as_int(kstate_pump_pos_nl, nl); }
int32_t SMTP2V2::pump_set_io1_mode(int32_t mode) {
int32_t SMTP2V2::pump_set_io1_mode(int32_t mode) { // 0LLD输出高 1LLD输出低 2通用输出
ZLOGI(TAG, "pump_set_io1_mode %d", mode);
return setstate(true, "/1u%d,%dR\r", kcfg_io1_mode, mode);
}
@ -66,6 +66,12 @@ int32_t SMTP2V2::pump_set_io2_mode(int32_t mode) {
ZLOGI(TAG, "pump_set_io2_mode %d", mode);
return setstate(true, "/1u%d,%dR\r", kcfg_io2_mode, mode);
}
int32_t SMTP2V2::pump_set_pressure_data_stream_port(int32_t val /*0:无 1:232 3:CAN*/) {
ZLOGI(TAG, "pump_set_pressure_data_stream_port %d", val);
return setstate(true, "/1u%d,%dR\r", kcfg_pressure_data_port_channel, val);
}
int32_t SMTP2V2::pump_set_tip_size(TipSize_t size) {
ZLOGI(TAG, "pump_set_tip_size %d", size);
return setstate(true, "/1u%d,%dR\r", kcfg_tip_size, size);

1
sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
View File

@ -198,6 +198,7 @@ class SMTP2V2 {
int32_t pump_set_tip_size(TipSize_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);
int32_t pump_set_pressure_data_stream_port(int32_t val /*0:无 1:232 3:CAN*/);
/***********************************************************************************************************************
* STATE *

50
usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp
View File

@ -6,6 +6,7 @@ extern "C" {
#include "public_service/public_service.hpp"
#include "sdk/components/mini_servo_motor/feite_servo_motor.hpp"
#include "sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp"
#include "sdk/components/pipette_module/pipette_ctrl_module.hpp"
#include "sdk/components/sensors/m3078/m3078_code_scaner.hpp"
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
@ -48,57 +49,38 @@ void Subboard80Cliptip::initialize() {
// &hardwarecfg);
// GService::inst()->getZCanProtocolParser()->registerModule(&module);
// }
#if 0
#if 1
{
static TMC51X0 motor;
static PipetteModuleV2 module;
int subid = 2;
TMC51X0::cfg_t tmc5130cfg = {
.spi = &hspi1,
.csgpio = MOTOR1_CSN,
.ennPin = MOTOR1_ENN,
static TMC51X0 motor;
static PipetteModule module;
int subid = 2;
TMC51X0::cfg_t tmc5130cfg = {
.spi = &hspi1,
.csgpio = MOTOR1_CSN,
.ennPin = MOTOR1_ENN,
};
motor.initialize(&tmc5130cfg);
motor.setMotorShaft(false);
static ZGPIO input[2];
input[0].initAsInput(MOTOR1_REFL, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR1_REFL_MIRROR);
input[1].initAsInput(MOTOR1_REFR, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR1_REFR_MIRROR);
PipetteModuleV2::config_t cfg = {0};
PipetteModuleV2::create_default_cfg(&cfg);
cfg.zm_shaft = MOTOR1_MOTOR_SHAFT;
cfg.zm_one_circle_pulse = MOTOR1_MOTOR_ONE_CIRCLE_PULSE;
cfg.zm_one_circle_pulse_denominator = MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR;
cfg.zm_ihold = MOTOR1_STEPMOTOR_IHOLD;
cfg.zm_irun = MOTOR1_STEPMOTOR_IRUN;
cfg.zm_iholddelay = MOTOR1_STEPMOTOR_IHOLDDELAY;
cfg.zm_iglobalscaler = MOTOR1_STEPMOTOR_IGLOBALSCALER;
cfg.zm_default_velocity = MOTOR1_MOTOR_DEFAULT_VELOCITY;
cfg.zm_min_d = MOTOR1_MIN_D;
cfg.zm_max_d = MOTOR1_MAX_D;
cfg.zm_run_to_zero_speed = MOTOR1_MOTOR_RUN_TO_ZERO_SPEED;
cfg.zm_look_zero_edge_speed = MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED;
cfg.zm_vstart = MOTOR1_MOTOR_VSTART;
cfg.zm_a1 = MOTOR1_MOTOR_A1;
cfg.zm_amax = MOTOR1_MOTOR_AMAX;
cfg.zm_v1 = MOTOR1_MOTOR_V1;
cfg.zm_dmax = MOTOR1_MOTOR_DMAX;
cfg.zm_d1 = MOTOR1_MOTOR_D1;
cfg.zm_vstop = MOTOR1_MOTOR_VSTOP;
cfg.zm_tzerowait = MOTOR1_MOTOR_TZEROWAIT;
cfg.zm_enc_resolution = MOTOR1_ENC_RESOLUTION;
cfg.zm_enable_enc = MOTOR1_ENABLE_ENC_RESOLUTION;
//
PipetteModuleV2::hardward_config_t hardwarecfg = {
PipetteModule::hardward_config_t hardwarecfg = {
.uart = &huart2,
.hdma_rx = hdma_usart2_rx,
.hdma_tx = hdma_usart2_tx,
.uart232 = &huart3,
.IO1 = PB1,
.IO1Mirror = true,
.zmotor = &motor,
.zmotor_0point = &input[0],
};
module.initialize(getmoduleId(subid), &cfg, &hardwarecfg);
module.initialize(getmoduleId(subid), &hardwarecfg);
GService::inst()->getZCanProtocolParser()->registerModule(&module);
ZLOGI(TAG, "subboard80_cliptip pipette module initialized");
}

71
usrc/subboards/subboard80_cliptip/subboard80_cliptip_board.c
View File

@ -174,9 +174,80 @@ static void UART4_Init() {
huart4_enable = true;
}
static void UART3_Init() {
GPIO_InitTypeDef GPIO_InitStruct = {0};
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
huart3.Instance = USART3;
huart3.Init.BaudRate = 38400;
huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_NONE;
huart3.Init.Mode = UART_MODE_TX_RX;
huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart3.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart3) != HAL_OK) {
Error_Handler();
}
GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
hdma1_stream1.Instance = DMA1_Stream1;
hdma1_stream1.Init.Channel = DMA_CHANNEL_4;
hdma1_stream1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma1_stream1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma1_stream1.Init.MemInc = DMA_MINC_ENABLE;
hdma1_stream1.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma1_stream1.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma1_stream1.Init.Mode = DMA_NORMAL;
hdma1_stream1.Init.Priority = DMA_PRIORITY_LOW;
hdma1_stream1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma1_stream1) != HAL_OK) {
Error_Handler();
}
__HAL_LINKDMA(&huart3, hdmarx, hdma1_stream1);
hdma1_stream3.Instance = DMA1_Stream3;
hdma1_stream3.Init.Channel = DMA_CHANNEL_4;
hdma1_stream3.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma1_stream3.Init.PeriphInc = DMA_PINC_DISABLE;
hdma1_stream3.Init.MemInc = DMA_MINC_ENABLE;
hdma1_stream3.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma1_stream3.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma1_stream3.Init.Mode = DMA_NORMAL;
hdma1_stream3.Init.Priority = DMA_PRIORITY_LOW;
hdma1_stream3.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma1_stream3) != HAL_OK) {
Error_Handler();
}
__HAL_LINKDMA(&huart3, hdmatx, hdma1_stream3);
hdma_usart3_rx = &hdma1_stream1;
hdma_usart3_tx = &hdma1_stream3;
hdma1_stream1_enable = true;
hdma1_stream3_enable = true;
HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
}
void subboard80_cliptip_board_init() {
common_hardware_init();
MX_SPI1_Init();
UART2_Init();
UART3_Init();
UART4_Init();
}
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