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修复can协议解析BUG,添加移液枪清除悬液功能

master
zhaohe 9 months ago
parent
3e6920ecb8
commit
19dc5dcdf5
9 changed files with 70 additions and 27 deletions
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  1. 2
      a8000_protocol
  2. 4
      sdk/components/pipette_module/pipette_ctrl_module_v1.cpp
  3. 69
      sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
  4. 2
      sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
  5. 6
      sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
  6. 4
      sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
  7. 2
      sdk/components/zcancmder/basic.cpp
  8. 7
      sdk/components/zcancmder/zcan_protocol_parser.cpp
  9. 1
      sdk/components/zcancmder/zcan_protocol_parser.hpp

2
a8000_protocol

@ -1 +1 @@
Subproject commit e4ccf301ebe4edb258ec95a90c2389d8caa394c1
Subproject commit 86de5f61c4bcbb488ba1f03b67e5a5b95bdc074f

4
sdk/components/pipette_module/pipette_ctrl_module_v1.cpp
View File

@ -728,7 +728,7 @@
// creg.module_errorcode = 0;
// m_state.dul = 0;
// DO(module_active_cfg());
// DO(m_smtp2.pump_get_motor_pos_ul(&m_state.pump_before_pos_ul));
// DO(m_smtp2.pump_get_ul(&m_state.pump_before_pos_ul));
// return 0;
// }
@ -748,7 +748,7 @@
// err = creg.module_errorcode;
// if (err != 0) goto tag_err;
// err = m_smtp2.pump_get_motor_pos_ul(&m_state.pump_after_pos_ul);
// err = m_smtp2.pump_get_ul(&m_state.pump_after_pos_ul);
// if (err != 0) goto tag_err;
// m_state.dul = m_state.pump_after_pos_ul - m_state.pump_before_pos_ul;

69
sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
View File

@ -33,10 +33,10 @@
#define THREAD_START_WORK(...) thread_start_work(__FUNCTION__, __VA_ARGS__)
#define PIPETTE_PREPARE_POS 250
#define PIPETTE_PREPARE_POS 450
#define LLD_PREPARE_DISTRIBUT_POS 50
// #define LLF_DPOS 1000
#define ASPIRATE_POS 150
#define ASPIRATE_POS 200
using namespace iflytop;
// using namespace pipette_module_v3;
@ -324,6 +324,7 @@ int32_t PipetteModuleV2::pipette_init_device() {
int32_t PipetteModuleV2::pipette_put_tip() {
THREAD_START_WORK([this]() {
DO_IN_THREAD(m_smtp2.pump_put_tip());
m_state.lld_prepared = 0;
pump_waitfor_stop();
});
return 0;
@ -331,11 +332,6 @@ int32_t PipetteModuleV2::pipette_put_tip() {
int32_t PipetteModuleV2::pipette_lld_prepare() {
THREAD_START_WORK([this]() {
if (m_state.lld_prepared == 1) {
ZLOGI(TAG, "has already prepared");
return;
}
ZLOGI(TAG, "zmotor move to zero");
zm_move_to(0, m_cfg.zm_default_velocity);
zm_waitfor_stop();
@ -347,6 +343,9 @@ int32_t PipetteModuleV2::pipette_lld_prepare() {
DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0)); // 移动到零点
pump_waitfor_stop();
}
ZLOGI(TAG, "pump move to 0");
DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0)); // 移动到中点
pump_waitfor_stop();
ZLOGI(TAG, "pump move to lld_prepare_pos %d", m_cfg.lld_prepare_pos);
DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, m_cfg.lld_prepare_pos)); // 移动到中点
@ -375,17 +374,22 @@ int32_t PipetteModuleV2::pipette_aspirate_prepare() {
ZLOGI(TAG, "pipette_aspirate_prepare");
m_state.load_val_ul = 0;
int32_t nowpos = zm_get_now_pos();
int32_t bak = nowpos - 100;
int32_t bak = nowpos - 200;
if (bak < 0) bak = 0;
zm_move_to(bak, m_cfg.zm_default_velocity);
zm_waitfor_stop();
DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0));
pump_waitfor_stop();
// DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0));
// pump_waitfor_stop();
DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, ASPIRATE_POS));
pump_waitfor_stop();
int32_t nowul;
DO_IN_THREAD(m_smtp2.pump_get_ul(&nowul));
if (nowul > ASPIRATE_POS) {
DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, ASPIRATE_POS));
pump_waitfor_stop();
}
zm_move_to(nowpos, m_cfg.zm_default_velocity);
zm_waitfor_stop();
@ -483,12 +487,12 @@ int32_t PipetteModuleV2::pipette_aspirate(int32_t ul) {
pump_waitfor_stop();
// 全部排空时，多分配10ul去掉挂液
if ((m_state.load_val_ul + dul) == 0) {
m_smtp2.pump_aspirate(m_cfg.aspirate_pump_vel, -50);
pump_waitfor_stop();
// for (size_t i = 0; i < 3; i++) {
// }
}
// if ((m_state.load_val_ul + dul) == 0) {
// m_smtp2.pump_move_to_ul(m_cfg.aspirate_pump_vel, 0);
// pump_waitfor_stop();
// // for (size_t i = 0; i < 3; i++) {
// // }
// }
// stop
m_zm->stop();
@ -538,6 +542,31 @@ int32_t PipetteModuleV2::pipette_aspirate_and_verify(int32_t ul) {
return 0;
}
int32_t PipetteModuleV2::pipette_clear_hanging_liquid(int32_t repeat_times) {
// llf_startz
// llf_endz
THREAD_START_WORK([this, repeat_times]() {
// 全部排空时，多分配10ul去掉挂液
m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0);
pump_waitfor_stop();
m_state.load_val_ul = 0;
int32_t nowpos = zm_get_now_pos();
int32_t pos1 = nowpos - 100;
int32_t pos2 = nowpos - 10;
if (pos1 < 0) pos1 = 0;
if (pos2 < 0) pos2 = 0;
for (int i = 0; i < repeat_times; i++) {
zm_move_to(pos1, m_cfg.zm_default_velocity);
zm_waitfor_stop();
zm_move_to(pos2, m_cfg.zm_default_velocity);
zm_waitfor_stop();
}
});
return 0;
}
int32_t PipetteModuleV2::pipette_shake_up(int32_t ul, int32_t times) {
if (m_state.load_val_ul != 0) {
ZLOGE(TAG, "pipette_shake_up fail, load_val_ul %d != 0", m_state.load_val_ul);
@ -1077,7 +1106,7 @@ void PipetteModuleV2::thread_start_work(const char *fnname, function<void()> fn)
try {
// before do
int32_t startpos = zm_get_now_pos();
// DO_IN_THREAD(m_smtp2.pump_get_motor_pos_ul(&pump_before_pos_ul));
// DO_IN_THREAD(m_smtp2.pump_get_ul(&pump_before_pos_ul));
// do fn
if (fn) fn();
@ -1086,7 +1115,7 @@ void PipetteModuleV2::thread_start_work(const char *fnname, function<void()> fn)
m_smtp2.pump_stop();
// after do
// DO_IN_THREAD(m_smtp2.pump_get_motor_pos_ul(&pump_after_pos_ul));
// DO_IN_THREAD(m_smtp2.pump_get_ul(&pump_after_pos_ul));
int32_t endpos = zm_get_now_pos();
// m_state.dul = pump_after_pos_ul - pump_before_pos_ul;
m_state.dpos = endpos - startpos;

2
sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
View File

@ -202,6 +202,8 @@ class PipetteModuleV2 : public ZIModule {
virtual int32_t pipette_aspirate_and_verify(int32_t ul);
virtual int32_t pipette_shake_up(int32_t ul, int32_t times);
virtual int32_t pipette_clear_hanging_liquid(int32_t repeat_times);
virtual int32_t pipette_aspirate_infer_pressure(int32_t ul);
virtual int32_t pipette_aspirate_infer_eigen_time(int32_t ul);
virtual int32_t pipette_get_aspirate_infer_pressure_result(int32_t *result);

6
sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
View File

@ -48,6 +48,10 @@ int32_t SMTP2V2::pump_get_state_as_int(int32_t state_index, int32_t* val) {
return err::ksucc;
}
// pump_get_state_as_int(kstate_pump_pos_nl, &nownl);
int32_t SMTP2V2::pump_get_capacitance(int32_t* capacitance) { return pump_get_state_as_int(kstate_capacitance, capacitance); }
int32_t SMTP2V2::pump_get_pressure(int32_t* pressure) { //
return pump_get_state_as_int(kstate_pressure_ad, pressure);
@ -55,7 +59,7 @@ int32_t SMTP2V2::pump_get_pressure(int32_t* 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_motor_pos_ul(int32_t* ul) {
int32_t SMTP2V2::pump_get_ul(int32_t* ul) {
int32_t nl = 0;
int32_t ret = pump_get_state_as_int(kstate_pump_pos_nl, &nl);
if (ret != 0) return ret;

4
sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
View File

@ -165,10 +165,12 @@ class SMTP2V2 {
int32_t pump_get_capacitance(int32_t* capacitance);
int32_t pump_get_pressure(int32_t* pressure);
int32_t pump_get_tip_state(int32_t* tipison);
int32_t pump_get_motor_pos_ul(int32_t* ul);
int32_t pump_get_ul(int32_t* ul);
int32_t pump_get_state_as_int(int32_t state_index, int32_t* val);
// pump_get_state_as_int(kstate_pump_pos_nl, &nownl);
/***********************************************************************************************************************
* CONFIG *
***********************************************************************************************************************/

2
sdk/components/zcancmder/basic.cpp
View File

@ -29,7 +29,7 @@ uint8_t *CanPacketRxBuffer::get_params() {
uint16_t CanPacketRxBuffer::get_params_len() { return rxdataSize - sizeof(zcr_cmd_header_t); }
void CanPacketRxBuffer::clear() {
id = 0;
memset(&m_canPacket, 0, sizeof(m_canPacket) / sizeof(m_canPacket[0]));
memset(&m_canPacket, 0, sizeof(m_canPacket)); //fix
m_canPacketNum = 0;
m_npacket = 0;
memset(rxdata, 0, sizeof(rxdata));

7
sdk/components/zcancmder/zcan_protocol_parser.cpp
View File

@ -188,6 +188,7 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
REGFN(pipette_set_lld_p_threshold);
REGFN(pipette_set_llf_startz);
REGFN(pipette_set_llf_endz);
REGFN(pipette_clear_hanging_liquid);
}
void ZCanProtocolParser::_registerModule(uint16_t id, ZIModule* module) { m_modulers[id] = module; }
void ZCanProtocolParser::registerModule(ZIModule* module) {
@ -1119,7 +1120,11 @@ int32_t ZCanProtocolParser::pipette_set_llf_endz(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->pipette_set_llf_endz(cxt->params[0]);
}
// pipette_clear_hanging_liquid
int32_t ZCanProtocolParser::pipette_clear_hanging_liquid(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->pipette_clear_hanging_liquid(cxt->params[0]);
}
#undef MODULE_CLASS

1
sdk/components/zcancmder/zcan_protocol_parser.hpp
View File

@ -221,6 +221,7 @@ class ZCanProtocolParser : public IZCanReceiverListener {
CMDFN(pipette_set_lld_p_threshold);
CMDFN(pipette_set_llf_startz);
CMDFN(pipette_set_llf_endz);
CMDFN(pipette_clear_hanging_liquid);

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