diff --git a/a8000_subboard.launch b/a8000_subboard.launch
index ead704b..a42d881 100644
--- a/a8000_subboard.launch
+++ b/a8000_subboard.launch
@@ -5,7 +5,7 @@
-
+
@@ -24,22 +24,7 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
@@ -47,20 +32,20 @@
-
+
-
+
-
+
-
+
@@ -93,6 +78,6 @@
-
+
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
index 0e25952..a71fa29 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
@@ -769,6 +769,17 @@ void PipetteModuleV2::push_snesor_sample_data(int32_t motor_pos, int32_t cap_val
capturedata_num++;
}
+int32_t PipetteModuleV2::pipette_get_sensor_sample_data(int32_t index, int32_t *motor_pos, int32_t *cval, int32_t *pval) {
+ if (index > capturedata_num) return err::kparam_out_of_range;
+ *motor_pos = capturedata_buf[index].motor_pos;
+ *cval = capturedata_buf[index].cap_val;
+ *pval = capturedata_buf[index].pressure_val;
+ return 0;
+}
+int32_t PipetteModuleV2::pipette_get_sensor_sample_data_num(int32_t *num) {
+ *num = capturedata_num;
+ return 0;
+}
/***********************************************************************************************************************
* SLICE *
***********************************************************************************************************************/
@@ -799,6 +810,8 @@ int32_t PipetteModuleV2::bfcall(int32_t cmdid, uint8_t *param, int32_t len) {
if (cmdid == kpipette_aspirate_infer_pressure) goto check;
if (cmdid == kpipette_aspirate_infer_eigen_time) goto check;
+ return 0;
+
check:
if (!m_state.enable) {
return err::kstep_motor_not_enable;
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 1d5a458..784643c 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -41,6 +41,8 @@ void StartDefaultTask(void const* argument) { umain(); }
int32_t deviceId = 0;
+
+
static void board_init() {
switch (deviceId) {
case 10:
diff --git a/usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp b/usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp
index 4e909c5..10bbad9 100644
--- a/usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp
+++ b/usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp
@@ -66,28 +66,28 @@ void Subboard80Cliptip::initialize() {
input[1].initAsInput(MOTOR1_REFR, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR1_REFR_MIRROR);
PipetteModuleV2::config_t cfg = {0};
PipetteModuleV2::create_default_cfg(&cfg);
- cfg.motor_shaft = MOTOR1_MOTOR_SHAFT;
- cfg.motor_one_circle_pulse = MOTOR1_MOTOR_ONE_CIRCLE_PULSE;
- cfg.motor_one_circle_pulse_denominator = MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR;
- cfg.motor_ihold = MOTOR1_STEPMOTOR_IHOLD;
- cfg.motor_irun = MOTOR1_STEPMOTOR_IRUN;
- cfg.motor_iholddelay = MOTOR1_STEPMOTOR_IHOLDDELAY;
- cfg.motor_iglobalscaler = MOTOR1_STEPMOTOR_IGLOBALSCALER;
- cfg.motor_default_velocity = MOTOR1_MOTOR_DEFAULT_VELOCITY;
- cfg.motor_min_d = MOTOR1_MIN_D;
- cfg.motor_max_d = MOTOR1_MAX_D;
- cfg.motor_run_to_zero_speed = MOTOR1_MOTOR_RUN_TO_ZERO_SPEED;
- cfg.motor_look_zero_edge_speed = MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED;
- cfg.motor_vstart = MOTOR1_MOTOR_VSTART;
- cfg.motor_a1 = MOTOR1_MOTOR_A1;
- cfg.motor_amax = MOTOR1_MOTOR_AMAX;
- cfg.motor_v1 = MOTOR1_MOTOR_V1;
- cfg.motor_dmax = MOTOR1_MOTOR_DMAX;
- cfg.motor_d1 = MOTOR1_MOTOR_D1;
- cfg.motor_vstop = MOTOR1_MOTOR_VSTOP;
- cfg.motor_tzerowait = MOTOR1_MOTOR_TZEROWAIT;
- cfg.motor_enc_resolution = MOTOR1_ENC_RESOLUTION;
- cfg.motor_enable_enc = MOTOR1_ENABLE_ENC_RESOLUTION;
+ cfg.zm_shaft = MOTOR1_MOTOR_SHAFT;
+ cfg.zm_one_circle_pulse = MOTOR1_MOTOR_ONE_CIRCLE_PULSE;
+ cfg.zm_one_circle_pulse_denominator = MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR;
+ cfg.zm_ihold = MOTOR1_STEPMOTOR_IHOLD;
+ cfg.zm_irun = MOTOR1_STEPMOTOR_IRUN;
+ cfg.zm_iholddelay = MOTOR1_STEPMOTOR_IHOLDDELAY;
+ cfg.zm_iglobalscaler = MOTOR1_STEPMOTOR_IGLOBALSCALER;
+ cfg.zm_default_velocity = MOTOR1_MOTOR_DEFAULT_VELOCITY;
+ cfg.zm_min_d = MOTOR1_MIN_D;
+ cfg.zm_max_d = MOTOR1_MAX_D;
+ cfg.zm_run_to_zero_speed = MOTOR1_MOTOR_RUN_TO_ZERO_SPEED;
+ cfg.zm_look_zero_edge_speed = MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED;
+ cfg.zm_vstart = MOTOR1_MOTOR_VSTART;
+ cfg.zm_a1 = MOTOR1_MOTOR_A1;
+ cfg.zm_amax = MOTOR1_MOTOR_AMAX;
+ cfg.zm_v1 = MOTOR1_MOTOR_V1;
+ cfg.zm_dmax = MOTOR1_MOTOR_DMAX;
+ cfg.zm_d1 = MOTOR1_MOTOR_D1;
+ cfg.zm_vstop = MOTOR1_MOTOR_VSTOP;
+ cfg.zm_tzerowait = MOTOR1_MOTOR_TZEROWAIT;
+ cfg.zm_enc_resolution = MOTOR1_ENC_RESOLUTION;
+ cfg.zm_enable_enc = MOTOR1_ENABLE_ENC_RESOLUTION;
//
cfg.limit_ul = 30;