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update

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zhaohe 2 months ago
parent
f66d987bfd
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68fbf81a9f
2 changed files with 55 additions and 25 deletions
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  1. 16
      sdk/components/pipette_module/base/pipette_cfg.hpp
  2. 64
      sdk/components/pipette_module/pipette_ctrl_module.cpp

16
sdk/components/pipette_module/base/pipette_cfg.hpp
View File

@ -34,6 +34,8 @@ typedef struct {
*/
int32_t tip_type;
int32_t tip_length; // tip长度
int32_t mark; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
} platinfo_t;
typedef enum {
@ -45,6 +47,7 @@ typedef enum {
kplatinfo_transform_pos,
kplatinfo_tip_type,
kplatinfo_tip_length,
kplatinfo_mark,
} platinfo_index_t;
/***********************************************************************************************************************
@ -67,6 +70,7 @@ typedef struct {
int32_t io_trigger_append_distance; //
int32_t pos_devi_tolerance; //
int32_t mres; //
int32_t mark; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
} zm_bcfg_t;
typedef enum {
@ -86,6 +90,7 @@ typedef enum {
kzm_bcfg_io_trigger_append_distance,
kzm_bcfg_pos_devi_tolerance,
kzm_bcfg_mres,
kzm_bcfg_mark,
} zm_bcfg_index_t;
/***********************************************************************************************************************
@ -93,9 +98,11 @@ typedef enum {
***********************************************************************************************************************/
typedef struct {
int32_t pad;
int32_t mark; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
} pump_bcfg_t;
typedef enum {
kpm_bcfg_pad,
kpm_bcfg_mark,
} pm_bcfg_index_t;
/***********************************************************************************************************************
@ -110,6 +117,7 @@ typedef struct {
int32_t d1;
int32_t vstop;
int32_t vmax;
int32_t mark; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
} zm_vcfg_t;
typedef enum {
@ -121,6 +129,7 @@ typedef enum {
kzm_vcfg_d1,
kzm_vcfg_vstop,
kzm_vcfg_vmax,
kzm_vcfg_mark,
} zm_vcfg_index_t;
/***********************************************************************************************************************
@ -132,6 +141,7 @@ typedef struct {
int32_t vstart;
int32_t vstop;
int32_t vmax;
int32_t mark; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
} pm_vcfg_t;
typedef enum {
@ -140,6 +150,7 @@ typedef enum {
kpm_vcfg_vstart, // 启动速度 ul/s (0...319)
kpm_vcfg_vstop, // 停止速度 ul/s (0...319)
kpm_vcfg_vmax, // 最大速度 ul/s (0...2552)
kpm_vcfg_mark, // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
} pm_vcfg_index_t;
/***********************************************************************************************************************
@ -158,6 +169,7 @@ typedef struct {
int32_t fix_aspiration_depth; // 固定吸液深度((0.1mm)，当lld失能时，移液枪先移动到这个位置，然后开始吸液
int32_t llf_vconvert_coneff; // 液面跟随转换系数 0.0001 llf_zm_vel = aspiration_pm_vel * llf_vconvert_coneff * 0.0001
int32_t pierce_depth; // 穿刺深度(0.1mm)，用于刺破容器防尘膜
int32_t mark; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
} container_info_t;
typedef enum {
@ -173,6 +185,7 @@ typedef enum {
kcontainer_info_fix_aspiration_depth,
kcontainer_info_llf_vconvert_coneff,
kcontainer_info_pierce_depth,
kcontainer_info_mark,
} container_info_index_t;
/***********************************************************************************************************************
@ -261,6 +274,7 @@ typedef struct {
// 混匀pm速率
//
int32_t mix_pm_vindex; // 混匀时泵机速率配置
int32_t mark; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
} liquid_info_t;
typedef enum {
@ -281,5 +295,5 @@ typedef enum {
kliquid_info_transport_volume,
kliquid_info_transport_volume_pm_vindex,
kliquid_info_mix_pm_vindex,
kliquid_info_mark,
} liquid_info_index_t;

64
sdk/components/pipette_module/pipette_ctrl_module.cpp
View File

@ -114,6 +114,8 @@ int32_t PipetteModule::pipette_set_zmbcfg(zm_bcfg_index_t index, int32_t val) {
SET_CFG(kzm_bcfg_io_trigger_append_distance, zmbcfg.io_trigger_append_distance, val);
SET_CFG(kzm_bcfg_pos_devi_tolerance, zmbcfg.pos_devi_tolerance, val);
SET_CFG(kzm_bcfg_mres, zmbcfg.mres, val);
SET_CFG(kzm_bcfg_mark, zmbcfg.mark, val);
default: {
ZLOGE(TAG, "pipette_set_zmbcfg index %d out of range", index);
return err::kparam_out_of_range;
@ -140,6 +142,7 @@ int32_t PipetteModule::pipette_get_zmbcfg(zm_bcfg_index_t index, int32_t *val) {
GET_CFG(kzm_bcfg_io_trigger_append_distance, zmbcfg.io_trigger_append_distance, val);
GET_CFG(kzm_bcfg_pos_devi_tolerance, zmbcfg.pos_devi_tolerance, val);
GET_CFG(kzm_bcfg_mres, zmbcfg.mres, val);
GET_CFG(kzm_bcfg_mark, zmbcfg.mark, val);
default: {
ZLOGE(TAG, "pipette_get_zmbcfg index %d out of range", index);
return err::kparam_out_of_range;
@ -150,6 +153,7 @@ int32_t PipetteModule::pipette_get_zmbcfg(zm_bcfg_index_t index, int32_t *val) {
int32_t PipetteModule::pipette_set_pmbcfg(pm_bcfg_index_t index, int32_t val) {
switch (index) {
SET_CFG(kpm_bcfg_pad, pm_base_cfg.pad, val);
SET_CFG(kpm_bcfg_mark, pm_base_cfg.mark, val);
default: {
ZLOGE(TAG, "pipette_set_pmbcfg index %d out of range", index);
return err::kparam_out_of_range;
@ -160,6 +164,7 @@ int32_t PipetteModule::pipette_set_pmbcfg(pm_bcfg_index_t index, int32_t val) {
int32_t PipetteModule::pipette_get_pmbcfg(pm_bcfg_index_t index, int32_t *val) {
switch (index) {
GET_CFG(kpm_bcfg_pad, pm_base_cfg.pad, val);
GET_CFG(kpm_bcfg_mark, pm_base_cfg.mark, val);
default: {
ZLOGE(TAG, "pipette_get_pmbcfg index %d out of range", index);
return err::kparam_out_of_range;
@ -184,6 +189,7 @@ int32_t PipetteModule::pipette_set_platinfo(int32_t cpyid, platinfo_index_t inde
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);
SET_CFG(kplatinfo_mark, platinfo->mark, val);
default: {
ZLOGE(TAG, "pipette_set_platinfo index %d out of range", index);
return err::kparam_out_of_range;
@ -202,10 +208,12 @@ int32_t PipetteModule::pipette_get_platinfo(int32_t cpyid, platinfo_index_t inde
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_picking_append_distance, platinfo->tip_picking_append_distance, val);
GET_CFG(kplatinfo_tip_deposit_pos, platinfo->tip_deposit_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);
GET_CFG(kplatinfo_mark, platinfo->mark, val);
default: {
ZLOGE(TAG, "pipette_get_platinfo index %d out of range", index);
return err::kparam_out_of_range;
@ -229,6 +237,7 @@ int32_t PipetteModule::pipette_set_zmvcfg(int32_t cpyid, zm_vcfg_index_t index,
SET_CFG(kzm_vcfg_d1, cfg->d1, val);
SET_CFG(kzm_vcfg_vstop, cfg->vstop, val);
SET_CFG(kzm_vcfg_vmax, cfg->vmax, val);
SET_CFG(kzm_vcfg_mark, cfg->mark, val);
default: {
ZLOGE(TAG, "pipette_set_zmvcfg index %d out of range", index);
return err::kparam_out_of_range;
@ -251,6 +260,7 @@ int32_t PipetteModule::pipette_get_zmvcfg(int32_t cpyid, zm_vcfg_index_t index,
GET_CFG(kzm_vcfg_d1, cfg->d1, val);
GET_CFG(kzm_vcfg_vstop, cfg->vstop, val);
GET_CFG(kzm_vcfg_vmax, cfg->vmax, val);
GET_CFG(kzm_vcfg_mark, cfg->mark, val);
default: {
ZLOGE(TAG, "pipette_get_zmvcfg index %d out of range", index);
return err::kparam_out_of_range;
@ -271,6 +281,7 @@ int32_t PipetteModule::pipette_set_pmvcfg(int32_t cpyid, pm_vcfg_index_t index,
SET_CFG(kpm_vcfg_vstart, cfg->vstart, val);
SET_CFG(kpm_vcfg_vstop, cfg->vstop, val);
SET_CFG(kpm_vcfg_vmax, cfg->vmax, val);
SET_CFG(kpm_vcfg_mark, cfg->mark, val);
default: {
ZLOGE(TAG, "pipette_set_pmvcfg index %d out of range", index);
return err::kparam_out_of_range;
@ -290,6 +301,7 @@ int32_t PipetteModule::pipette_get_pmvcfg(int32_t cpyid, pm_vcfg_index_t index,
GET_CFG(kpm_vcfg_vstart, cfg->vstart, val);
GET_CFG(kpm_vcfg_vstop, cfg->vstop, val);
GET_CFG(kpm_vcfg_vmax, cfg->vmax, val);
GET_CFG(kpm_vcfg_mark, cfg->mark, val);
default: {
ZLOGE(TAG, "pipette_get_pmvcfg index %d out of range", index);
return err::kparam_out_of_range;
@ -317,6 +329,7 @@ int32_t PipetteModule::pipette_set_container_info(int32_t cpyid, container_info_
SET_CFG(kcontainer_info_fix_aspiration_depth, cfg->fix_aspiration_depth, val);
SET_CFG(kcontainer_info_llf_vconvert_coneff, cfg->llf_vconvert_coneff, val);
SET_CFG(kcontainer_info_pierce_depth, cfg->pierce_depth, val);
SET_CFG(kcontainer_info_mark, cfg->mark, val);
default: {
ZLOGE(TAG, "pipette_set_container_info index %d out of range", index);
@ -345,6 +358,7 @@ int32_t PipetteModule::pipette_get_container_info(int32_t cpyid, container_info_
GET_CFG(kcontainer_info_fix_aspiration_depth, cfg->fix_aspiration_depth, val);
GET_CFG(kcontainer_info_llf_vconvert_coneff, cfg->llf_vconvert_coneff, val);
GET_CFG(kcontainer_info_pierce_depth, cfg->pierce_depth, val);
GET_CFG(kcontainer_info_mark, cfg->mark, val);
default: {
ZLOGE(TAG, "pipette_get_container_info index %d out of range", index);
return err::kparam_out_of_range;
@ -377,6 +391,7 @@ int32_t PipetteModule::pipette_set_liquid_info(int32_t cpyid, liquid_info_index_
SET_CFG(kliquid_info_transport_volume, cfg->transport_volume, val);
SET_CFG(kliquid_info_transport_volume_pm_vindex, cfg->transport_volume_pm_vindex, val);
SET_CFG(kliquid_info_mix_pm_vindex, cfg->mix_pm_vindex, val);
SET_CFG(kliquid_info_mark, cfg->mark, val);
default: {
ZLOGE(TAG, "pipette_set_liquid_info index %d out of range", index);
@ -410,7 +425,7 @@ int32_t PipetteModule::pipette_get_liquid_info(int32_t cpyid, liquid_info_index_
GET_CFG(kliquid_info_transport_volume, cfg->transport_volume, val);
GET_CFG(kliquid_info_transport_volume_pm_vindex, cfg->transport_volume_pm_vindex, val);
GET_CFG(kliquid_info_mix_pm_vindex, cfg->mix_pm_vindex, val);
GET_CFG(kliquid_info_mark, cfg->mark, val);
default: {
ZLOGE(TAG, "pipette_get_liquid_info index %d out of range", index);
return err::kparam_out_of_range;
@ -1512,22 +1527,23 @@ void PipetteModule::parameter_init() {
/***********************************************************************************************************************
* zmbcfg *
***********************************************************************************************************************/
zmbcfg.shaft = 0; // Z轴电机运动方向调整
zmbcfg.one_circle_pulse = 80; // 电子齿轮比-分子
zmbcfg.one_circle_pulse_denominator = 1; // 电子齿轮比-分母
zmbcfg.ihold = 7; //
zmbcfg.irun = 7; //
zmbcfg.iholddelay = 10; //
zmbcfg.iglobalscaler = 0; //
zmbcfg.min_d = 0; //
zmbcfg.max_d = 0; //
zmbcfg.tzerowait = 0; //
zmbcfg.enc_resolution = 0; //
zmbcfg.enable_enc = 0; //
zmbcfg.dzero = 92; //
zmbcfg.io_trigger_append_distance = 20; //
zmbcfg.pos_devi_tolerance = 20; //
zmbcfg.mres = 0; //
zmbcfg.shaft = 0; // Z轴电机运动方向调整
zmbcfg.one_circle_pulse = 80; // 电子齿轮比-分子
zmbcfg.one_circle_pulse_denominator = 1; // 电子齿轮比-分母
zmbcfg.ihold = 7; //
zmbcfg.irun = 7; //
zmbcfg.iholddelay = 10; //
zmbcfg.iglobalscaler = 0; //
zmbcfg.min_d = 0; //
zmbcfg.max_d = 0; //
zmbcfg.tzerowait = 0; //
zmbcfg.enc_resolution = 0; //
zmbcfg.enable_enc = 0; //
zmbcfg.dzero = 92; //
zmbcfg.io_trigger_append_distance = 20; //
zmbcfg.pos_devi_tolerance = 20; //
zmbcfg.mres = 0; //
zmbcfg.mark = 9973; //
/***********************************************************************************************************************
* pm_base_cfg *
***********************************************************************************************************************/
@ -1538,13 +1554,9 @@ void PipetteModule::parameter_init() {
***********************************************************************************************************************/
memset_int32_t((int32_t *)&m_platinfo[0], -1, sizeof(m_platinfo) / 4);
memset_int32_t((int32_t *)&m_platinfo[0], 0, sizeof(m_platinfo[0]) / 4);
m_platinfo[0].work_ref_pos = 0;
m_platinfo[0].tip_picking_pos = 0;
m_platinfo[0].tip_picking_search_range = 0;
m_platinfo[0].tip_deposit_pos = 0;
// m_platinfo[0].transform_pos = 0; //
m_platinfo[0].tip_type = smtp2::TS200UL;
m_platinfo[0].tip_length = 500; // 50mm
m_platinfo[0].tip_length = 500; // 50mm
m_platinfo[0].mark = 9973; //
/***********************************************************************************************************************
* m_zm_vcfg *
@ -1559,6 +1571,7 @@ void PipetteModule::parameter_init() {
m_zm_vcfg[kzm_v_default].d1 = 200;
m_zm_vcfg[kzm_v_default].vstop = 400;
m_zm_vcfg[kzm_v_default].vmax = 1200;
m_zm_vcfg[kzm_v_default].mark = 9973;
m_zm_vcfg[kzm_v_move_to_zero].vmax = 600;
m_zm_vcfg[kzm_v_look_zero_edge].vmax = 100;
@ -1576,8 +1589,9 @@ void PipetteModule::parameter_init() {
m_pm_vcfg[kpm_v_default].dec = 1;
m_pm_vcfg[kpm_v_default].vstart = 100;
m_pm_vcfg[kpm_v_default].vstop = 50;
m_pm_vcfg[kpm_v_default].vmax = 2500;
m_pm_vcfg[kpm_v_default].mark = 9973;
//
m_pm_vcfg[kpm_v_default].vmax = 2500;
m_pm_vcfg[kpm_v_slow_lv1].vmax = 5;
m_pm_vcfg[kpm_v_slow_lv2].vmax = 10;
@ -1593,6 +1607,7 @@ void PipetteModule::parameter_init() {
memset_int32_t((int32_t *)&m_container_info[0], -1, sizeof(m_container_info) / 4);
memset_int32_t((int32_t *)&m_container_info[0], 0, sizeof(m_container_info[0]) / 4);
m_container_info[0].leaving_height = 150;
m_container_info[0].mark = 9973;
/***********************************************************************************************************************
* m_liquid_info *
@ -1618,4 +1633,5 @@ void PipetteModule::parameter_init() {
m_liquid_info[0].transport_volume = 50; // 50(x100nl) == 5ul
m_liquid_info[0].transport_volume_pm_vindex = kpm_v_slow_lv2;
m_liquid_info[0].mix_pm_vindex = kpm_v_max;
m_liquid_info[0].mark = 9973;
}
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