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update

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zhaohe 11 months ago
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2e9fec51b0
3 changed files with 36 additions and 26 deletions
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  1. 48
      sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
  2. 6
      sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
  3. 8
      sdk/components/zcancmder/zcan_protocol_parser.cpp

48
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 400
#define PIPETTE_PREPARE_POS 550
#define LLD_PREPARE_DISTRIBUT_POS 100
#define LLF_DPOS 1000
#define ASPIRATE_POS 100
#define ASPIRATE_POS 150
using namespace iflytop;
// using namespace pipette_module_v3;
@ -77,8 +77,8 @@ void PipetteModuleV2::create_default_cfg(config_t *defaultcfg) {
defaultcfg->aspirate_pump_vel = 500; //
defaultcfg->pump_vmax = 1000;
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 = 110;
defaultcfg->lld_pump_vel = 80; // lld推荐使用速度为50->200,这里
defaultcfg->lld_motor_vel_rpm = 80;
defaultcfg->lld_detect_period_ms = 1; // 100ms
defaultcfg->lld_prepare_pos = PIPETTE_PREPARE_POS;
defaultcfg->lld_prepare_pre_distribut_ul = LLD_PREPARE_DISTRIBUT_POS;
@ -345,12 +345,12 @@ int32_t PipetteModuleV2::pipette_lld_prepare() {
return 0;
}
int32_t PipetteModuleV2::pipette_lld_test(int32_t zdpos) { //
return do_pipette_lld(true, kplld, zdpos, 100, 1000);
int32_t PipetteModuleV2::pipette_lld_test(int32_t startpos, int32_t zdpos) { //
return do_pipette_lld(true, kplld, startpos, zdpos, 100, 1000);
}
int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t zdpos, int32_t c_threshold, int32_t p_threshold) { //
return do_pipette_lld(false, lldtype, zdpos, c_threshold, p_threshold);
int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t startpos, int32_t zdpos, int32_t c_threshold, int32_t p_threshold) { //
return do_pipette_lld(false, lldtype, startpos, zdpos, c_threshold, p_threshold);
}
int32_t PipetteModuleV2::pipette_lld_is_detect_liquid(int32_t *detect) {
@ -426,9 +426,11 @@ 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, -10);
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++) {
// }
}
// stop
@ -616,15 +618,15 @@ void PipetteModuleV2::do_pipette_zmotor_move_to_zero_point_quick() {
throw zapp_exception(err::kstep_motor_lost_step);
}
}
int32_t PipetteModuleV2::do_pipette_lld(bool recorddata, int32_t lldtype /*kclld = 0,kplld = 1, kmixlld = 2, */, int32_t zdpos, int32_t c_threshold, int32_t p_threshold) {
int32_t PipetteModuleV2::do_pipette_lld(bool recorddata, int32_t lldtype, int32_t startpos, int32_t zdpos, int32_t c_threshold, int32_t p_threshold) {
// 检查泵机是否初始化过
if (lldtype < 0 || lldtype > klldtypemax) {
return err::kparam_out_of_range;
}
THREAD_START_WORK([this, recorddata, lldtype, zdpos, c_threshold, p_threshold]() { //
m_state.lld_prepared = 0; // 失效m_state.lld_prepared
THREAD_START_WORK([this, recorddata, lldtype, startpos, zdpos, c_threshold, p_threshold]() { //
m_state.lld_prepared = 0; // 失效m_state.lld_prepared
int32_t start_capacitance = 0; // 启动时电容数值
int32_t start_pressure = 0; // 启动时压力数值
@ -645,7 +647,10 @@ int32_t PipetteModuleV2::do_pipette_lld(bool recorddata, int32_t lldtype /*kclld
ZLOGI(TAG, "lld before distribut ok");
ZLOGI(TAG, "start lld");
zm_move_by(zdpos, m_cfg.lld_motor_vel_rpm);
bool moveToStartPos = false;
zm_move_to(startpos, m_cfg.zm_default_velocity);
osDelay(10);
if (lldtype == kclld) {
DO_IN_THREAD(m_smtp2.pump_clld(c_threshold));
@ -690,11 +695,16 @@ int32_t PipetteModuleV2::do_pipette_lld(bool recorddata, int32_t lldtype /*kclld
// 电机停了也没有探测到液面
if (m_zm->isStoped()) {
ZLOGI(TAG, "motorstoped,but not detect liquid");
creg.module_errorcode = 0;
m_state.detected_liquid = 0;
if (recorddata) push_snesor_sample_data(motorpos, capacitance, pressure);
break;
if (!moveToStartPos) {
zm_move_by(zdpos, m_cfg.lld_motor_vel_rpm);
moveToStartPos = true;
} else {
ZLOGI(TAG, "motorstoped,but not detect liquid");
creg.module_errorcode = 0;
m_state.detected_liquid = 0;
if (recorddata) push_snesor_sample_data(motorpos, capacitance, pressure);
break;
}
}
if (recorddata) push_snesor_sample_data(motorpos, capacitance, pressure);

6
sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
View File

@ -170,8 +170,8 @@ class PipetteModuleV2 : public ZIModule {
virtual int32_t pipette_init_device();
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_test(int32_t zdpos);
virtual int32_t pipette_lld(int32_t lldtype /*kclld = 0,kplld = 1, kmixlld = 2, */, int32_t startpos, int32_t zdpos, int32_t c_threshold, int32_t p_threshold);
virtual int32_t pipette_lld_test(int32_t startpos, int32_t zdpos);
virtual int32_t pipette_lld_is_detect_liquid(int32_t *detect);
virtual int32_t pipette_aspirate_prepare();
@ -204,7 +204,7 @@ class PipetteModuleV2 : public ZIModule {
private:
void do_zm_move_0p();
void do_pipette_zmotor_move_to_zero_point_quick();
int32_t do_pipette_lld(bool recorddata, int32_t lldtype /*kclld = 0,kplld = 1, kmixlld = 2, */, int32_t zdpos, int32_t c_threshold, int32_t p_threshold);
int32_t do_pipette_lld(bool recorddata, int32_t lldtype, int32_t startpos, int32_t zdpos, int32_t c_threshold, int32_t p_threshold);
private:
int32_t zm_get_now_pos();

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

@ -986,8 +986,8 @@ int32_t ZCanProtocolParser::pipette_lld_prepare(cmdcontxt_t* cxt) {
return module->pipette_lld_prepare();
}
int32_t ZCanProtocolParser::pipette_lld(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(4);
return module->pipette_lld(cxt->params[0], cxt->params[1], cxt->params[2], cxt->params[3]);
CHECK_AND_GET_MODULE(5);
return module->pipette_lld(cxt->params[0], cxt->params[1], cxt->params[2], cxt->params[3], cxt->params[4]);
}
int32_t ZCanProtocolParser::pipette_aspirate_prepare(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
@ -1073,8 +1073,8 @@ int32_t ZCanProtocolParser::pipette_lld_is_detect_liquid(cmdcontxt_t* cxt) {
}
// pipette_lld_test
int32_t ZCanProtocolParser::pipette_lld_test(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->pipette_lld_test(cxt->params[0]);
CHECK_AND_GET_MODULE(2);
return module->pipette_lld_test(cxt->params[0],cxt->params[1]);
}
#undef MODULE_CLASS
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