update

dap/dap.cfg

@@ -0,0 +1,3 @@
+adapter driver cmsis-dap
+transport select swd
+source [find target/stm32f4x.cfg]

doc/DAP烧录.md

@@ -0,0 +1 @@
+https://cloud.tencent.com/developer/article/1840792

flush_bydap.bat

@@ -0,0 +1 @@
+openocd.exe -f ./dap/dap.cfg  -c "init; reset halt; wait_halt; flash write_image erase ./Debug/a8000_subboard.hex" -c reset -c shutdown

rst_bydap.bat

@@ -0,0 +1 @@
+openocd.exe -f ./dap/dap.cfg  -c "init;reset;shutdown" 

sdk/components/api/zi_module.hpp

@@ -1,5 +1,6 @@
 #pragma once
 #include <stdint.h>
+#include "version.h"
 
 #include <functional>
 

sdk/components/pipette_module/base/pipette_cfg.hpp

@@ -19,6 +19,7 @@ typedef struct {
   int32_t platform_info_cpyid;                   // 平台信息的副本ID
   int32_t each_action_delay_time;                // 每个动作之间的延时，单位ms (动作调试使用)
   int32_t aspirate_pressure_report_extend_time;  // 吸取时，额外压力上报时长
+  int32_t lld_enable_protect;                    // 是否使能lld保护
   int32_t max;
 } common_cfg_t;
 
@@ -27,15 +28,17 @@ typedef enum {
   kpipette_common_cfg_platform_info_cpyid,                   // 平台信息的副本ID
   kpipette_common_cfg_each_action_delay_time,                // 每个动作之间的延时，单位ms (动作调试使用)
   kpipette_common_cfg_aspirate_pressure_report_extend_time,  // 吸取时，额外压力上报时长
+  kpipette_common_cfg_lld_enable_protect,                     // 是否使能lld保护
   kpipette_common_cfg_max,
 } pipette_common_cfg_index_t;
 
 static inline const char *common_cfg_index_to_string(pipette_common_cfg_index_t index) {
   switch (index) {
     CASE_ENUM_TO_STRING(kpipette_common_cfg_pressure_record_enable)
-    CASE_ENUM_TO_STRING(kpipette_common_cfg_platform_info_cpyid)     // 平台信息的副本ID
-    CASE_ENUM_TO_STRING(kpipette_common_cfg_each_action_delay_time)  // 每个动作之间的延时，单位ms (动作调试使用)
+    CASE_ENUM_TO_STRING(kpipette_common_cfg_platform_info_cpyid)                   // 平台信息的副本ID
+    CASE_ENUM_TO_STRING(kpipette_common_cfg_each_action_delay_time)                // 每个动作之间的延时，单位ms (动作调试使用)
     CASE_ENUM_TO_STRING(kpipette_common_cfg_aspirate_pressure_report_extend_time)  // 吸取时，额外压力上报时长
+    CASE_ENUM_TO_STRING(kpipette_common_cfg_lld_enable_protect)                     // 是否使能lld保护
     CASE_ENUM_TO_STRING(kpipette_common_cfg_max)
   }
   return "unknown";
@@ -447,6 +450,7 @@ static inline const char *liquid_info_index_to_string(liquid_info_index_t index)
     CASE_ENUM_TO_STRING(kliquid_info_plld_pm_vcpyid);
     CASE_ENUM_TO_STRING(kliquid_info_plld_threshold);
     CASE_ENUM_TO_STRING(kliquid_info_plld_zm_vel);
+    CASE_ENUM_TO_STRING(kliquid_info_plld_invasion_depth);
     CASE_ENUM_TO_STRING(kliquid_info_empty_tip_pm_vcpyid);
     CASE_ENUM_TO_STRING(kliquid_info_blowout_air_volume);
     CASE_ENUM_TO_STRING(kliquid_info_blowout_air_pm_vcpyid);
@@ -464,9 +468,8 @@ static inline const char *liquid_info_index_to_string(liquid_info_index_t index)
     CASE_ENUM_TO_STRING(kliquid_info_jet_pm_vcpyid);
     CASE_ENUM_TO_STRING(kliquid_info_distribu_pm_vpyid);
     CASE_ENUM_TO_STRING(kliquid_info_mark);
-    default:
-      return "unknown liquid info index";
   }
+  return "unkown_index";
 }
 
 #undef CASE_ENUM_TO_STRING

sdk/components/pipette_module/pipette_ctrl_module.cpp

@@ -408,7 +408,13 @@ int32_t PipetteModule::pipette_pump_aspirate() {
     adjust_container_pos(&acfg->container_pos, m_common_cfg.platform_info_cpyid);
 
     if (acfg->lld_enable) {
-      _do_lld(acfg->container_pos, platform_info, container_cfg, liquidinfo);  // 液面探测
+      bool lld_enable_protect = false;
+      if (acfg->lld_enable_protect < 0) {
+        lld_enable_protect = acfg->lld_enable_protect;
+      } else {
+        lld_enable_protect = m_common_cfg.lld_enable_protect;  // 使用全局配置
+      }
+      _do_lld(acfg->container_pos, platform_info, container_cfg, liquidinfo, m_common_cfg.lld_enable_protect);  // 液面探测
     } else {
       m_state.water_level = acfg->container_pos + container_cfg->fix_water_level_depth;  // 没有使用lld，使用固定深度
     }
@@ -432,10 +438,19 @@ int32_t PipetteModule::pipette_pump_aspirate() {
   return 0;
 }
 
-void PipetteModule::_do_lld(int32_t container_pos, platinfo_t *platform_info, container_info_t *container_cfg, liquid_info_t *liquidinfo) {
+void PipetteModule::_do_lld(int32_t container_pos, platinfo_t *platform_info, container_info_t *container_cfg, liquid_info_t *liquidinfo, int32_t enable_lld_project) {
   int32_t ecode          = 0;
   int32_t start_pressure = 0;
 
+  int32_t lld_end_pos = container_pos + container_cfg->container_depth - container_cfg->lld_end_pos_margin;
+  if (enable_lld_project) {
+    int32_t lld_limit_end_pos = container_pos + platform_info->tip_length - container_cfg->immersion_depth;
+    if (lld_end_pos > lld_limit_end_pos) {
+      lld_end_pos = lld_limit_end_pos;  // 限制lld_end_pos不能超过瓶口
+      ZLOGW(TAG, "lld_end_pos %d is larger than lld_limit_end_pos %d, set lld_end_pos to lld_limit_end_pos", lld_end_pos, lld_limit_end_pos);
+    }
+  }
+
   // 移动到转移位置
   ZLOGI(TAG, "-->zm move to transform pos");
   zm_move_to_block(get_zmotor_standby_pos(), kzm_v_default, 0);
@@ -445,11 +460,6 @@ void PipetteModule::_do_lld(int32_t container_pos, platinfo_t *platform_info, co
   pump_move_to_x100nl_block(300 /*30ul*/, kpm_v_max);  // 为lld清空tip，提供一定空气柱
   action_delay();
 
-  // 移动到瓶口
-  ZLOGI(TAG, "-->zm move to container neck pos");
-  zm_move_to_block(container_pos - 50 /*5mm*/, kzm_v_default, 0);
-  action_delay();
-
   // 启动lld
   ZLOGI(TAG, "-->start lld, lld_pm_vindex %d plld_threshold %d", liquidinfo->plld_pm_vcpyid, liquidinfo->plld_threshold);
   DO_IN_THREAD(m_smtp2.pump_set_io1_mode(1));  // lld输入高
@@ -459,13 +469,6 @@ void PipetteModule::_do_lld(int32_t container_pos, platinfo_t *platform_info, co
   m_smtp2.pump_get_pressure(&start_pressure);
   ZLOGI(TAG, "-->start lld , start_pressure is %d", start_pressure);
 
-  if (m_common_cfg.pressure_record_enable) {
-    int32_t nopos    = zm_get_now_pos();
-    int32_t pressure = 0;
-    m_smtp2.pump_get_pressure(&pressure);
-    push_pressure_sample_data(nopos, pressure);
-  }
-
 #if 1
   pump_do_lld(liquidinfo->plld_threshold, 200, liquidinfo->plld_pm_vcpyid);  // lld延时200ms，速度为plld_zm_vel
   osDelay(110);                                                              // 等待lld启动
@@ -473,12 +476,18 @@ void PipetteModule::_do_lld(int32_t container_pos, platinfo_t *platform_info, co
   pump_start_lld(2400, liquidinfo->plld_pm_vcpyid);
 #endif
 
+  if (m_common_cfg.pressure_record_enable) {
+    int32_t nopos    = zm_get_now_pos();
+    int32_t pressure = 0;
+    m_smtp2.pump_get_pressure(&pressure);
+    push_pressure_sample_data(nopos, pressure);
+  }
+
   // 快速移动到瓶口
   ZLOGI(TAG, "-->zm move quick to lld search start pos");
   zm_move_to_lld_start_search_pos_block(container_pos, container_cfg, kzm_v_default, 0);
   // lld,zm移动到瓶底
-  ZLOGI(TAG, "-->zm move slow to container bottom pos");
-  int32_t lld_end_pos = container_pos + container_cfg->container_depth - container_cfg->lld_end_pos_margin;
+  ZLOGI(TAG, "-->zm move slow to lld end pos");
   zm_move_to(lld_end_pos, kzm_v_lld, liquidinfo->plld_zm_vel);
 
   /**
@@ -498,7 +507,7 @@ void PipetteModule::_do_lld(int32_t container_pos, platinfo_t *platform_info, co
       water_level   = zm_get_now_pos() - liquidinfo->plld_invasion_depth;
       detect_liquid = true;
       m_zm->stop();
-      ZLOGI(TAG, "-->detect liquid, water_level %d", water_level);
+      ZLOGI(TAG, "-->detect liquid, plld_invasion_depth:%d water_level %d", liquidinfo->plld_invasion_depth, water_level);
       break;
     }
     if (!m_common_cfg.pressure_record_enable) {

sdk/components/pipette_module/pipette_ctrl_module.hpp

@@ -306,7 +306,7 @@ class PipetteModule : public ZIModule {
 
   virtual int32_t pipette_pump_aspirate_set_param(aspiration_paramid_t param, int32_t val);
   virtual int32_t pipette_pump_aspirate();
-  void            _do_lld(int32_t container_pos, platinfo_t *platform_info, container_info_t *container_cfg, liquid_info_t *liquidinfo);
+  void            _do_lld(int32_t container_pos, platinfo_t *platform_info, container_info_t *container_cfg, liquid_info_t *liquidinfo, int32_t enable_lld_project);
   void            _do_sapirate(platinfo_t *platform_info, container_info_t *container_cfg, liquid_info_t *liquidinfo, aspiration_param_t *acfg);
 
   virtual int32_t pipette_pump_distribu_all_set_param(distribu_all_paramid_t param, int32_t val);

sdk/components/pipette_module/pipette_ctrl_module_test.cpp

@@ -31,7 +31,7 @@ int32_t PipetteModule::pipette_test_pump_move_to_x100nl(int32_t x100nl, int32_t
 int32_t PipetteModule::pipette_test_lld(int32_t container_pos, int32_t container_cpyid, int32_t liquid_cpyid) {
   adjust_container_pos(&container_pos, m_common_cfg.platform_info_cpyid);
   thread_start_work(__FUNCTION__, [this, container_pos, container_cpyid, liquid_cpyid]() {
-    ZLOGI(TAG, "pipette_pump_aspirate");
+    ZLOGI(TAG, "pipette_test_lld container_pos:%d container_cpyid:%d liquid_cpyid:%d", container_pos, container_cpyid, liquid_cpyid);
     if (pump_read_tip_state() == 0) {
       throw zapp_exception(err::kpipette_error_TipDrop);
     }
@@ -42,10 +42,10 @@ int32_t PipetteModule::pipette_test_lld(int32_t container_pos, int32_t container
     DO_IN_THREAD(m_smtp2.pump_set_io1_mode(0));              // lld输入高
 
     platinfo_t       *platform_info = get_platinfo_smart(m_common_cfg.platform_info_cpyid, &m_now_platinfo);
-    liquid_info_t    *liquidinfo    = get_liquid_info_smart(container_cpyid, &m_now_liquid_info);
-    container_info_t *container_cfg = get_container_info_smart(liquid_cpyid, &m_now_container_info);
+    liquid_info_t    *liquidinfo    = get_liquid_info_smart(liquid_cpyid, &m_now_liquid_info);
+    container_info_t *container_cfg = get_container_info_smart(container_cpyid, &m_now_container_info);
 
-    _do_lld(container_pos, platform_info, container_cfg, liquidinfo);
+    _do_lld(container_pos, platform_info, container_cfg, liquidinfo, true);
   });
   return 0;
 }

usrc/main.cpp

@@ -1,6 +1,6 @@
 #include <stddef.h>
 #include <stdio.h>
-
+#include "version.h"
 #include "configs/device_id_mgr.hpp"
 #include "public_service/public_service.hpp"
 #include "sdk/chip/chip.hpp"

usrc/project_configs.h

@@ -1,5 +1,4 @@
 #pragma once
-#include "version.h"
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1

usrc/version.h

@@ -1,2 +1,2 @@
 #pragma once
-#define APP_VERSION           1206
+#define APP_VERSION           1208