diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index f889596..810d72c 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/a8000_protocol b/a8000_protocol
index c025f34..48fe715 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit c025f34164cd3334f78d8fbcbd42b54e17987153
+Subproject commit 48fe71561ae851deea3de371ef04276fa8d777f9
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
index 8b012aa..0e25952 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
@@ -9,6 +9,9 @@
#define TAG "PipetteModuleV2"
+/***********************************************************************************************************************
+ * MARCO *
+ ***********************************************************************************************************************/
#define ZSLICE(...) ZSlice slice(this, TAG, __FUNCTION__, __VA_ARGS__)
#define DO_IN_THREAD(func) \
{ \
@@ -28,12 +31,18 @@
} \
}
-using namespace iflytop;
-// using namespace pipette_module_v3;
-
#define PIPETTE_PREPARE_POS 800
#define LLD_PREPARE_DISTRIBUT_POS 100
#define LLF_DPOS 1000
+#define ASPIRATE_POS 0
+
+using namespace iflytop;
+// using namespace pipette_module_v3;
+
+static int32_t assign_int32(int32_t *toval, int32_t val) {
+ *toval = val;
+ return 0;
+}
void PipetteModuleV2::initialize(int32_t id, config_t *config, hardward_config_t *hardwaredcfg) { //
ZASSERT(config != nullptr);
@@ -67,15 +76,14 @@ void PipetteModuleV2::create_default_cfg(config_t *defaultcfg) {
cfg.lld_prepare_pos = PIPETTE_PREPARE_POS;
cfg.lld_prepare_pre_distribut_ul = LLD_PREPARE_DISTRIBUT_POS;
- cfg.motor_one_circle_pulse = 10000;
- cfg.motor_one_circle_pulse_denominator = 1;
- cfg.motor_ihold = 1;
- cfg.motor_irun = 3;
- cfg.motor_iholddelay = 100;
- cfg.motor_default_velocity = 500;
- cfg.motor_run_to_zero_speed = 100;
- cfg.motor_look_zero_edge_speed = 100;
-
+ cfg.zm_one_circle_pulse = 10000;
+ cfg.zm_one_circle_pulse_denominator = 1;
+ cfg.zm_ihold = 1;
+ cfg.zm_irun = 3;
+ cfg.zm_iholddelay = 100;
+ cfg.zm_default_velocity = 500;
+ cfg.zm_run_to_zero_speed = 100;
+ cfg.zm_look_zero_edge_speed = 100;
}
int32_t PipetteModuleV2::getid(int32_t *id) {
*id = m_id;
@@ -91,21 +99,21 @@ int32_t PipetteModuleV2::module_active_cfg() {
DO(m_smtp2.pump_set_vstop(m_cfg.pump_vstop));
m_zm->enable(false);
- m_zm->setIHOLD_IRUN(m_cfg.motor_ihold, m_cfg.motor_irun, m_cfg.motor_iholddelay);
- m_zm->setScale(m_cfg.motor_one_circle_pulse);
- m_zm->setScaleDenominator(m_cfg.motor_one_circle_pulse_denominator);
- m_zm->setMotorShaft(m_cfg.motor_shaft);
- m_zm->setGlobalScale(m_cfg.motor_iglobalscaler);
-
- m_zm->set_vstart(m_cfg.motor_vstart);
- m_zm->set_a1(m_cfg.motor_a1);
- m_zm->set_amax(m_cfg.motor_amax);
- m_zm->set_v1(m_cfg.motor_v1);
- m_zm->set_dmax(m_cfg.motor_dmax);
- m_zm->set_d1(m_cfg.motor_d1);
- m_zm->set_vstop(m_cfg.motor_vstop);
- m_zm->set_tzerowait(m_cfg.motor_tzerowait);
- m_zm->set_enc_resolution(m_cfg.motor_enc_resolution);
+ m_zm->setIHOLD_IRUN(m_cfg.zm_ihold, m_cfg.zm_irun, m_cfg.zm_iholddelay);
+ m_zm->setScale(m_cfg.zm_one_circle_pulse);
+ m_zm->setScaleDenominator(m_cfg.zm_one_circle_pulse_denominator);
+ m_zm->setMotorShaft(m_cfg.zm_shaft);
+ m_zm->setGlobalScale(m_cfg.zm_iglobalscaler);
+
+ m_zm->set_vstart(m_cfg.zm_vstart);
+ m_zm->set_a1(m_cfg.zm_a1);
+ m_zm->set_amax(m_cfg.zm_amax);
+ m_zm->set_v1(m_cfg.zm_v1);
+ m_zm->set_dmax(m_cfg.zm_dmax);
+ m_zm->set_d1(m_cfg.zm_d1);
+ m_zm->set_vstop(m_cfg.zm_vstop);
+ m_zm->set_tzerowait(m_cfg.zm_tzerowait);
+ m_zm->set_enc_resolution(m_cfg.zm_enc_resolution);
if (m_state.enable) {
m_zm->enable(true);
@@ -114,8 +122,8 @@ int32_t PipetteModuleV2::module_active_cfg() {
return 0;
}
-#define XXX_CFG_REG(cfgkey, cfg) \
- case cfgkey: { \
+#define XXX_CFG_REG(cfg) \
+ case kreg_pipette_##cfg: { \
if (read) { \
return REG_GET(m_cfg.cfg); \
} else { \
@@ -127,52 +135,58 @@ int32_t PipetteModuleV2::module_active_cfg() {
#define XXX_STATE_REG(statekey, action) PROCESS_REG(statekey, action, ACTION_NONE)
int32_t PipetteModuleV2::_module_xxx_reg(int32_t param_id, bool read, int32_t &val) {
switch (param_id) {
- // XXX_STATE_REG(kreg_pipette_pos_ul, /* */ read_pos_ul(&val));
- // XXX_STATE_REG(kreg_pipette_capactitance_val, /* */ read_capactitance(&val));
- // XXX_STATE_REG(kreg_pipette_tip_state, /* */ read_tip_state(&val));
- // XXX_STATE_REG(kreg_step_motor_pos, getnowpos(val), ACTION_NONE);
- // XXX_STATE_REG(kreg_step_motor_is_enable, REG_GET(m_state.enable), ACTION_NONE);
- // XXX_STATE_REG(kreg_step_motor_has_move_zero, REG_GET(m_state.has_move_to_zero), ACTION_NONE);
- // XXX_CFG_REG(kreg_step_motor_dpos, REG_GET(m_state.dpos), ACTION_NONE);
-
- XXX_CFG_REG(kreg_pipette_limit_ul, limit_ul);
- XXX_CFG_REG(kreg_pipette_pump_acc, pump_acc);
- XXX_CFG_REG(kreg_pipette_pump_dec, pump_dec);
- XXX_CFG_REG(kreg_pipette_pump_vstart, pump_vstart);
- XXX_CFG_REG(kreg_pipette_pump_vstop, pump_vstop);
- XXX_CFG_REG(kreg_pipette_pump_vmax, pump_vmax);
- XXX_CFG_REG(kreg_pipette_aspirate_pump_vel, aspirate_pump_vel);
- XXX_CFG_REG(kreg_pipette_lld_pump_vel, lld_pump_vel);
- XXX_CFG_REG(kreg_pipette_lld_motor_vel_rpm, lld_motor_vel_rpm);
- XXX_CFG_REG(kreg_pipette_lld_detect_period_ms, lld_detect_period_ms);
- XXX_CFG_REG(kreg_pipette_lld_prepare_pos, lld_prepare_pos);
- XXX_CFG_REG(kreg_pipette_lld_prepare_pre_distribut_ul, lld_prepare_pre_distribut_ul);
-
- XXX_CFG_REG(kreg_step_motor_shaft, motor_shaft);
- XXX_CFG_REG(kreg_step_motor_one_circle_pulse, motor_one_circle_pulse);
- XXX_CFG_REG(kreg_step_motor_one_circle_pulse_denominator, motor_one_circle_pulse_denominator);
- XXX_CFG_REG(kreg_step_motor_default_velocity, motor_default_velocity);
- XXX_CFG_REG(kreg_step_motor_run_to_zero_speed, motor_run_to_zero_speed);
- XXX_CFG_REG(kreg_step_motor_look_zero_edge_speed, motor_look_zero_edge_speed);
- XXX_CFG_REG(kreg_step_motor_ihold, motor_ihold);
- XXX_CFG_REG(kreg_step_motor_irun, motor_irun);
- XXX_CFG_REG(kreg_step_motor_iholddelay, motor_iholddelay);
- XXX_CFG_REG(kreg_step_motor_max_d, motor_max_d);
- XXX_CFG_REG(kreg_step_motor_min_d, motor_min_d);
- XXX_CFG_REG(kreg_step_motor_iglobalscaler, motor_iglobalscaler);
-
- XXX_CFG_REG(kreg_step_motor_vstart, motor_vstart);
- XXX_CFG_REG(kreg_step_motor_a1, motor_a1);
- XXX_CFG_REG(kreg_step_motor_amax, motor_amax);
- XXX_CFG_REG(kreg_step_motor_v1, motor_v1);
- XXX_CFG_REG(kreg_step_motor_dmax, motor_dmax);
- XXX_CFG_REG(kreg_step_motor_d1, motor_d1);
- XXX_CFG_REG(kreg_step_motor_vstop, motor_vstop);
- XXX_CFG_REG(kreg_step_motor_tzerowait, motor_tzerowait);
- XXX_CFG_REG(kreg_step_motor_enc_resolution, motor_enc_resolution);
- XXX_CFG_REG(kreg_step_motor_enable_enc, motor_enable_enc);
- XXX_CFG_REG(kreg_step_motor_dzero_pos, motor_dzero);
- XXX_CFG_REG(kreg_step_motor_pos_devi_tolerance, pos_devi_tolerance);
+ /***********************************************************************************************************************
+ * STATE *
+ ***********************************************************************************************************************/
+ XXX_STATE_REG(kreg_pipette_pos_ul, /* */ pump_read_pos_ul(&val));
+ XXX_STATE_REG(kreg_pipette_capactitance_val, /* */ pump_read_capactitance(&val));
+ XXX_STATE_REG(kreg_pipette_tip_state, /* */ pump_read_tip_state(&val));
+ XXX_STATE_REG(kreg_pipette_zm_pos, assign_int32(&val, zm_get_now_pos()));
+ XXX_STATE_REG(kreg_pipette_zm_is_enable, REG_GET(m_state.enable));
+ XXX_STATE_REG(kreg_pipette_zm_dpos, REG_GET(m_state.dpos));
+
+ /***********************************************************************************************************************
+ * CFG *
+ ***********************************************************************************************************************/
+ XXX_CFG_REG(limit_ul);
+ XXX_CFG_REG(pump_acc);
+ XXX_CFG_REG(pump_dec);
+ XXX_CFG_REG(pump_vstart);
+ XXX_CFG_REG(pump_vstop);
+ XXX_CFG_REG(pump_vmax);
+ XXX_CFG_REG(aspirate_pump_vel);
+ XXX_CFG_REG(lld_pump_vel);
+ XXX_CFG_REG(lld_motor_vel_rpm);
+ XXX_CFG_REG(lld_detect_period_ms);
+ XXX_CFG_REG(lld_prepare_pos);
+ XXX_CFG_REG(lld_prepare_pre_distribut_ul);
+
+ XXX_CFG_REG(zm_shaft);
+ XXX_CFG_REG(zm_one_circle_pulse);
+ XXX_CFG_REG(zm_one_circle_pulse_denominator);
+ XXX_CFG_REG(zm_default_velocity);
+ XXX_CFG_REG(zm_run_to_zero_speed);
+ XXX_CFG_REG(zm_look_zero_edge_speed);
+ XXX_CFG_REG(zm_ihold);
+ XXX_CFG_REG(zm_irun);
+ XXX_CFG_REG(zm_iholddelay);
+ XXX_CFG_REG(zm_max_d);
+ XXX_CFG_REG(zm_min_d);
+ XXX_CFG_REG(zm_iglobalscaler);
+
+ XXX_CFG_REG(zm_vstart);
+ XXX_CFG_REG(zm_a1);
+ XXX_CFG_REG(zm_amax);
+ XXX_CFG_REG(zm_v1);
+ XXX_CFG_REG(zm_dmax);
+ XXX_CFG_REG(zm_d1);
+ XXX_CFG_REG(zm_vstop);
+ XXX_CFG_REG(zm_tzerowait);
+ XXX_CFG_REG(zm_enc_resolution);
+ XXX_CFG_REG(zm_enable_enc);
+ XXX_CFG_REG(zm_dzero);
+ XXX_CFG_REG(zm_pos_devi_tolerance);
+ XXX_CFG_REG(zm_io_trigger_append_distance);
default:
return err::kmodule_not_find_reg;
@@ -194,6 +208,17 @@ int32_t PipetteModuleV2::module_xxx_reg(int32_t param_id, bool read, int32_t &va
* EXT_API *
***********************************************************************************************************************/
+int32_t PipetteModuleV2::pipette_zmotor_enable(int32_t enable) {
+ ZLOGI(TAG, "m%d pipette_zmotor_enable %ld", m_id, enable);
+ m_thread.stop();
+ m_zm->enable(enable);
+ m_state.enable = enable;
+ if (enable == 0 && m_cfg.zm_enable_enc == 0) {
+ m_state.has_move_to_zero = 0;
+ }
+ return 0;
+}
+
/**
* @brief 移动到零点
*
@@ -203,7 +228,8 @@ int32_t PipetteModuleV2::pipette_zmotor_move_zero() { //
thread_start_work([this]() {
do_zm_move_0p(); // 移动到零点
if (creg.module_errorcode != 0) { // 计算并更新零点坐标
- zm_set_now_pos(0 + m_cfg.motor_dzero - m_cfg.io_trigger_append_distance);
+ zm_set_now_pos(0 + m_cfg.zm_dzero - m_cfg.zm_io_trigger_append_distance);
+ m_state.has_move_to_zero = 1;
}
});
return 0;
@@ -220,9 +246,10 @@ int32_t PipetteModuleV2::pipette_zmotor_measure_distance() {
do_zm_move_0p(); // 移动到零点
int32_t dpos = zm_get_now_pos() - startpos;
if (creg.module_errorcode != 0) { // 计算并更新零点坐标
- zm_set_now_pos(0 + m_cfg.motor_dzero - m_cfg.io_trigger_append_distance);
+ zm_set_now_pos(0 + m_cfg.zm_dzero - m_cfg.zm_io_trigger_append_distance);
+ m_state.has_move_to_zero = 1;
}
- m_asynchronous_result.result0 = 0 + m_cfg.motor_dzero - m_cfg.io_trigger_append_distance - dpos;
+ m_asynchronous_result.result0 = 0 + m_cfg.zm_dzero - m_cfg.zm_io_trigger_append_distance - dpos;
});
return 0;
}
@@ -237,7 +264,6 @@ int32_t PipetteModuleV2::pipette_zmotor_read_measure_distance_result(int32_t *re
*result0 = m_asynchronous_result.result0;
return 0;
}
-
/**
* @brief 相对位移
*
@@ -246,7 +272,7 @@ int32_t PipetteModuleV2::pipette_zmotor_read_measure_distance_result(int32_t *re
*/
int32_t PipetteModuleV2::pipette_zmotor_move_by(int32_t distance) {
thread_start_work([this, distance]() {
- zm_move_by(distance, m_cfg.motor_default_velocity);
+ zm_move_by(distance, m_cfg.zm_default_velocity);
zm_waitfor_stop();
});
return 0;
@@ -257,11 +283,16 @@ int32_t PipetteModuleV2::pipette_zmotor_move_by(int32_t distance) {
* @param position
* @return int32_t
*/
-int32_t PipetteModuleV2::pipette_zmotor_move_to(int32_t position) {
- thread_start_work([this, position]() {
- zm_move_to(position, m_cfg.motor_default_velocity);
+int32_t PipetteModuleV2::pipette_zmotor_move_to(int32_t tox) {
+ if (m_state.has_move_to_zero == 0) return err::kstep_motor_not_move_to_zero;
+ if (m_cfg.zm_min_d != 0 && tox < m_cfg.zm_min_d) tox = m_cfg.zm_min_d;
+ if (m_cfg.zm_max_d != 0 && tox > m_cfg.zm_max_d) tox = m_cfg.zm_max_d;
+
+ thread_start_work([this, tox]() {
+ zm_move_to(tox, m_cfg.zm_default_velocity);
zm_waitfor_stop();
});
+
return 0;
}
/**
@@ -270,6 +301,7 @@ int32_t PipetteModuleV2::pipette_zmotor_move_to(int32_t position) {
* @return int32_t
*/
int32_t PipetteModuleV2::pipette_zmotor_move_to_zero_point_quick() {
+ if (m_state.has_move_to_zero == 0) return err::kstep_motor_not_move_to_zero;
thread_start_work([this]() { do_pipette_zmotor_move_to_zero_point_quick(); });
return 0;
}
@@ -280,7 +312,6 @@ int32_t PipetteModuleV2::pipette_init_device() {
pump_waitfor_stop();
//
m_state.load_val_ul = 0;
- m_state.aspirated = 0;
m_state.lld_prepared = 0;
m_state.pipette_is_inited = 1;
});
@@ -293,6 +324,8 @@ int32_t PipetteModuleV2::pipette_put_tip() {
}
int32_t PipetteModuleV2::pipette_lld_prepare() {
+ if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
+
thread_start_work([this]() {
DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, m_cfg.lld_prepare_pos)); // 移动到中点
pump_waitfor_stop();
@@ -301,6 +334,14 @@ int32_t PipetteModuleV2::pipette_lld_prepare() {
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 (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
+
+ // 检查tip头状态
+ int32_t tipstate = 0;
+ DO(m_smtp2.pump_get_tip_state(&tipstate));
+ if (tipstate != 0) return err::kpipette_error_tipisload_when_lld_prepare;
+
thread_start_work([this, lldtype, zdpos, c_threshold, p_threshold]() { //
m_state.lld_prepared = 0; // 失效m_state.lld_prepared
@@ -391,12 +432,14 @@ int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t zdpos, int32_t c_t
}
int32_t PipetteModuleV2::pipette_aspirate_prepare() {
+ if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
+
thread_start_work([this]() { //
ZLOGI(TAG, "pipette_aspirate_prepare");
m_state.aspirate_cfg_eigen_time = 0;
m_state.aspirate_cfg_p_thre = 0;
m_state.aspirate_cfg_llf_zm_rpm = 0;
- DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0));
+ DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, ASPIRATE_POS));
pump_waitfor_stop();
ZLOGI(TAG, "pipette_aspirate_prepare end...");
});
@@ -426,10 +469,14 @@ int32_t PipetteModuleV2::pipette_aspirate_set_operation_verifi_tolerance(int32_t
}
int32_t PipetteModuleV2::pipette_aspirate(int32_t ul) {
+ if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
+
thread_start_work([this, ul]() {
- m_state.aspirated = 1;
m_state.lld_prepared = 0;
+ DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, ASPIRATE_POS));
+ pump_waitfor_stop();
+
if (ul > 0) {
// zmotor and pump move
if (m_state.aspirate_cfg_llf_zm_rpm != 0) zm_move_by(m_cfg.aspirate_zmotor_max_move_by, m_state.aspirate_cfg_llf_zm_rpm);
@@ -450,8 +497,9 @@ int32_t PipetteModuleV2::pipette_aspirate(int32_t ul) {
return 0;
}
int32_t PipetteModuleV2::pipette_aspirate_and_verify(int32_t ul) {
+ if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
+
thread_start_work([this, ul]() {
- m_state.aspirated = 1;
m_state.lld_prepared = 0;
// zmotor and pump move
@@ -473,6 +521,8 @@ int32_t PipetteModuleV2::pipette_aspirate_and_verify(int32_t ul) {
}
int32_t PipetteModuleV2::pipette_shake_up(int32_t ul, int32_t times) {
+ if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
+
thread_start_work([this, ul, times]() {
//
int32_t dpos = 0;
@@ -512,6 +562,8 @@ int32_t PipetteModuleV2::pipette_shake_up(int32_t ul, int32_t times) {
}
int32_t PipetteModuleV2::pipette_aspirate_infer_pressure(int32_t ul) {
+ if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
+
thread_start_work([this, ul]() {
//
ZLOGI(TAG, "pipette_aspirate_infer_pressure %d", ul);
@@ -528,6 +580,8 @@ int32_t PipetteModuleV2::pipette_get_aspirate_infer_pressure_result(int32_t *res
return 0;
}
int32_t PipetteModuleV2::pipette_aspirate_infer_eigen_time(int32_t ul) {
+ if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
+
//
thread_start_work([this, ul]() {
//
@@ -560,39 +614,39 @@ int32_t PipetteModuleV2::pipette_get_aspirate_infer_eigen_time_result(int32_t *r
***********************************************************************************************************************/
void PipetteModuleV2::do_zm_move_0p() {
if (!zm0p_is_trigger()) {
- zm_move_to_end(-1, m_cfg.motor_run_to_zero_speed);
+ zm_move_to_end(-1, m_cfg.zm_run_to_zero_speed);
zm_waitfor_zm0p_trigger_and_stop_motor();
}
// leave from zero
if (zm0p_is_trigger()) {
- zm_move_to_end(1, m_cfg.motor_look_zero_edge_speed);
+ zm_move_to_end(1, m_cfg.zm_look_zero_edge_speed);
zm_waitfor_zm0p_not_trigger_and_stop_motor();
}
// move to zero again
if (!zm0p_is_trigger()) {
- zm_move_to_end(-1, m_cfg.motor_run_to_zero_speed);
+ zm_move_to_end(-1, m_cfg.zm_run_to_zero_speed);
zm_waitfor_zm0p_trigger_and_stop_motor();
}
// move to zero
- zm_move_by(m_cfg.io_trigger_append_distance, m_cfg.motor_run_to_zero_speed);
+ zm_move_by(m_cfg.zm_io_trigger_append_distance, m_cfg.zm_run_to_zero_speed);
zm_waitfor_stop();
}
void PipetteModuleV2::do_pipette_zmotor_move_to_zero_point_quick() {
// 期望偏差
- int32_t expectation_dpos = -m_cfg.io_trigger_append_distance + 0 + m_cfg.motor_dzero - zm_get_now_pos();
+ int32_t expectation_dpos = -m_cfg.zm_io_trigger_append_distance + 0 + m_cfg.zm_dzero - zm_get_now_pos();
int32_t startpos = zm_get_now_pos();
if (!zm0p_is_trigger()) {
// 快速移动到零点
- // moveTo(0 + m_cfg.motor_dzero, m_cfg.motor_default_velocity);
- zm_move_to(0 + m_cfg.motor_dzero, m_cfg.motor_default_velocity);
+ // moveTo(0 + m_cfg.zm_dzero, m_cfg.zm_default_velocity);
+ zm_move_to(0 + m_cfg.zm_dzero, m_cfg.zm_default_velocity);
zm_waitfor_zm0p_trigger_and_stop_motor();
} else {
// 快速移动到零点
- zm_move_to(0 + m_cfg.motor_dzero, m_cfg.motor_default_velocity);
+ zm_move_to(0 + m_cfg.zm_dzero, m_cfg.zm_default_velocity);
zm_waitfor_zm0p_not_trigger_and_stop_motor();
}
// 移动到零点
@@ -600,7 +654,7 @@ void PipetteModuleV2::do_pipette_zmotor_move_to_zero_point_quick() {
// 校验偏差
int32_t dpos = zm_get_now_pos() - startpos;
- if (m_cfg.pos_devi_tolerance != 0 && (abs(expectation_dpos - dpos) > m_cfg.pos_devi_tolerance)) {
+ if (m_cfg.zm_pos_devi_tolerance != 0 && (abs(expectation_dpos - dpos) > m_cfg.zm_pos_devi_tolerance)) {
throw zapp_exception(err::kstep_motor_lost_step);
}
}
@@ -620,7 +674,7 @@ int32_t PipetteModuleV2::pipette_zmotor_read_dev_status_cache(int32_t *devStatus
* ZM_UTILS *
***********************************************************************************************************************/
int32_t PipetteModuleV2::zm_get_now_pos() {
- if (m_cfg.motor_enable_enc == 0) {
+ if (m_cfg.zm_enable_enc == 0) {
return m_zm->getXACTUAL();
}
return m_zm->read_enc_val();
@@ -630,29 +684,29 @@ void PipetteModuleV2::zm_set_now_pos(int32_t x) {
m_zm->set_enc_val(x);
}
void PipetteModuleV2::zm_move_to(int32_t x, int32_t v) {
- if (m_cfg.motor_enable_enc != 0) {
+ if (m_cfg.zm_enable_enc != 0) {
m_zm->setXACTUAL(m_zm->read_enc_val());
}
m_zm->moveTo(x, v);
}
void PipetteModuleV2::zm_move_by(int32_t dx, int32_t v) {
- if (m_cfg.motor_enable_enc != 0) {
+ if (m_cfg.zm_enable_enc != 0) {
m_zm->setXACTUAL(m_zm->read_enc_val());
}
m_zm->moveBy(dx, v);
}
void PipetteModuleV2::zm_move_to_end(int32_t direction, int32_t v) {
- if (m_cfg.motor_enable_enc != 0) {
+ if (m_cfg.zm_enable_enc != 0) {
m_zm->setXACTUAL(m_zm->read_enc_val());
}
m_zm->moveToEnd(direction, v);
}
void PipetteModuleV2::zm_update_dzero(int32_t dzero) {
- int32_t nowabs = zm_get_now_pos() - m_cfg.motor_dzero;
- m_cfg.motor_dzero = dzero;
- zm_set_now_pos(nowabs + m_cfg.motor_dzero);
+ int32_t nowabs = zm_get_now_pos() - m_cfg.zm_dzero;
+ m_cfg.zm_dzero = dzero;
+ zm_set_now_pos(nowabs + m_cfg.zm_dzero);
}
bool PipetteModuleV2::zm0p_is_trigger() { return m_zm0p->getState(); }
@@ -674,6 +728,21 @@ void PipetteModuleV2::pump_waitfor_stop() {
}
}
+int32_t PipetteModuleV2::pump_read_pos_ul(int32_t *val) {
+ //
+ *val = m_state.load_val_ul;
+ return 0;
+}
+int32_t PipetteModuleV2::pump_read_capactitance(int32_t *val) {
+ m_smtp2.pump_get_capacitance(val);
+ return 0;
+}
+int32_t PipetteModuleV2::pump_read_tip_state(int32_t *val) {
+ *val = 0;
+ m_smtp2.pump_get_tip_state(val);
+ return 0;
+}
+
void PipetteModuleV2::zm_waitfor_zm0p_not_trigger_and_stop_motor() {
// 等待触发
while (zm0p_is_trigger()) thread_delay(2);
@@ -708,6 +777,45 @@ void PipetteModuleV2::push_snesor_sample_data(int32_t motor_pos, int32_t cap_val
*/
int32_t PipetteModuleV2::bfcall(int32_t cmdid, uint8_t *param, int32_t len) {
ZLOGI(TAG, "bfcall %s", cmdid2str(cmdid));
+
+ if (cmdid == kpipette_zmotor_move_zero) goto check;
+ if (cmdid == kpipette_zmotor_move_to_zero_point_quick) goto check;
+ if (cmdid == kpipette_zmotor_measure_distance) goto check;
+ if (cmdid == kpipette_zmotor_read_measure_distance_result) goto check;
+ if (cmdid == kpipette_zmotor_move_by) goto check;
+ if (cmdid == kpipette_zmotor_move_to) goto check;
+ if (cmdid == kpipette_init_device) goto check;
+ if (cmdid == kpipette_put_tip) goto check;
+ if (cmdid == kpipette_lld_prepare) goto check;
+ if (cmdid == kpipette_lld) goto check;
+ if (cmdid == kpipette_aspirate_prepare) goto check;
+ if (cmdid == kpipette_aspirate_set_llf_velocity) goto check;
+ if (cmdid == kpipette_aspirate_set_operation_verifi_p_thre) goto check;
+ if (cmdid == kpipette_aspirate_set_operation_verifi_eigen_time) goto check;
+ if (cmdid == kpipette_aspirate_set_operation_verifi_tolerance) goto check;
+ if (cmdid == kpipette_aspirate) goto check;
+ if (cmdid == kpipette_aspirate_and_verify) goto check;
+ if (cmdid == kpipette_shake_up) goto check;
+ if (cmdid == kpipette_aspirate_infer_pressure) goto check;
+ if (cmdid == kpipette_aspirate_infer_eigen_time) goto check;
+
+check:
+ if (!m_state.enable) {
+ return err::kstep_motor_not_enable;
+ }
+ if (creg.module_errorcode == err::kstep_motor_subic_reset) {
+ return creg.module_errorcode;
+ } else if (creg.module_errorcode == err::kstep_motor_drv_err) {
+ return creg.module_errorcode;
+ } else if (creg.module_errorcode == err::kstep_motor_uv_cp) {
+ return creg.module_errorcode;
+ } else {
+ /**
+ * @brief 其他错误允许设备继续运行
+ */
+ return 0;
+ }
+
return 0;
}
void PipetteModuleV2::aftercall(int32_t val) {
@@ -719,7 +827,7 @@ void PipetteModuleV2::aftercall(int32_t val) {
}
void PipetteModuleV2::runingcheck() {
// 检查是否丢步
- if (m_cfg.motor_enable_enc != 0) {
+ if (m_cfg.zm_enable_enc != 0) {
vPortEnterCritical();
int32_t m1enc = m_zm->read_enc_val();
@@ -729,8 +837,8 @@ void PipetteModuleV2::runingcheck() {
int32_t dm1 = abs(m1enc - m1pos);
- if (m_cfg.pos_devi_tolerance != 0) {
- if (dm1 > m_cfg.pos_devi_tolerance) {
+ if (m_cfg.zm_pos_devi_tolerance != 0) {
+ if (dm1 > m_cfg.zm_pos_devi_tolerance) {
ZLOGE(TAG, "motor pos devi %d", dm1);
creg.module_errorcode = err::kstep_motor_lost_step;
}
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
index f586fb3..25e1f7c 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
@@ -65,37 +65,36 @@ class PipetteModuleV2 : public ZIModule {
int32_t lld_prepare_pre_distribut_ul; // lld前，预分配位置
int32_t llf_area2rpm; // 液面跟随，电机运动速度和容器截面积比例关系
- int32_t motor_shaft;
- int32_t motor_one_circle_pulse; //
- int32_t motor_one_circle_pulse_denominator; //
- int32_t motor_ihold;
- int32_t motor_irun;
- int32_t motor_iholddelay;
- int32_t motor_iglobalscaler;
- int32_t motor_default_velocity;
- int32_t motor_min_d;
- int32_t motor_max_d;
- int32_t motor_run_to_zero_speed;
- int32_t motor_look_zero_edge_speed;
- int32_t motor_vstart;
- int32_t motor_a1;
- int32_t motor_amax;
- int32_t motor_v1;
- int32_t motor_dmax;
- int32_t motor_d1;
- int32_t motor_vstop;
- int32_t motor_tzerowait;
- int32_t motor_enc_resolution;
- int32_t motor_enable_enc;
- int32_t motor_dzero; // 零点偏移
- int32_t io_trigger_append_distance;
- int32_t pos_devi_tolerance;
+ int32_t zm_shaft;
+ int32_t zm_one_circle_pulse; //
+ int32_t zm_one_circle_pulse_denominator; //
+ int32_t zm_ihold;
+ int32_t zm_irun;
+ int32_t zm_iholddelay;
+ int32_t zm_iglobalscaler;
+ int32_t zm_default_velocity;
+ int32_t zm_min_d;
+ int32_t zm_max_d;
+ int32_t zm_run_to_zero_speed;
+ int32_t zm_look_zero_edge_speed;
+ int32_t zm_vstart;
+ int32_t zm_a1;
+ int32_t zm_amax;
+ int32_t zm_v1;
+ int32_t zm_dmax;
+ int32_t zm_d1;
+ int32_t zm_vstop;
+ int32_t zm_tzerowait;
+ int32_t zm_enc_resolution;
+ int32_t zm_enable_enc;
+ int32_t zm_dzero; // 零点偏移
+ int32_t zm_io_trigger_append_distance;
+ int32_t zm_pos_devi_tolerance;
} config_t;
typedef struct {
int32_t enable; // 电机使能
int32_t load_val_ul; // 已装载量
- int32_t aspirated; // 已经吸入过液体
int32_t lld_prepared; // 已经准备液面探测
int32_t pipette_is_inited; // 泵机是否初始化
int32_t dul; // 吸吐变化量
@@ -107,6 +106,8 @@ class PipetteModuleV2 : public ZIModule {
int32_t aspirate_cfg_eigen_time; // 吸液操作验证，特征时间，用来检测气泡，吸空检测
int32_t aspirate_cfg_tolerance; // 容差
int32_t zmax_move_by; // 吸液Z轴最大移动距离
+
+ int32_t has_move_to_zero;
} state_t;
struct {
@@ -156,12 +157,14 @@ class PipetteModuleV2 : public ZIModule {
/***********************************************************************************************************************
* Z轴控制 *
***********************************************************************************************************************/
+ virtual int32_t pipette_zmotor_enable(int32_t enable);
virtual int32_t pipette_zmotor_move_zero();
virtual int32_t pipette_zmotor_move_to_zero_point_quick();
virtual int32_t pipette_zmotor_measure_distance();
virtual int32_t pipette_zmotor_read_measure_distance_result(int32_t *result0);
virtual int32_t pipette_zmotor_move_by(int32_t distance);
virtual int32_t pipette_zmotor_move_to(int32_t position);
+
virtual int32_t pipette_init_device();
virtual int32_t pipette_put_tip();
virtual int32_t pipette_lld_prepare();
@@ -211,7 +214,12 @@ class PipetteModuleV2 : public ZIModule {
void zm_waitfor_zm0p_trigger_and_stop_motor();
void zm_waitfor_zm0p_not_trigger_and_stop_motor();
void zm_waitfor_stop();
- void pump_waitfor_stop();
+
+ int32_t pump_read_pos_ul(int32_t *val);
+ int32_t pump_read_capactitance(int32_t *val);
+ int32_t pump_read_tip_state(int32_t *val);
+ void pump_waitfor_stop();
+
// bool zm_wait_for_stop(int32_t checkperiod);
private:
diff --git a/sdk/components/zcancmder/zcan_protocol_parser.cpp b/sdk/components/zcancmder/zcan_protocol_parser.cpp
index 2993fd4..bac0970 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.cpp
+++ b/sdk/components/zcancmder/zcan_protocol_parser.cpp
@@ -151,6 +151,7 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
REGFN(plate_code_scaner_open_laser);
REGFN(plate_code_scaner_close_laser);
+ REGFN(pipette_zmotor_enable);
REGFN(pipette_zmotor_move_zero);
REGFN(pipette_zmotor_move_to_zero_point_quick);
REGFN(pipette_zmotor_measure_distance);
@@ -940,7 +941,10 @@ int32_t ZCanProtocolParser::plate_code_scaner_close_laser(cmdcontxt_t* cxt) {
* PipetteModuleV2 *
***********************************************************************************************************************/
#define MODULE_CLASS PipetteModuleV2
-
+int32_t ZCanProtocolParser::pipette_zmotor_enable(cmdcontxt_t* cxt) {
+ CHECK_AND_GET_MODULE(1);
+ return module->pipette_zmotor_enable(cxt->params[0]);
+}
int32_t ZCanProtocolParser::pipette_zmotor_move_zero(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
return module->pipette_zmotor_move_zero();
diff --git a/sdk/components/zcancmder/zcan_protocol_parser.hpp b/sdk/components/zcancmder/zcan_protocol_parser.hpp
index 41ca065..caee362 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.hpp
+++ b/sdk/components/zcancmder/zcan_protocol_parser.hpp
@@ -184,6 +184,8 @@ class ZCanProtocolParser : public IZCanReceiverListener {
CMDFN(plate_code_scaner_open_laser);
CMDFN(plate_code_scaner_close_laser);
//
+
+ CMDFN(pipette_zmotor_enable);
CMDFN(pipette_zmotor_move_zero);
CMDFN(pipette_zmotor_move_to_zero_point_quick);
CMDFN(pipette_zmotor_measure_distance);
diff --git a/usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp b/usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp
index 0b4728b..4e909c5 100644
--- a/usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp
+++ b/usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp
@@ -53,41 +53,41 @@ void Subboard80Cliptip::initialize() {
{
static TMC51X0 motor;
static PipetteModuleV2 module;
- int subid = 1;
+ int subid = 2;
TMC51X0::cfg_t tmc5130cfg = {
.spi = &hspi1,
- .csgpio = PA4,
- .ennPin = PD0,
+ .csgpio = MOTOR1_CSN,
+ .ennPin = MOTOR1_ENN,
};
motor.initialize(&tmc5130cfg);
motor.setMotorShaft(false);
static ZGPIO input[2];
- input[0].initAsInput(PD2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
- input[1].initAsInput(PD1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
+ input[0].initAsInput(MOTOR1_REFL, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR1_REFL_MIRROR);
+ 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 = false;
- cfg.motor_one_circle_pulse = 80;
- cfg.motor_one_circle_pulse_denominator = 1;
- cfg.motor_ihold = 1;
- cfg.motor_irun = 8;
- cfg.motor_iholddelay = 10;
- cfg.motor_iglobalscaler = 0;
- cfg.motor_default_velocity = 500;
- cfg.motor_min_d = 0;
- cfg.motor_max_d = 0;
- cfg.motor_run_to_zero_speed = 200;
- cfg.motor_look_zero_edge_speed = 100;
- cfg.motor_vstart = 100;
- cfg.motor_a1 = 50;
- cfg.motor_amax = 300;
- cfg.motor_v1 = 300;
- cfg.motor_dmax = 300;
- cfg.motor_d1 = 50;
- cfg.motor_vstop = 100;
- cfg.motor_tzerowait = 0;
- cfg.motor_enc_resolution = 0;
- cfg.motor_enable_enc = 0;
+ 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.limit_ul = 30;
@@ -103,7 +103,6 @@ void Subboard80Cliptip::initialize() {
module.initialize(getmoduleId(subid), &cfg, &hardwarecfg);
GService::inst()->getZCanProtocolParser()->registerModule(&module);
ZLOGI(TAG, "subboard80_cliptip pipette module initialized");
-
}
{