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update

master
zhaohe 11 months ago
parent
2d72cc7428
commit
19df8f2e31
7 changed files with 70 additions and 57 deletions
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  1. 2
      a8000_protocol
  2. 103
      sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
  3. 2
      sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
  4. 2
      sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
  5. 9
      sdk/components/tmc/ic/ztmc5130.cpp
  6. 8
      sdk/components/zcancmder/zcan_protocol_parser.cpp
  7. 1
      sdk/components/zcancmder/zcan_protocol_parser.hpp

2
a8000_protocol

@ -1 +1 @@
Subproject commit befb0cfa58db25acb9e3a496e5e4414ac8797f88
Subproject commit 60bf4933a4ad9ef89802826dd5cc253efe4af94d

103
sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
View File

@ -60,6 +60,10 @@ void PipetteModuleV2::initialize(int32_t id, config_t *config, hardward_config_t
m_zm = hardwaredcfg->zmotor;
m_zm0p = hardwaredcfg->zmotor_0point;
// m_smtp2.pump_init(m_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
module_active_cfg();
}
@ -75,7 +79,7 @@ void PipetteModuleV2::create_default_cfg(config_t *defaultcfg) {
defaultcfg->aspirate_zmotor_max_move_by = 400; // 50mm,tip头的长度
defaultcfg->lld_pump_vel = 100; // lld推荐使用速度为50->200,这里
defaultcfg->lld_motor_vel_rpm = 200;
defaultcfg->lld_detect_period_ms = 10; // 100ms
defaultcfg->lld_detect_period_ms = 5; // 100ms
defaultcfg->lld_prepare_pos = PIPETTE_PREPARE_POS;
defaultcfg->lld_prepare_pre_distribut_ul = LLD_PREPARE_DISTRIBUT_POS;
@ -324,9 +328,15 @@ int32_t PipetteModuleV2::pipette_put_tip() {
}
int32_t PipetteModuleV2::pipette_lld_prepare() {
if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
THREAD_START_WORK([this]() {
ZLOGI(TAG, "zmotor move to zero");
zm_move_to(0, m_cfg.zm_default_velocity);
zm_waitfor_stop();
ZLOGI(TAG, "pump move to 0 pos");
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 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
pump_waitfor_stop();
m_state.lld_prepared = 1;
@ -335,17 +345,11 @@ int32_t PipetteModuleV2::pipette_lld_prepare() {
}
int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t zdpos, int32_t c_threshold, int32_t p_threshold) {
// 检查泵机是否初始化过
if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
if (lldtype < 0 || lldtype > klldtypemax) {
return err::kparam_out_of_range;
}
// 检查tip头状态
int32_t tipstate = 0;
DO(m_smtp2.pump_get_tip_state(&tipstate));
if (tipstate != 0) return err::kpipette_error_tipisload_when_lld_prepare;
THREAD_START_WORK([this, lldtype, zdpos, c_threshold, p_threshold]() { //
m_state.lld_prepared = 0; // 失效m_state.lld_prepared
@ -435,9 +439,12 @@ int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t zdpos, int32_t c_t
return 0;
}
int32_t PipetteModuleV2::pipette_aspirate_prepare() {
if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
int32_t PipetteModuleV2::pipette_lld_is_detect_liquid(int32_t *detect) {
*detect = m_state.detected_liquid;
return 0;
}
int32_t PipetteModuleV2::pipette_aspirate_prepare() {
THREAD_START_WORK([this]() { //
ZLOGI(TAG, "pipette_aspirate_prepare");
m_state.aspirate_cfg_eigen_time = 0;
@ -473,8 +480,6 @@ int32_t PipetteModuleV2::pipette_aspirate_set_operation_verifi_tolerance(int32_t
}
int32_t PipetteModuleV2::pipette_aspirate(int32_t ul) {
if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
THREAD_START_WORK([this, ul]() {
m_state.lld_prepared = 0;
@ -501,8 +506,6 @@ int32_t PipetteModuleV2::pipette_aspirate(int32_t ul) {
return 0;
}
int32_t PipetteModuleV2::pipette_aspirate_and_verify(int32_t ul) {
if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
THREAD_START_WORK([this, ul]() {
m_state.lld_prepared = 0;
@ -525,8 +528,6 @@ int32_t PipetteModuleV2::pipette_aspirate_and_verify(int32_t ul) {
}
int32_t PipetteModuleV2::pipette_shake_up(int32_t ul, int32_t times) {
if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
THREAD_START_WORK([this, ul, times]() {
//
int32_t dpos = 0;
@ -566,8 +567,6 @@ int32_t PipetteModuleV2::pipette_shake_up(int32_t ul, int32_t times) {
}
int32_t PipetteModuleV2::pipette_aspirate_infer_pressure(int32_t ul) {
if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
THREAD_START_WORK([this, ul]() {
//
ZLOGI(TAG, "pipette_aspirate_infer_pressure %d", ul);
@ -584,8 +583,6 @@ int32_t PipetteModuleV2::pipette_get_aspirate_infer_pressure_result(int32_t *res
return 0;
}
int32_t PipetteModuleV2::pipette_aspirate_infer_eigen_time(int32_t ul) {
if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
//
THREAD_START_WORK([this, ul]() {
//
@ -820,39 +817,38 @@ int32_t PipetteModuleV2::bfcall(int32_t cmdid, uint8_t *param, int32_t len) {
MODULE_BFCALL_DUMP_FN_CALL(cmdid, param32, paramNum);
}
if (cmdid == kpipette_zmotor_move_zero) goto check;
if (cmdid == kpipette_zmotor_move_to_zero_point_quick) {
if (m_state.has_move_to_zero == 0) return err::kstep_motor_not_move_to_zero;
goto check;
}
if (cmdid == kpipette_zmotor_measure_distance) goto check;
if (cmdid == kpipette_zmotor_read_measure_distance_result) goto check;
if (cmdid == kpipette_zmotor_move_by) goto check;
if (cmdid == kpipette_zmotor_move_to) {
if (m_state.has_move_to_zero == 0) return err::kstep_motor_not_move_to_zero;
goto check;
}
if (cmdid == kpipette_zmotor_move_zero) goto motor_check_bf_run;
if (cmdid == kpipette_zmotor_move_to_zero_point_quick) goto motor_move_to_check;
if (cmdid == kpipette_zmotor_measure_distance) goto motor_move_to_check;
if (cmdid == kpipette_zmotor_move_by) goto motor_check_bf_run;
if (cmdid == kpipette_zmotor_move_to) goto motor_move_to_check;
if (cmdid == kpipette_init_device) goto check;
if (cmdid == kpipette_put_tip) goto check;
if (cmdid == kpipette_lld_prepare) goto check;
if (cmdid == kpipette_lld) goto check;
if (cmdid == kpipette_lld) goto motor_check_bf_run;
if (cmdid == kpipette_aspirate_prepare) goto check;
if (cmdid == kpipette_aspirate_set_llf_velocity) goto check;
if (cmdid == kpipette_aspirate_set_operation_verifi_p_thre) goto check;
if (cmdid == kpipette_aspirate_set_operation_verifi_eigen_time) goto check;
if (cmdid == kpipette_aspirate_set_operation_verifi_tolerance) goto check;
if (cmdid == kpipette_aspirate) goto check;
if (cmdid == kpipette_aspirate_and_verify) goto check;
if (cmdid == kpipette_shake_up) goto check;
if (cmdid == kpipette_aspirate) goto motor_check_bf_run;
if (cmdid == kpipette_aspirate_and_verify) goto motor_check_bf_run;
if (cmdid == kpipette_shake_up) goto motor_check_bf_run;
if (cmdid == kpipette_aspirate_infer_pressure) goto check;
if (cmdid == kpipette_aspirate_infer_eigen_time) goto check;
return 0;
motor_move_to_check:
if (m_state.has_move_to_zero == 0) return err::kstep_motor_not_move_to_zero;
goto motor_check_bf_run;
motor_check_bf_run:
if (m_state.enable == 0) return err::kstep_motor_not_enable;
goto check;
check:
if (!m_state.enable) {
return err::kstep_motor_not_enable;
}
if (creg.module_errorcode == err::kstep_motor_subic_reset) {
return creg.module_errorcode;
} else if (creg.module_errorcode == err::kstep_motor_drv_err) {
@ -899,17 +895,17 @@ void PipetteModuleV2::runingcheck() {
// 检查电机状态
{
// auto state = m_zm->getGState();
// if (state.reset) {
// ZLOGE(TAG, "motor reset when run");
// throw zapp_exception(err::kstep_motor_subic_reset);
// } else if (state.uv_cp) {
// ZLOGE(TAG, "motor uv_cp when run");
// throw zapp_exception(err::kstep_motor_uv_cp);
// } else if (state.drv_err) {
// ZLOGE(TAG, "motor drv_err when run");
// throw zapp_exception(err::kstep_motor_drv_err);
// }
auto state = m_zm->getGState();
if (state.reset) {
ZLOGE(TAG, "motor reset when run");
throw zapp_exception(err::kstep_motor_subic_reset);
} else if (state.uv_cp) {
ZLOGE(TAG, "motor uv_cp when run");
throw zapp_exception(err::kstep_motor_uv_cp);
} else if (state.drv_err) {
ZLOGE(TAG, "motor drv_err when run");
throw zapp_exception(err::kstep_motor_drv_err);
}
}
}
@ -925,6 +921,10 @@ void PipetteModuleV2::thread_start_work(const char *fnname, function<void()> fn)
creg.module_status = 1;
creg.module_errorcode = 0;
m_state.detected_liquid = 0;
m_asynchronous_result.result0 = 0;
m_asynchronous_result.result1 = 0;
m_thread.start([this, fnname, fn]() {
osDelay(1);
ZLOGI(TAG, "start work -> %s", fnname);
@ -958,7 +958,6 @@ void PipetteModuleV2::thread_start_work(const char *fnname, function<void()> fn)
m_smtp2.pump_stop();
creg.module_errorcode = e.ecode();
}
creg.module_status = 0;
ZLOGI(TAG, "<- end work");
});

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

@ -171,6 +171,8 @@ class PipetteModuleV2 : public ZIModule {
virtual int32_t pipette_put_tip();
virtual int32_t pipette_lld_prepare();
virtual int32_t pipette_lld(int32_t lldtype /*kclld = 0,kplld = 1, kmixlld = 2, */, int32_t zdpos, int32_t c_threshold, int32_t p_threshold);
virtual int32_t pipette_lld_is_detect_liquid(int32_t *detect);
virtual int32_t pipette_aspirate_prepare();
virtual int32_t pipette_aspirate_set_llf_velocity(int32_t llf_zm_rpm);
virtual int32_t pipette_aspirate_set_operation_verifi_p_thre(int32_t p_thre);

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

@ -48,6 +48,8 @@ int32_t SMTP2V2::pump_get_state_as_int(int32_t state_index, int32_t* val) {
return err::ksucc;
}
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);

9
sdk/components/tmc/ic/ztmc5130.cpp
View File

@ -133,11 +133,12 @@ uint8_t TMC51X0::reset() {
}
int32_t TMC51X0::getXACTUAL() { return to_user_pos(readInt(TMC5130_XACTUAL)); }
void TMC51X0::setXACTUAL(int32_t value) {
// change mode to vel
// set xactual to val
// set xtarget to val
/**
* @brief 切换到速度模式之后再调整位置，防止电机异常移动
*/
rotate(0);
writeInt(TMC5130_XACTUAL, to_motor_pos(value));
writeInt(TMC5130_XTARGET, to_motor_pos(value));
}
int32_t TMC51X0::getVACTUAL() { return to_user_pos(readInt(TMC5130_VACTUAL)); }
void TMC51X0::setAcceleration(float accelerationpps2) { writeInt(TMC5130_AMAX, (int32_t)(to_motor_acc(accelerationpps2))); } // 设置最大加速度

8
sdk/components/zcancmder/zcan_protocol_parser.cpp
View File

@ -178,6 +178,7 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
REGFN(pipette_get_sensor_sample_data_num);
REGFN(pipette_zmotor_read_zero_point_state);
REGFN(pipette_zmotor_read_dev_status_cache);
REGFN(pipette_lld_is_detect_liquid);
}
void ZCanProtocolParser::_registerModule(uint16_t id, ZIModule* module) { m_modulers[id] = module; }
void ZCanProtocolParser::registerModule(ZIModule* module) {
@ -1063,4 +1064,11 @@ int32_t ZCanProtocolParser::pipette_zmotor_read_dev_status_cache(cmdcontxt_t* cx
cxt->acklen = 4;
return module->pipette_zmotor_read_dev_status_cache(&ack[0]);
}
int32_t ZCanProtocolParser::pipette_lld_is_detect_liquid(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
int32_t* ack = (int32_t*)cxt->ackbuf;
cxt->acklen = 4;
return module->pipette_lld_is_detect_liquid(&ack[0]);
}
#undef MODULE_CLASS

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

@ -212,6 +212,7 @@ class ZCanProtocolParser : public IZCanReceiverListener {
CMDFN(pipette_get_sensor_sample_data_num);
CMDFN(pipette_zmotor_read_zero_point_state);
CMDFN(pipette_zmotor_read_dev_status_cache);
CMDFN(pipette_lld_is_detect_liquid);
};
} // namespace iflytop
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