project_boditech_vidas_a8000_v3
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a8000_subboard
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update

master
zhaohe 11 months ago
parent
19df8f2e31
commit
718bb0009d
6 changed files with 114 additions and 100 deletions
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  1. 2
      a8000_protocol
  2. 192
      sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
  3. 4
      sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
  4. 6
      sdk/components/zcancmder/zcan_protocol_parser.cpp
  5. 2
      sdk/components/zcancmder/zcan_protocol_parser.hpp
  6. 2
      usrc/subboards/subboard80_cliptip/pri_board.h

2
a8000_protocol

@ -1 +1 @@
Subproject commit 60bf4933a4ad9ef89802826dd5cc253efe4af94d
Subproject commit 6c53aa3ab6e9888e39bcc92f7956d9fc6ad135a9

192
sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
View File

@ -78,8 +78,8 @@ void PipetteModuleV2::create_default_cfg(config_t *defaultcfg) {
defaultcfg->pump_vmax = 1000; defaultcfg->pump_vmax = 1000;
defaultcfg->aspirate_zmotor_max_move_by = 400; // 50mm,tip头的长度 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_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 = 5; // 100ms
defaultcfg->lld_motor_vel_rpm = 150;
defaultcfg->lld_detect_period_ms = 1; // 100ms
defaultcfg->lld_prepare_pos = PIPETTE_PREPARE_POS; defaultcfg->lld_prepare_pos = PIPETTE_PREPARE_POS;
defaultcfg->lld_prepare_pre_distribut_ul = LLD_PREPARE_DISTRIBUT_POS; defaultcfg->lld_prepare_pre_distribut_ul = LLD_PREPARE_DISTRIBUT_POS;
@ -343,100 +343,13 @@ int32_t PipetteModuleV2::pipette_lld_prepare() {
}); });
return 0; return 0;
} }
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 (lldtype < 0 || lldtype > klldtypemax) {
return err::kparam_out_of_range;
int32_t PipetteModuleV2::pipette_lld_test(int32_t zdpos) { //
return do_pipette_lld(true, kplld, zdpos, 100, 1000);
} }
THREAD_START_WORK([this, lldtype, 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
int32_t start_motor_pos = 0; // 启动时电机位置
// 准备
capturedata_num = 0;
// 读取初值
DO_IN_THREAD(m_smtp2.pump_get_capacitance(&start_capacitance));
DO_IN_THREAD(m_smtp2.pump_get_pressure(&start_pressure));
start_motor_pos = m_zm->getXACTUAL();
// 先分配一点体积，消除一些误差。
ZLOGI(TAG, "start lld before distribut %d ul", m_cfg.lld_prepare_pre_distribut_ul);
DO_IN_THREAD(m_smtp2.pump_distribut(m_cfg.pump_vmax, m_cfg.lld_prepare_pre_distribut_ul));
pump_waitfor_stop();
ZLOGI(TAG, "lld before distribut ok");
ZLOGI(TAG, "start lld");
zm_move_by(zdpos, m_cfg.lld_motor_vel_rpm);
osDelay(10);
if (lldtype == kclld) {
DO_IN_THREAD(m_smtp2.pump_clld(c_threshold));
} else if (lldtype == kplld) {
DO_IN_THREAD(m_smtp2.pump_distribut_plld(m_cfg.lld_pump_vel, p_threshold));
} else if (lldtype == kmixlld) {
DO_IN_THREAD(m_smtp2.pump_distribut_mlld(m_cfg.lld_pump_vel, c_threshold, p_threshold));
}
while (true) {
bool motorstoped = false;
int32_t motorerror = 0;
int32_t motorpos = 0;
int32_t capacitance = 0;
int32_t pressure = 0;
// 获取状态
DO_IN_THREAD(m_smtp2.pump_get_capacitance(&capacitance));
DO_IN_THREAD(m_smtp2.pump_get_pressure(&pressure));
motorpos = m_zm->getXACTUAL() - start_motor_pos;
// 液面探测检测
int32_t detect_liquid = 0;
if (lldtype == kclld) {
DO_IN_THREAD(m_smtp2.pump_clld_get_state(&detect_liquid));
} else if (lldtype == kplld) {
DO_IN_THREAD(m_smtp2.pump_distribut_plld_get_state(&detect_liquid));
} else if (lldtype == kmixlld) {
DO_IN_THREAD(m_smtp2.pump_distribut_mlld_get_state(&detect_liquid));
}
// 探测到液面
if (detect_liquid == 1) {
ZLOGI(TAG, "detect liquid");
m_state.detected_liquid = 1;
m_zm->stop();
push_snesor_sample_data(motorpos, capacitance, pressure);
break;
}
// Z轴电机是否停止运动
m_zm->readMotorState(&motorstoped, &motorerror);
if (motorerror != 0) {
creg.module_errorcode = motorerror;
ZLOGI(TAG, "motorerror %d", motorerror);
return;
}
// 电机停了也没有探测到液面
if (motorstoped) {
ZLOGI(TAG, "motorstoped,but not detect liquid");
creg.module_errorcode = 0;
m_state.detected_liquid = 0;
push_snesor_sample_data(motorpos, capacitance, pressure);
return;
}
push_snesor_sample_data(motorpos, capacitance, pressure);
m_thread.sleep(m_cfg.lld_detect_period_ms);
}
});
return 0;
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_is_detect_liquid(int32_t *detect) { int32_t PipetteModuleV2::pipette_lld_is_detect_liquid(int32_t *detect) {
@ -662,6 +575,94 @@ void PipetteModuleV2::do_pipette_zmotor_move_to_zero_point_quick() {
throw zapp_exception(err::kstep_motor_lost_step); 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) {
// 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
int32_t start_capacitance = 0; // 启动时电容数值
int32_t start_pressure = 0; // 启动时压力数值
int32_t start_motor_pos = 0; // 启动时电机位置
// 准备
capturedata_num = 0;
// 读取初值
DO_IN_THREAD(m_smtp2.pump_get_capacitance(&start_capacitance));
DO_IN_THREAD(m_smtp2.pump_get_pressure(&start_pressure));
start_motor_pos = m_zm->getXACTUAL();
// 先分配一点体积，消除一些误差。
ZLOGI(TAG, "start lld before distribut %d ul", m_cfg.lld_prepare_pre_distribut_ul);
DO_IN_THREAD(m_smtp2.pump_distribut(m_cfg.pump_vmax, m_cfg.lld_prepare_pre_distribut_ul));
pump_waitfor_stop();
ZLOGI(TAG, "lld before distribut ok");
ZLOGI(TAG, "start lld");
zm_move_by(zdpos, m_cfg.lld_motor_vel_rpm);
osDelay(10);
if (lldtype == kclld) {
DO_IN_THREAD(m_smtp2.pump_clld(c_threshold));
} else if (lldtype == kplld) {
DO_IN_THREAD(m_smtp2.pump_distribut_plld(m_cfg.lld_pump_vel, p_threshold));
} else if (lldtype == kmixlld) {
DO_IN_THREAD(m_smtp2.pump_distribut_mlld(m_cfg.lld_pump_vel, c_threshold, p_threshold));
}
while (true) {
bool motorstoped = false;
int32_t motorerror = 0;
int32_t motorpos = 0;
int32_t capacitance = 0;
int32_t pressure = 0;
// 获取状态
if (recorddata) {
DO_IN_THREAD(m_smtp2.pump_get_capacitance(&capacitance));
DO_IN_THREAD(m_smtp2.pump_get_pressure(&pressure));
motorpos = m_zm->getXACTUAL() - start_motor_pos;
}
// 液面探测检测
int32_t detect_liquid = 0;
if (lldtype == kclld) {
DO_IN_THREAD(m_smtp2.pump_clld_get_state(&detect_liquid));
} else if (lldtype == kplld) {
DO_IN_THREAD(m_smtp2.pump_distribut_plld_get_state(&detect_liquid));
} else if (lldtype == kmixlld) {
DO_IN_THREAD(m_smtp2.pump_distribut_mlld_get_state(&detect_liquid));
}
// 探测到液面
if (detect_liquid == 1) {
ZLOGI(TAG, "detect liquid");
m_state.detected_liquid = 1;
if (recorddata) push_snesor_sample_data(motorpos, capacitance, pressure);
break;
}
// 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 (recorddata) push_snesor_sample_data(motorpos, capacitance, pressure);
m_thread.sleep(m_cfg.lld_detect_period_ms);
}
});
return 0;
}
int32_t PipetteModuleV2::pipette_zmotor_read_zero_point_state(int32_t *state) { int32_t PipetteModuleV2::pipette_zmotor_read_zero_point_state(int32_t *state) {
*state = zm0p_is_trigger(); *state = zm0p_is_trigger();
@ -943,11 +944,15 @@ void PipetteModuleV2::thread_start_work(const char *fnname, function<void()> fn)
// do fn // do fn
if (fn) fn(); if (fn) fn();
m_zm->stop();
m_smtp2.pump_stop();
// after do // after do
DO_IN_THREAD(m_smtp2.pump_get_motor_pos_ul(&pump_after_pos_ul)); DO_IN_THREAD(m_smtp2.pump_get_motor_pos_ul(&pump_after_pos_ul));
int32_t endpos = zm_get_now_pos(); int32_t endpos = zm_get_now_pos();
m_state.dul = pump_after_pos_ul - pump_before_pos_ul; m_state.dul = pump_after_pos_ul - pump_before_pos_ul;
m_state.dpos = endpos - startpos; m_state.dpos = endpos - startpos;
} catch (const zapp_thread_stoped_exception &e) { // break by usr } catch (const zapp_thread_stoped_exception &e) { // break by usr
ZLOGI(TAG, "break by usr"); ZLOGI(TAG, "break by usr");
m_zm->stop(); m_zm->stop();
@ -958,6 +963,7 @@ void PipetteModuleV2::thread_start_work(const char *fnname, function<void()> fn)
m_smtp2.pump_stop(); m_smtp2.pump_stop();
creg.module_errorcode = e.ecode(); creg.module_errorcode = e.ecode();
} }
creg.module_status = 0; creg.module_status = 0;
ZLOGI(TAG, "<- end work"); ZLOGI(TAG, "<- end work");
}); });

4
sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
View File

@ -171,6 +171,7 @@ class PipetteModuleV2 : public ZIModule {
virtual int32_t pipette_put_tip(); virtual int32_t pipette_put_tip();
virtual int32_t pipette_lld_prepare(); 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(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_is_detect_liquid(int32_t *detect); virtual int32_t pipette_lld_is_detect_liquid(int32_t *detect);
virtual int32_t pipette_aspirate_prepare(); virtual int32_t pipette_aspirate_prepare();
@ -196,8 +197,6 @@ class PipetteModuleV2 : public ZIModule {
private: private:
int32_t module_xxx_reg_impl(int32_t param_id, bool read, int32_t &val); int32_t module_xxx_reg_impl(int32_t param_id, bool read, int32_t &val);
void beforecallfn(const char *fn);
void aftercallfn(const char *fn);
/*********************************************************************************************************************** /***********************************************************************************************************************
* MOTOR * * MOTOR *
@ -205,6 +204,7 @@ class PipetteModuleV2 : public ZIModule {
private: private:
void do_zm_move_0p(); void do_zm_move_0p();
void do_pipette_zmotor_move_to_zero_point_quick(); 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);
private: private:
int32_t zm_get_now_pos(); int32_t zm_get_now_pos();

6
sdk/components/zcancmder/zcan_protocol_parser.cpp
View File

@ -179,6 +179,7 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
REGFN(pipette_zmotor_read_zero_point_state); REGFN(pipette_zmotor_read_zero_point_state);
REGFN(pipette_zmotor_read_dev_status_cache); REGFN(pipette_zmotor_read_dev_status_cache);
REGFN(pipette_lld_is_detect_liquid); REGFN(pipette_lld_is_detect_liquid);
REGFN(pipette_lld_test);
} }
void ZCanProtocolParser::_registerModule(uint16_t id, ZIModule* module) { m_modulers[id] = module; } void ZCanProtocolParser::_registerModule(uint16_t id, ZIModule* module) { m_modulers[id] = module; }
void ZCanProtocolParser::registerModule(ZIModule* module) { void ZCanProtocolParser::registerModule(ZIModule* module) {
@ -1070,5 +1071,10 @@ int32_t ZCanProtocolParser::pipette_lld_is_detect_liquid(cmdcontxt_t* cxt) {
cxt->acklen = 4; cxt->acklen = 4;
return module->pipette_lld_is_detect_liquid(&ack[0]); return module->pipette_lld_is_detect_liquid(&ack[0]);
} }
// 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]);
}
#undef MODULE_CLASS #undef MODULE_CLASS

2
sdk/components/zcancmder/zcan_protocol_parser.hpp
View File

@ -213,6 +213,8 @@ class ZCanProtocolParser : public IZCanReceiverListener {
CMDFN(pipette_zmotor_read_zero_point_state); CMDFN(pipette_zmotor_read_zero_point_state);
CMDFN(pipette_zmotor_read_dev_status_cache); CMDFN(pipette_zmotor_read_dev_status_cache);
CMDFN(pipette_lld_is_detect_liquid); CMDFN(pipette_lld_is_detect_liquid);
CMDFN(pipette_lld_test);
}; };
} // namespace iflytop } // namespace iflytop

2
usrc/subboards/subboard80_cliptip/pri_board.h
View File

@ -47,7 +47,7 @@
#define MOTOR1_STEPMOTOR_IRUN 8 #define MOTOR1_STEPMOTOR_IRUN 8
#define MOTOR1_STEPMOTOR_IHOLDDELAY 10 #define MOTOR1_STEPMOTOR_IHOLDDELAY 10
#define MOTOR1_STEPMOTOR_IGLOBALSCALER 0 #define MOTOR1_STEPMOTOR_IGLOBALSCALER 0
#define MOTOR1_MOTOR_DEFAULT_VELOCITY 500
#define MOTOR1_MOTOR_DEFAULT_VELOCITY 800
#define MOTOR1_MIN_D TMC5130_DEFAULT__MIN_D #define MOTOR1_MIN_D TMC5130_DEFAULT__MIN_D
#define MOTOR1_MAX_D TMC5130_DEFAULT__MAX_D #define MOTOR1_MAX_D TMC5130_DEFAULT__MAX_D
#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 200 #define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 200

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