diff --git a/sdk/components/pipette_module/base/pipette_cfg.hpp b/sdk/components/pipette_module/base/pipette_cfg.hpp index 6b9bee3..5ab8e0d 100644 --- a/sdk/components/pipette_module/base/pipette_cfg.hpp +++ b/sdk/components/pipette_module/base/pipette_cfg.hpp @@ -23,7 +23,7 @@ typedef struct { int32_t tip_picking_append_distance; // 取tip时z轴的附加距离 int32_t tip_deposit_pos; // 丢tip位置(绝对位置0.1mm) - int32_t transform_pos; // 移液枪安全移动的高度(绝对位置0.1mm) + int32_t _transform_pos; // 移液枪安全移动的高度(绝对位置0.1mm) /** * @brief tip类型 * @@ -209,26 +209,26 @@ typedef struct { // // lld // - int32_t plld_pm_vindex; // 液面探测时泵机速率 + int32_t plld_pm_vcpyid; // 液面探测时泵机速率 int32_t plld_threshold; // 液面探测阈值 int32_t plld_zm_vel; // 液面探测时泵机速率 // // 清空tip配置 // - int32_t empty_tip_pm_vindex; // 清空tip速度 + int32_t empty_tip_pm_vcpyid; // 清空tip速度 // // 吸入空气 // int32_t blowout_air_volume; // 清空空气量,在吸液前吸入的空气量. 精度0.1ul (保证清空tip头) - int32_t blowout_air_pm_vindex; // 吸入空气时泵机速率 + int32_t blowout_air_pm_vcpyid; // 吸入空气时泵机速率 // // 润湿tip头配置 // int32_t over_aspirated_volume; // 过量吸液量，先吸入后迅速排出用来润湿tip头，这个用在移液量小于10微升的情况下。精度0.1ul - int32_t over_aspirated_pm_vindex; // 过量吸液速度 + int32_t over_aspirated_pm_vcpyid; // 过量吸液速度 // // aspiration 吸液配置 @@ -268,24 +268,24 @@ typedef struct { // 转移时多吸入的量 // int32_t transport_volume; // 转移过程中多吸入的量，精度0.1ul (放滴落) - int32_t transport_volume_pm_vindex; // 吸入过量空气时泵机速率 + int32_t transport_volume_pm_vcpyid; // 吸入过量空气时泵机速率 // // 混匀pm速率 // - int32_t mix_pm_vindex; // 混匀时泵机速率配置 + int32_t mix_pm_vcpyid; // 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 { - kliquid_info_plld_pm_vindex, + kliquid_info_plld_pm_vcpyid, kliquid_info_plld_threshold, kliquid_info_plld_zm_vel, - kliquid_info_empty_tip_pm_vindex, + kliquid_info_empty_tip_pm_vcpyid, kliquid_info_blowout_air_volume, - kliquid_info_blowout_air_pm_vindex, + kliquid_info_blowout_air_pm_vcpyid, kliquid_info_over_aspirated_volume, - kliquid_info_over_aspirated_pm_vindex, + kliquid_info_over_aspirated_pm_vcpyid, kliquid_info_aspiration_pm_vindex_low, kliquid_info_aspiration_pm_vindex_high, kliquid_info_aspiration_volume_break_val, @@ -293,7 +293,7 @@ typedef enum { kliquid_info_volume_calibration_coefficient_k, kliquid_info_settling_time, kliquid_info_transport_volume, - kliquid_info_transport_volume_pm_vindex, + kliquid_info_transport_volume_pm_vcpyid, kliquid_info_mix_pm_vindex, kliquid_info_mark, } liquid_info_index_t; \ No newline at end of file diff --git a/sdk/components/pipette_module/base/pipette_enum.hpp b/sdk/components/pipette_module/base/pipette_enum.hpp index d486ac0..a5b3812 100644 --- a/sdk/components/pipette_module/base/pipette_enum.hpp +++ b/sdk/components/pipette_module/base/pipette_enum.hpp @@ -24,4 +24,47 @@ typedef enum { kzm_v_swap = 4, // 交换液面探测 kzm_v_llf = 5, // 液面基础速度配置 kzm_v_picking_tip = 6, // 取tip速度 -} zm_vcpyid_t; \ No newline at end of file +} zm_vcpyid_t; + +static inline const char *get_pm_vcpyid_name(pm_vcpyid_t id) { + static char buf[20]; +#define CASE(x) \ + case x: \ + return #x; + switch (id) { + CASE(kpm_v_default); + CASE(kpm_v_slow_lv1); + CASE(kpm_v_slow_lv2); + CASE(kpm_v_slow_lv3); + CASE(kpm_v_mid); + CASE(kpm_v_quick); + CASE(kpm_v_max); + CASE(kpm_v_lld); + default: + break; + } +#undef CASE + snprintf(buf, sizeof(buf), "unmatch(%d)", id); + return buf; +} + +static inline const char *get_zm_vcpyid_name(zm_vcpyid_t id) { + static char buf[20]; +#define CASE(x) \ + case x: \ + return #x; + switch (id) { + CASE(kzm_v_default); + CASE(kzm_v_move_to_zero); + CASE(kzm_v_look_zero_edge); + CASE(kzm_v_lld); + CASE(kzm_v_swap); + CASE(kzm_v_llf); + CASE(kzm_v_picking_tip); + default: + break; + } +#undef CASE + snprintf(buf, sizeof(buf), "unmatch(%d)", id); + return buf; +} \ No newline at end of file diff --git a/sdk/components/pipette_module/pipette_ctrl_module.cpp b/sdk/components/pipette_module/pipette_ctrl_module.cpp index c3b0be2..409ab10 100644 --- a/sdk/components/pipette_module/pipette_ctrl_module.cpp +++ b/sdk/components/pipette_module/pipette_ctrl_module.cpp @@ -150,6 +150,7 @@ int32_t PipetteModule::pipette_get_zmbcfg(zm_bcfg_index_t index, int32_t *val) { return err::kparam_out_of_range; } } + return 0; } int32_t PipetteModule::pipette_set_pmbcfg(pm_bcfg_index_t index, int32_t val) { @@ -188,7 +189,7 @@ int32_t PipetteModule::pipette_set_platinfo(int32_t cpyid, platinfo_index_t inde SET_CFG(kplatinfo_tip_picking_search_range, platinfo->tip_picking_search_range, val); SET_CFG(kplatinfo_tip_picking_append_distance, platinfo->tip_picking_append_distance, val); SET_CFG(kplatinfo_tip_deposit_pos, platinfo->tip_deposit_pos, val); - SET_CFG(kplatinfo_transform_pos, platinfo->transform_pos, val); + 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); @@ -212,7 +213,7 @@ int32_t PipetteModule::pipette_get_platinfo(int32_t cpyid, platinfo_index_t inde 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_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); @@ -245,6 +246,11 @@ int32_t PipetteModule::pipette_set_zmvcfg(int32_t cpyid, zm_vcfg_index_t index, return err::kparam_out_of_range; } } + + if (cpyid == m_state.zm_now_vcfg_index) { + m_state.zm_now_vcfg_index = -1; + } + return 0; } int32_t PipetteModule::pipette_get_zmvcfg(int32_t cpyid, zm_vcfg_index_t index, int32_t *val) { @@ -289,6 +295,11 @@ int32_t PipetteModule::pipette_set_pmvcfg(int32_t cpyid, pm_vcfg_index_t index, return err::kparam_out_of_range; } } + + if (cpyid == m_state.pm_now_vcfg_index) { + m_state.pm_now_vcfg_index = -1; + } + return 0; } int32_t PipetteModule::pipette_get_pmvcfg(int32_t cpyid, pm_vcfg_index_t index, int32_t *val) { @@ -376,14 +387,14 @@ int32_t PipetteModule::pipette_set_liquid_info(int32_t cpyid, liquid_info_index_ liquid_info_t *cfg = &m_liquid_info[cpyid]; switch (index) { - SET_CFG(kliquid_info_plld_pm_vindex, cfg->plld_pm_vindex, val); + SET_CFG(kliquid_info_plld_pm_vcpyid, cfg->plld_pm_vcpyid, val); SET_CFG(kliquid_info_plld_threshold, cfg->plld_threshold, val); SET_CFG(kliquid_info_plld_zm_vel, cfg->plld_zm_vel, val); - SET_CFG(kliquid_info_empty_tip_pm_vindex, cfg->empty_tip_pm_vindex, val); + SET_CFG(kliquid_info_empty_tip_pm_vcpyid, cfg->empty_tip_pm_vcpyid, val); SET_CFG(kliquid_info_blowout_air_volume, cfg->blowout_air_volume, val); - SET_CFG(kliquid_info_blowout_air_pm_vindex, cfg->blowout_air_pm_vindex, val); + SET_CFG(kliquid_info_blowout_air_pm_vcpyid, cfg->blowout_air_pm_vcpyid, val); SET_CFG(kliquid_info_over_aspirated_volume, cfg->over_aspirated_volume, val); - SET_CFG(kliquid_info_over_aspirated_pm_vindex, cfg->over_aspirated_pm_vindex, val); + SET_CFG(kliquid_info_over_aspirated_pm_vcpyid, cfg->over_aspirated_pm_vcpyid, val); SET_CFG(kliquid_info_aspiration_pm_vindex_low, cfg->aspiration_pm_vindex_low, val); SET_CFG(kliquid_info_aspiration_pm_vindex_high, cfg->aspiration_pm_vindex_high, val); SET_CFG(kliquid_info_aspiration_volume_break_val, cfg->aspiration_volume_break_val, val); @@ -391,8 +402,8 @@ int32_t PipetteModule::pipette_set_liquid_info(int32_t cpyid, liquid_info_index_ SET_CFG(kliquid_info_volume_calibration_coefficient_k, cfg->volume_calibration_coefficient_k, val); SET_CFG(kliquid_info_settling_time, cfg->settling_time, val); 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_transport_volume_pm_vcpyid, cfg->transport_volume_pm_vcpyid, val); + SET_CFG(kliquid_info_mix_pm_vindex, cfg->mix_pm_vcpyid, val); SET_CFG(kliquid_info_mark, cfg->mark, val); default: { @@ -410,14 +421,14 @@ int32_t PipetteModule::pipette_get_liquid_info(int32_t cpyid, liquid_info_index_ liquid_info_t *cfg = &m_liquid_info[cpyid]; switch (index) { - GET_CFG(kliquid_info_plld_pm_vindex, cfg->plld_pm_vindex, val); + GET_CFG(kliquid_info_plld_pm_vcpyid, cfg->plld_pm_vcpyid, val); GET_CFG(kliquid_info_plld_threshold, cfg->plld_threshold, val); GET_CFG(kliquid_info_plld_zm_vel, cfg->plld_zm_vel, val); - GET_CFG(kliquid_info_empty_tip_pm_vindex, cfg->empty_tip_pm_vindex, val); + GET_CFG(kliquid_info_empty_tip_pm_vcpyid, cfg->empty_tip_pm_vcpyid, val); GET_CFG(kliquid_info_blowout_air_volume, cfg->blowout_air_volume, val); - GET_CFG(kliquid_info_blowout_air_pm_vindex, cfg->blowout_air_pm_vindex, val); + GET_CFG(kliquid_info_blowout_air_pm_vcpyid, cfg->blowout_air_pm_vcpyid, val); GET_CFG(kliquid_info_over_aspirated_volume, cfg->over_aspirated_volume, val); - GET_CFG(kliquid_info_over_aspirated_pm_vindex, cfg->over_aspirated_pm_vindex, val); + GET_CFG(kliquid_info_over_aspirated_pm_vcpyid, cfg->over_aspirated_pm_vcpyid, val); GET_CFG(kliquid_info_aspiration_pm_vindex_low, cfg->aspiration_pm_vindex_low, val); GET_CFG(kliquid_info_aspiration_pm_vindex_high, cfg->aspiration_pm_vindex_high, val); GET_CFG(kliquid_info_aspiration_volume_break_val, cfg->aspiration_volume_break_val, val); @@ -425,8 +436,8 @@ int32_t PipetteModule::pipette_get_liquid_info(int32_t cpyid, liquid_info_index_ GET_CFG(kliquid_info_volume_calibration_coefficient_k, cfg->volume_calibration_coefficient_k, val); GET_CFG(kliquid_info_settling_time, cfg->settling_time, val); 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_transport_volume_pm_vcpyid, cfg->transport_volume_pm_vcpyid, val); + GET_CFG(kliquid_info_mix_pm_vindex, cfg->mix_pm_vcpyid, val); GET_CFG(kliquid_info_mark, cfg->mark, val); default: { ZLOGE(TAG, "pipette_get_liquid_info index %d out of range", index); @@ -666,33 +677,7 @@ int32_t PipetteModule::pipette_zmotor_move_to(int32_t tox) { * @return int32_t */ int32_t PipetteModule::pipette_zmotor_move_to_zero_point_quick() { - thread_start_work(__FUNCTION__, [this]() { - // 期望偏差 - int32_t expectation_dpos = -zmbcfg.io_trigger_append_distance + 0 + zmbcfg.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 + zmbcfg.dzero, zmbcfg.default_velocity); - zm_move_to(0 + zmbcfg.dzero, kzm_v_default, 0); - zm_waitfor_zm0p_trigger_and_stop_motor(NULL); - } else { - // 快速移动到零点 - zm_move_to(0 + zmbcfg.dzero, kzm_v_default, 0); - zm_waitfor_zm0p_not_trigger_and_stop_motor(NULL); - } - // 移动到零点 - do_zm_move_0p(); - - // 校验偏差 - int32_t dpos = zm_get_now_pos() - startpos; - // 设置零点 - zm_set_now_pos(0 + zmbcfg.dzero - zmbcfg.io_trigger_append_distance); - m_state.zm_has_move_zero = 1; - - if (zmbcfg.pos_devi_tolerance != 0 && (abs(expectation_dpos - dpos) > zmbcfg.pos_devi_tolerance)) { - throw zapp_exception(err::kstep_motor_lost_step); - } - }); + thread_start_work(__FUNCTION__, [this]() { zm_move_to_zero_quick_block(); }); return 0; } @@ -720,7 +705,7 @@ int32_t PipetteModule::pipette_pump_take_tip() { * -> 直到tip状态被触发停止移动 */ - platinfo_t *platform_info = &m_now_platinfo; + platinfo_t *platform_info = get_platinfo_smart(m_state.platinfo_cpyid, &m_now_platinfo); zm_move_to_block(platform_info->tip_picking_pos, kzm_v_default, 0); zm_move_by(platform_info->tip_picking_search_range, kzm_v_picking_tip, 0); bool takeTip = false; @@ -738,7 +723,7 @@ int32_t PipetteModule::pipette_pump_take_tip() { if (takeTip && platform_info->tip_picking_append_distance > 0) // zm_move_by_block(platform_info->tip_picking_append_distance, kzm_v_picking_tip, 0); - zm_move_to_block(platform_info->transform_pos, kzm_v_default, 0); + zm_move_to_zero_quick_block(); ZLOGI(TAG, "pipette_pump_take_tip takeTip %s", takeTip ? "suc" : "fail"); }); return 0; @@ -752,7 +737,7 @@ int32_t PipetteModule::pipette_pump_putbak_tip() { * -> 丢tip */ - platinfo_t *platform_info = &m_now_platinfo; + platinfo_t *platform_info = get_platinfo_smart(m_state.platinfo_cpyid, &m_now_platinfo); int32_t putbakpos = platform_info->tip_picking_pos - 100; if (putbakpos < 0) putbakpos = 0; zm_move_to_block(putbakpos, kzm_v_default, 0); @@ -762,7 +747,7 @@ int32_t PipetteModule::pipette_pump_putbak_tip() { DO_IN_THREAD(m_smtp2.pump_init()); pump_waitfor_stop(); - zm_move_to_block(platform_info->transform_pos, kzm_v_default, 0); + zm_move_to_zero_quick_block(); }); return 0; @@ -777,15 +762,17 @@ int32_t PipetteModule::pipette_pump_deposit_tip() { * -> 丢tip */ - platinfo_t *platform_info = &m_now_platinfo; + platinfo_t *platform_info = get_platinfo_smart(m_state.platinfo_cpyid, &m_now_platinfo); zm_move_to_block(platform_info->tip_deposit_pos, kzm_v_default, 0); pump_apply_vcfg(kpm_v_max); // // DO_IN_THREAD(m_smtp2.pump_put_tip()); DO_IN_THREAD(m_smtp2.pump_init()); + while (pump_read_tip_state() != 0) { + thread_delay(1); + } + zm_move_to_zero_quick_block(); pump_waitfor_stop(); - - zm_move_to_block(platform_info->transform_pos, kzm_v_default, 0); }); return 0; @@ -795,11 +782,12 @@ int32_t PipetteModule::pipette_pump_pierce_through(int32_t container_info_index, // check param check_container_info_cpyid(container_info_index); - platinfo_t *platform_info = &m_now_platinfo; + platinfo_t *platform_info = get_platinfo_smart(m_state.platinfo_cpyid, &m_now_platinfo); container_info_t *container_info = get_container_info_smart(container_info_index, &m_now_container_info); zm_move_to_block(container_info->pierce_depth + container_pos, kzm_v_default, 0); - zm_move_to_block(platform_info->transform_pos, kzm_v_default, 0); + + zm_move_to_zero_quick_block(); }); return 0; } @@ -866,7 +854,7 @@ int32_t PipetteModule::pipette_pump_aspirate() { thread_start_work(__FUNCTION__, [this]() { ZLOGI(TAG, "pipette_pump_aspirate"); if (pump_read_tip_state() == 0) { - throw zapp_exception(err::kpipette_error_no_tip_when_lld); + throw zapp_exception(err::kpipette_error_TipDrop); } aspiration_param_t *acfg = &m_aspiration_param; check_pipette_pump_aspirate_params(); @@ -875,7 +863,11 @@ int32_t PipetteModule::pipette_pump_aspirate() { DO_IN_THREAD(m_smtp2.pump_enable_temp_compensation(0)); // 关闭温度补偿 DO_IN_THREAD(m_smtp2.pump_set_back_clearance(0)); // 设置背隙为0 DO_IN_THREAD(m_smtp2.pump_set_io1_mode(0)); // lld输入高 - DO_IN_THREAD(m_smtp2.pump_set_io2_mode(0)); // 通用输入 + // DO_IN_THREAD(m_smtp2.pump_set_io2_mode(0)); // 通用输入 + + platinfo_t *platform_info = get_platinfo_smart(m_state.platinfo_cpyid, &m_now_platinfo); + liquid_info_t *liquidinfo = get_liquid_info_smart(acfg->liquid_cfg_index, &aspirate_run_cxt.liquid_info); + container_info_t *container_cfg = get_container_info_smart(acfg->container_info_index, &aspirate_run_cxt.container_info); ZLOGI(TAG, "-------------------------- aspiration param --------------------------"); ZLOGI(TAG, "- x100nl :%d", acfg->volumeX100nl); @@ -892,23 +884,81 @@ int32_t PipetteModule::pipette_pump_aspirate() { ZLOGI(TAG, "- mix_times :%d", acfg->mix_times); ZLOGI(TAG, "-"); - // aspirate_run_cxt - platinfo_t *platform_info = &m_now_platinfo; - liquid_info_t *liquidinfo = get_liquid_info_smart(acfg->liquid_cfg_index, &aspirate_run_cxt.liquid_info); - container_info_t *container_cfg = get_container_info_smart(acfg->container_info_index, &aspirate_run_cxt.container_info); + ZLOGI(TAG, "-------------------------- platform_info --------------------------"); + ZLOGI(TAG, "- tip_type :%d", platform_info->tip_type); + ZLOGI(TAG, "- tip_length :%d", platform_info->tip_length); + ZLOGI(TAG, "-"); + + ZLOGI(TAG, "-------------------------- liquid_info --------------------------"); + ZLOGI(TAG, "- plld_pm_vindex :%d", liquidinfo->plld_pm_vcpyid); + ZLOGI(TAG, "- plld_threshold :%d", liquidinfo->plld_threshold); + ZLOGI(TAG, "- plld_zm_vel :%d", liquidinfo->plld_zm_vel); + ZLOGI(TAG, "- empty_tip_pm_vindex :%d", liquidinfo->empty_tip_pm_vcpyid); + ZLOGI(TAG, "- blowout_air_volume :%d", liquidinfo->blowout_air_volume); + ZLOGI(TAG, "- blowout_air_pm_vindex :%d", liquidinfo->blowout_air_pm_vcpyid); + ZLOGI(TAG, "- over_aspirated_volume :%d", liquidinfo->over_aspirated_volume); + ZLOGI(TAG, "- over_aspirated_pm_vindex :%d", liquidinfo->over_aspirated_pm_vcpyid); + ZLOGI(TAG, "- aspiration_pm_vindex_low :%d", liquidinfo->aspiration_pm_vindex_low); + ZLOGI(TAG, "- aspiration_pm_vindex_high :%d", liquidinfo->aspiration_pm_vindex_high); + ZLOGI(TAG, "- aspiration_volume_break_val :%d", liquidinfo->aspiration_volume_break_val); + ZLOGI(TAG, "- volume_calibration_coefficient_b :%d", liquidinfo->volume_calibration_coefficient_b); + ZLOGI(TAG, "- volume_calibration_coefficient_k :%d", liquidinfo->volume_calibration_coefficient_k); + ZLOGI(TAG, "- settling_time :%d", liquidinfo->settling_time); + ZLOGI(TAG, "- transport_volume :%d", liquidinfo->transport_volume); + ZLOGI(TAG, "- transport_volume_pm_vindex :%d", liquidinfo->transport_volume_pm_vcpyid); + ZLOGI(TAG, "- mix_pm_vindex :%d", liquidinfo->mix_pm_vcpyid); + ZLOGI(TAG, "- mark :%d", liquidinfo->mark); + ZLOGI(TAG, "-"); + + ZLOGI(TAG, "-------------------------- container_info --------------------------"); + ZLOGI(TAG, "- container_type :%d", container_cfg->container_type); + ZLOGI(TAG, "- container_neck_pos :%d", container_cfg->_container_neck_pos); + ZLOGI(TAG, "- container_depth :%d", container_cfg->container_depth); + ZLOGI(TAG, "- container_round :%d", container_cfg->container_round); + ZLOGI(TAG, "- container_bottom_section_height :%d", container_cfg->container_bottom_section_height); + ZLOGI(TAG, "- immersion_depth :%d", container_cfg->immersion_depth); + ZLOGI(TAG, "- leaving_height :%d", container_cfg->leaving_height); + ZLOGI(TAG, "- jet_height :%d", container_cfg->jet_height); + ZLOGI(TAG, "- lld_start_search_depth :%d", container_cfg->lld_start_search_depth); + ZLOGI(TAG, "- fix_aspiration_depth :%d", container_cfg->fix_aspiration_depth); + ZLOGI(TAG, "- llf_vconvert_coneff :%d", container_cfg->llf_vconvert_coneff); + ZLOGI(TAG, "- pierce_depth :%d", container_cfg->pierce_depth); + ZLOGI(TAG, "- mark :%d", container_cfg->mark); + ZLOGI(TAG, "-"); + /*********************************************************************************************************************** * LLD * ***********************************************************************************************************************/ + DO_IN_THREAD(m_smtp2.pump_set_tip_size((smtp2::TipSize_t)platform_info->tip_type)); // 250ul, if (acfg->lld_enable) { + // 液面探测 _do_lld(platform_info, container_cfg, liquidinfo, acfg); + // 这里需要低速离开液面，防止携带液滴 + ZLOGI(TAG, "move to swap position in v_swap"); + zm_move_to_block(m_state.water_level - container_cfg->leaving_height, kzm_v_swap, 0); // + // 清空tip + ZLOGI(TAG, "clean tip."); + pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vcpyid); } else { + // 没有使用lld，使用固定深度 m_state.water_level = acfg->container_pos + container_cfg->fix_aspiration_depth; ZLOGI(TAG, "lld isn't enable,use fix depth %d", m_state.water_level); - zm_move_to_block(m_state.water_level - 150, kzm_v_default, 0); // - pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vindex); // 清空tip + // 由于tip原本在液面之上，这里快速移动到swap位置， + ZLOGI(TAG, "move to swap position in v_default"); + zm_move_to_block(m_state.water_level - container_cfg->leaving_height, kzm_v_default, 0); // + ZLOGI(TAG, "clean tip."); + pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vcpyid); // + } + + if (acfg->volumeX100nl != 0) { + _do_sapirate(platform_info, container_cfg, liquidinfo, acfg); + } else { + ZLOGI(TAG, "aspiration volume == 0,skip aspirate", acfg->volumeX100nl); } - _do_sapirate(platform_info, container_cfg, liquidinfo, acfg); + + // z轴移动transform_pos + zm_move_to_zero_quick_block(); }); return 0; } @@ -916,12 +966,12 @@ int32_t PipetteModule::pipette_pump_aspirate() { void PipetteModule::_do_lld(platinfo_t *platform_info, container_info_t *container_cfg, liquid_info_t *liquidinfo, aspiration_param_t *acfg) { int32_t ecode = 0; - ZLOGI(TAG, "start lld, lld_type %d lld_pm_vindex %d plld_threshold %d", acfg->lld_type, liquidinfo->plld_pm_vindex, liquidinfo->plld_threshold); + ZLOGI(TAG, "start lld, lld_type %d lld_pm_vindex %d plld_threshold %d", acfg->lld_type, liquidinfo->plld_pm_vcpyid, liquidinfo->plld_threshold); // 移动到转移位置 zm_move_to_block(0, kzm_v_default, 0); // 清空tip - pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vindex); + pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vcpyid); // 移动到瓶口 zm_move_to_block(acfg->container_pos + 50 /*5mm*/, // @@ -929,7 +979,7 @@ void PipetteModule::_do_lld(platinfo_t *platform_info, container_info_t *contain pump_move_to_x100nl_block(0, kpm_v_default); // 回转一下，消除齿轮间隙 // 启动lld - pump_apply_vcfg(liquidinfo->plld_pm_vindex); // 设备lld时，泵的速率 + pump_apply_vcfg(liquidinfo->plld_pm_vcpyid); // 设备lld时，泵的速率 DO_IN_THREAD(m_smtp2.pump_set_tip_size(smtp2::TS200UL)); // 250ul,保护lld不超限 DO_IN_THREAD(m_smtp2.pump_set_io1_mode(1)); // lld输入高 DO_IN_THREAD(m_smtp2.pump_aspirate_plld(liquidinfo->plld_threshold)); @@ -986,57 +1036,61 @@ void PipetteModule::_do_lld(platinfo_t *platform_info, container_info_t *contain } m_state.detected_liquid = 1; m_state.water_level = water_level; - - // 移动到液面上15mm - zm_move_to_block(m_state.water_level - 150, kzm_v_default, 0); // ? 这里是否考虑使用低速，离开液面 - - // 清空tip - pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vindex); } void PipetteModule::_do_sapirate(platinfo_t *platform_info, container_info_t *container_cfg, liquid_info_t *liquidinfo, aspiration_param_t *acfg) { - DO_IN_THREAD(m_smtp2.pump_set_tip_size(smtp2::TS200UL)); // 250ul, - // 吸入过量的空气 - pump_move_to_x100nl_block(liquidinfo->blowout_air_volume, liquidinfo->blowout_air_pm_vindex); + if (liquidinfo->blowout_air_volume > 0) { + ZLOGI(TAG, "--> aspirate blowout_air_volume volume=%d, pm_vcpyid=%d", liquidinfo->blowout_air_volume); + pump_move_to_x100nl_block(liquidinfo->blowout_air_volume, liquidinfo->blowout_air_pm_vcpyid); + } else { + ZLOGI(TAG, "--> aspirate blowout_air_volume volume=0,skip"); + } // Z轴移动到液面之下 + ZLOGI(TAG, "--> move below the liquid surface"); zm_move_to_block(m_state.water_level + container_cfg->immersion_depth, kzm_v_swap, 0); // 吸入润湿TIP的溶液 if (liquidinfo->over_aspirated_volume > 0) { - pump_move_by_x100nl_block(liquidinfo->over_aspirated_volume, liquidinfo->over_aspirated_pm_vindex); - pump_move_by_x100nl_block(-liquidinfo->over_aspirated_volume, liquidinfo->over_aspirated_pm_vindex); + ZLOGI(TAG, "--> aspirate over_aspirated_volume volume=%d, pm_vcpyid=%d", liquidinfo->over_aspirated_volume, liquidinfo->over_aspirated_pm_vcpyid); + pump_move_by_x100nl_block(liquidinfo->over_aspirated_volume, liquidinfo->over_aspirated_pm_vcpyid); + pump_move_by_x100nl_block(-liquidinfo->over_aspirated_volume, liquidinfo->over_aspirated_pm_vcpyid); } // 吸入前混匀 if (acfg->mix_volume > 0) { + ZLOGI(TAG, "--> aspirate mix_volume volume=%d, pm_vcpyid=%d", acfg->mix_volume, liquidinfo->mix_pm_vcpyid); int32_t mix_start_pos = zm_get_now_pos(); for (size_t i = 0; i < acfg->mix_times; i++) { if (acfg->mix_llf_enable > 0) { zm_move_to(acfg->container_pos + container_cfg->container_depth, // 瓶底 kzm_v_llf, // 基础速度配置 - compute_zm_llf_vel(liquidinfo->mix_pm_vindex, container_cfg)); // 计算llf速度 + compute_zm_llf_vel(liquidinfo->mix_pm_vcpyid, container_cfg)); // 计算llf速度 } - pump_move_by_x100nl_block(acfg->mix_volume, liquidinfo->mix_pm_vindex); + pump_move_by_x100nl_block(acfg->mix_volume, liquidinfo->mix_pm_vcpyid); if (acfg->mix_llf_enable > 0) zm_stop(); if (acfg->mix_llf_enable > 0) { - zm_move_to(mix_start_pos, kzm_v_llf, compute_zm_llf_vel(liquidinfo->mix_pm_vindex, container_cfg)); + zm_move_to(mix_start_pos, kzm_v_llf, compute_zm_llf_vel(liquidinfo->mix_pm_vcpyid, container_cfg)); } - pump_move_by_x100nl_block(-acfg->mix_volume, liquidinfo->mix_pm_vindex); + pump_move_by_x100nl_block(-acfg->mix_volume, liquidinfo->mix_pm_vcpyid); if (acfg->mix_llf_enable > 0) zm_stop(); } + } else { + ZLOGI(TAG, "--> aspirate mix_volume volume=0,skip"); } // !吸入液体(TODO:存储吸液压力曲线)! { + ZLOGI(TAG, "--> aspirate volume=%d", acfg->volumeX100nl); int32_t aspiration_pm_index = liquidinfo->aspiration_pm_vindex_low; if (acfg->volumeX100nl > liquidinfo->aspiration_volume_break_val) { aspiration_pm_index = liquidinfo->aspiration_pm_vindex_high; } - int32_t x100nl = acfg->volumeX100nl * liquidinfo->volume_calibration_coefficient_k * 0.0001 + liquidinfo->volume_calibration_coefficient_b * 0.0001; + int32_t x100nl = acfg->volumeX100nl * liquidinfo->volume_calibration_coefficient_k * 0.001 + // + liquidinfo->volume_calibration_coefficient_b * 0.001; if (acfg->llf_enable > 0) { zm_move_to( // @@ -1050,18 +1104,18 @@ void PipetteModule::_do_sapirate(platinfo_t *platform_info, container_info_t *co } // 等待一定时间 + ZLOGI(TAG, "--> delay some time...(%d)", liquidinfo->settling_time); thread_delay(liquidinfo->settling_time); // 离开液面 - zm_move_to_block(m_state.water_level - 150, kzm_v_swap, 0); // + ZLOGI(TAG, "--> leave liquid surface"); + zm_move_to_block(m_state.water_level - container_cfg->leaving_height, kzm_v_swap, 0); // // 吸入过量的空气 if (liquidinfo->transport_volume > 0) { - pump_move_by_x100nl_block(liquidinfo->transport_volume, liquidinfo->transport_volume_pm_vindex); + ZLOGI(TAG, "--> aspirate transport_volume volume=%d, pm_vcpyid=%d", liquidinfo->transport_volume, liquidinfo->transport_volume_pm_vcpyid); + pump_move_by_x100nl_block(liquidinfo->transport_volume, liquidinfo->transport_volume_pm_vcpyid); } - - // z轴移动transform_pos - zm_move_to_block(0, kzm_v_default, 0); } int32_t PipetteModule::pipette_pump_distribu() { return 0; } @@ -1105,14 +1159,14 @@ void PipetteModule::do_zm_move_0p() { // leave from zero if (zm0p_is_trigger()) { ZLOGI(TAG, "leave from zero"); - zm_move_by(50 /*10mm */, kzm_v_look_zero_edge, 0); + zm_move_by(500 /*50mm */, kzm_v_look_zero_edge, 0); zm_waitfor_zm0p_not_trigger_and_stop_motor(&is_trigger); if (!is_trigger) throw zapp_exception(err::kstep_motor_not_found_point_edge); } if (!zm0p_is_trigger()) { ZLOGI(TAG, "move to zero edge again"); - zm_move_by(-50 /*10mm */, kzm_v_look_zero_edge, 0); + zm_move_by(-100 /*10mm */, kzm_v_look_zero_edge, 0); zm_waitfor_zm0p_trigger_and_stop_motor(&is_trigger); if (!is_trigger) throw zapp_exception(err::kstep_motor_not_found_point_edge); } @@ -1129,6 +1183,34 @@ void PipetteModule::zm_set_now_pos(int32_t x) { m_zm->setXACTUAL(x); m_zm->set_enc_val(x); } +void PipetteModule::zm_move_to_zero_quick_block() { + // 期望偏差 + int32_t expectation_dpos = -zmbcfg.io_trigger_append_distance + 0 + zmbcfg.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 + zmbcfg.dzero, zmbcfg.default_velocity); + zm_move_to(0 + zmbcfg.dzero, kzm_v_default, 0); + zm_waitfor_zm0p_trigger_and_stop_motor(NULL); + } else { + // 快速移动到零点 + zm_move_to(0 + zmbcfg.dzero, kzm_v_default, 0); + zm_waitfor_zm0p_not_trigger_and_stop_motor(NULL); + } + // 移动到零点 + do_zm_move_0p(); + + // 校验偏差 + int32_t dpos = zm_get_now_pos() - startpos; + // 设置零点 + zm_set_now_pos(0 + zmbcfg.dzero - zmbcfg.io_trigger_append_distance); + m_state.zm_has_move_zero = 1; + + if (zmbcfg.pos_devi_tolerance != 0 && (abs(expectation_dpos - dpos) > zmbcfg.pos_devi_tolerance)) { + throw zapp_exception(err::kstep_motor_lost_step); + } +} + void PipetteModule::zm_move_to(int32_t x, int32_t vbaseindex, int32_t vel) { /** * @brief 以电机的参考位置为基准，向下为正向，向上为负向 @@ -1174,6 +1256,7 @@ void PipetteModule::zm_update_dzero(int32_t dzero) { bool PipetteModule::zm0p_is_trigger() { return m_zm0p->getState(); } void PipetteModule::zm_apply_vcfg(int32_t vbasecfgindex, int32_t vel) { + ZLOGI(TAG, "zm_apply_vcfg %s", get_zm_vcpyid_name((zm_vcpyid_t)vbasecfgindex)); /** * @brief 当配置项的值为负数时，使用默认配置项的值 */ @@ -1188,6 +1271,12 @@ void PipetteModule::zm_apply_vcfg(int32_t vbasecfgindex, int32_t vel) { if (cfg.vstop > cfg.vmax) { cfg.vstop = cfg.vmax; } + if (cfg.vstart > cfg.vmax) { + cfg.vstart = cfg.vmax; + } + if (cfg.v1 > cfg.vmax) { + cfg.v1 = cfg.vmax; + } m_zm->set_vstart(cfg.vstart); m_zm->set_a1(cfg.a1); @@ -1198,14 +1287,7 @@ void PipetteModule::zm_apply_vcfg(int32_t vbasecfgindex, int32_t vel) { m_zm->set_vstop(cfg.vstop); m_zm->set_vmax(cfg.vmax); - ZLOGI(TAG, "set vstart %d", cfg.vstart); - ZLOGI(TAG, "set a1 %d", cfg.a1); - ZLOGI(TAG, "set amax %d", cfg.amax); - ZLOGI(TAG, "set v1 %d", cfg.v1); - ZLOGI(TAG, "set dmax %d", cfg.dmax); - ZLOGI(TAG, "set d1 %d", cfg.d1); - ZLOGI(TAG, "set vstop %d", cfg.vstop); - ZLOGI(TAG, "set vmax %d", cfg.vmax); + ZLOGI(TAG, "zm set vstart %d,a1 %d,amax %d,v1 %d,dmax %d,d1 %d,vstop %d,vmax %d", cfg.vstart, cfg.a1, cfg.amax, cfg.v1, cfg.dmax, cfg.d1, cfg.vstop, cfg.vmax); } void PipetteModule::zm_sync_base_cfg() { @@ -1284,42 +1366,51 @@ void PipetteModule::pump_waitfor_lld_is_ready(int32_t *zpos) { } } +void PipetteModule::pump_get_vcfg(int32_t vcfgindex, smtp2::VelCfg *cfg) { + pm_vcfg_t cfg2 = {0}; + get_cfg_smart(vcfgindex, &cfg2); + cfg->acc = cfg2.acc; + cfg->dec = cfg2.dec; + cfg->vstart = cfg2.vstart; + cfg->vstop = cfg2.vstop; + cfg->vmax = cfg2.vmax; +} + void PipetteModule::pump_apply_vcfg(int32_t vcfgindex, bool force) { + ZLOGI(TAG, "pump_apply_vcfg %s", get_pm_vcpyid_name((pm_vcpyid_t)vcfgindex)); if (!force && m_state.pm_now_vcfg_index == vcfgindex) { // 如果当前配置和目标配置相同，则不需要重新设置 return; } - pm_vcfg_t cfg = {0}; smtp2::VelCfg vcfg; - - get_cfg_smart(vcfgindex, &cfg); - vcfg.acc = cfg.acc; - vcfg.dec = cfg.dec; - vcfg.vstart = cfg.vstart; - vcfg.vstop = cfg.vstop; - vcfg.vmax = cfg.vmax; + pump_get_vcfg(vcfgindex, &vcfg); DO_IN_THREAD(m_smtp2.pump_set_vcfg(&vcfg)); m_state.pm_now_vcfg_index = vcfgindex; } void PipetteModule::pump_move_to_x100nl(int32_t x100nl, int32_t vcfgindex) { - pump_apply_vcfg(vcfgindex); - DO_IN_THREAD(m_smtp2.pump_move_to_nl(x100nl * 100)); + smtp2::VelCfg vcfg; + pump_get_vcfg(vcfgindex, &vcfg); + DO_IN_THREAD(m_smtp2.pump_move_to_nl(&vcfg, x100nl * 100)); } void PipetteModule::pump_move_by_x100nl(int32_t x100nl, int32_t vcfgindex) { - pump_apply_vcfg(vcfgindex); - DO_IN_THREAD(m_smtp2.pump_move_to_nl(x100nl * 100)); + ZLOGI(TAG, "pump_move_by_x100nl %d, in %s", x100nl, get_pm_vcpyid_name((pm_vcpyid_t)vcfgindex)); + smtp2::VelCfg vcfg; + pump_get_vcfg(vcfgindex, &vcfg); + DO_IN_THREAD(m_smtp2.pump_move_by_nl(&vcfg, x100nl * 100)); } void PipetteModule::pump_move_to_x100nl_block(int32_t x100nl, int32_t vcfgindex) { - pump_move_to_x100nl(vcfgindex, x100nl); + pump_move_to_x100nl(x100nl, vcfgindex); pump_waitfor_stop(); + ZLOGI(TAG, "pump now pos %d nl", pump_read_pos_nl()); } void PipetteModule::pump_move_by_x100nl_block(int32_t x100nl, int32_t vcfgindex) { - pump_move_by_x100nl(vcfgindex, x100nl); + pump_move_by_x100nl(x100nl, vcfgindex); pump_waitfor_stop(); + ZLOGI(TAG, "pump now pos %d nl", pump_read_pos_nl()); } void PipetteModule::pump_read_pos_nl(int32_t *val) { @@ -1329,6 +1420,11 @@ void PipetteModule::pump_read_pos_nl(int32_t *val) { // pump_read_pos_nl(val); DO_IN_THREAD(m_smtp2.pump_get_nl(val)); } +int32_t PipetteModule::pump_read_pos_nl() { + int32_t val = 0; + DO_IN_THREAD(m_smtp2.pump_get_nl(&val)); + return val; +} int32_t PipetteModule::pump_read_capactitance() { int32_t val = 0; DO_IN_THREAD(m_smtp2.pump_get_capacitance(&val)); @@ -1685,14 +1781,14 @@ void PipetteModule::parameter_init() { memset_int32_t((int32_t *)&m_liquid_info[0], -1, sizeof(m_liquid_info) / 4); memset_int32_t((int32_t *)&m_liquid_info[0], 0, sizeof(m_liquid_info[0]) / 4); - m_liquid_info[0].plld_pm_vindex = kpm_v_lld; + m_liquid_info[0].plld_pm_vcpyid = kpm_v_lld; m_liquid_info[0].plld_threshold = 30; m_liquid_info[0].plld_zm_vel = 50; - m_liquid_info[0].empty_tip_pm_vindex = kpm_v_max; + m_liquid_info[0].empty_tip_pm_vcpyid = kpm_v_max; m_liquid_info[0].blowout_air_volume = 0; - m_liquid_info[0].blowout_air_pm_vindex = kpm_v_quick; + m_liquid_info[0].blowout_air_pm_vcpyid = kpm_v_quick; m_liquid_info[0].over_aspirated_volume = 100; // 100(x100nl) == 10ul - m_liquid_info[0].over_aspirated_pm_vindex = kpm_v_slow_lv2; + m_liquid_info[0].over_aspirated_pm_vcpyid = kpm_v_slow_lv2; m_liquid_info[0].aspiration_pm_vindex_low = kpm_v_slow_lv1; m_liquid_info[0].aspiration_pm_vindex_high = kpm_v_slow_lv3; m_liquid_info[0].aspiration_volume_break_val = 500; // 500(x100nl) == 50ul @@ -1700,7 +1796,7 @@ void PipetteModule::parameter_init() { m_liquid_info[0].volume_calibration_coefficient_k = 1.0f; m_liquid_info[0].settling_time = 1000; // ms 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].transport_volume_pm_vcpyid = kpm_v_slow_lv2; + m_liquid_info[0].mix_pm_vcpyid = kpm_v_max; m_liquid_info[0].mark = 9973; } diff --git a/sdk/components/pipette_module/pipette_ctrl_module.hpp b/sdk/components/pipette_module/pipette_ctrl_module.hpp index fca071e..6de20c6 100644 --- a/sdk/components/pipette_module/pipette_ctrl_module.hpp +++ b/sdk/components/pipette_module/pipette_ctrl_module.hpp @@ -81,10 +81,10 @@ class PipetteModule : public ZIModule { /*********************************************************************************************************************** * state * ***********************************************************************************************************************/ - pipette_state_t m_state = {0}; - platinfo_t m_now_platinfo; - container_info_t m_now_container_info; - + pipette_state_t m_state = {0}; + platinfo_t m_now_platinfo; + container_info_t m_now_container_info; + aspirate_run_cxt_t aspirate_run_cxt; distribu_run_cxt_t distribu_run_cxt; /*********************************************************************************************************************** @@ -217,6 +217,7 @@ class PipetteModule : public ZIModule { void zm_stop(); void zm_move_to_end(int32_t direction, int32_t vindex); void zm_update_dzero(int32_t dzero); + void zm_move_to_zero_quick_block(); int32_t zm_get_now_pos(); void zm_set_now_pos(int32_t x); @@ -234,7 +235,9 @@ class PipetteModule : public ZIModule { ***********************************************************************************************************************/ void pump_apply_vcfg(int32_t vcfgindex, bool force = false); + void pump_get_vcfg(int32_t vcfgindex, smtp2::VelCfg *cfg); void pump_read_pos_nl(int32_t *val); + int32_t pump_read_pos_nl(); int32_t pump_read_capactitance(); int32_t pump_read_tip_state(); void pump_waitfor_stop(); diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp index d1aa7a9..21c7d50 100644 --- a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp +++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp @@ -16,6 +16,7 @@ using namespace smtp2; #define RE_SEND_TIMES 5 #define RE_SEND_DELAY 400 +#if DUMP_HEX static const char* hex2str(const char* hex, size_t len) { static char buf[256]; memset(buf, 0, sizeof(buf)); @@ -24,6 +25,7 @@ static const char* hex2str(const char* hex, size_t len) { } return buf; } +#endif void SMTP2V2::initialize(UART_HandleTypeDef* uart, uint8_t id, DMA_HandleTypeDef* hdma_rx, DMA_HandleTypeDef* hdma_tx) { m_uart = uart; @@ -80,17 +82,31 @@ int32_t SMTP2V2::pump_enable_temp_compensation(int32_t enable) { ZLOGI(TAG, "pump_enable_temp_compensation %d", enable); return setstate(true, "/1u%d,%dR\r", kcfg_auto_temp_compensation, enable); } -int32_t SMTP2V2::pump_stop() { return setstate(true, "/1TR\r"); } -int32_t SMTP2V2::pump_set_plld_start_delay(int32_t delay_ms) { return setstate(true, "/1T%dR\r", delay_ms); } +int32_t SMTP2V2::pump_stop() { + ZLOGI(TAG, "pump_stop"); + return setstate(true, "/1TR\r"); +} +int32_t SMTP2V2::pump_set_plld_start_delay(int32_t delay_ms) { + ZLOGI(TAG, "pump_set_plld_start_delay %d", delay_ms); + return setstate(true, "/1T%dR\r", delay_ms); +} int32_t SMTP2V2::pump_set_vcfg(VelCfg* vcfg) { + ZLOGI(TAG, "pump_set_vcfg %d,%d,%d,%d,%d", vcfg->acc, vcfg->dec, vcfg->vstart, vcfg->vstop, vcfg->vmax); // L,设置加速度，和减速度 (1..20) V%d 设置最大速度 v%d 设置起始速度 c%d 设置停止速度 return setstate(true, "/1N2L%d,%dv%dc%dV%dR\r", // vcfg->acc, vcfg->dec, vcfg->vstart * 1000, vcfg->vstop * 1000, vcfg->vmax * 1000); } -int32_t SMTP2V2::pump_init() { return runaction(true, "/1ZR\r"); } -int32_t SMTP2V2::pump_put_tip() { return runaction(true, "/1E0R\r"); } +int32_t SMTP2V2::pump_init() { + ZLOGI(TAG, "pump_init"); + return runaction(true, "/1ZR\r"); +} +int32_t SMTP2V2::pump_put_tip() { + ZLOGI(TAG, "pump_put_tip"); + return runaction(true, "/1E0R\r"); +} int32_t SMTP2V2::pump_reset() { + ZLOGI(TAG, "pump_reset"); _sendcmd(true, "/1!0R\r"); // 复位指令没有回执，所以这里只能使用方法_sendcmd _sendcmd(true, "/1!0R\r"); // 复位指令没有回执，所以这里只能使用方法_sendcmd return 0; @@ -100,11 +116,13 @@ int32_t SMTP2V2::pump_reset() { * ACTION * ***********************************************************************************************************************/ -int32_t SMTP2V2::pump_move_to_nl(int32_t nl) { +int32_t SMTP2V2::pump_move_to_nl(VelCfg* vcfg, int32_t nl) { ZLOGI(TAG, "pump_move_to_nl %d", nl); - return runaction(true, "/1A%dR\r", nl); + ZLOGI(TAG, "vcfg acc %d dec %d vstart %d vstop %d vmax %d", vcfg->acc, vcfg->dec, vcfg->vstart, vcfg->vstop, vcfg->vmax); + return runaction(true, "/1N2L%d,%dv%dc%dV%dA%dR\r", // + vcfg->acc, vcfg->dec, vcfg->vstart * 1000, vcfg->vstop * 1000, vcfg->vmax * 1000, nl); } -int32_t SMTP2V2::pump_move_by_nl(int32_t nl) { +int32_t SMTP2V2::pump_move_by_nl(VelCfg* vcfg, int32_t nl) { ZLOGI(TAG, "pump_move_by_nl %d", nl); int32_t nownl; @@ -113,22 +131,22 @@ int32_t SMTP2V2::pump_move_by_nl(int32_t nl) { int targetnl = nownl + nl; if (targetnl < 0) targetnl = 0; - return pump_move_to_nl(targetnl); + return pump_move_to_nl(vcfg, targetnl); } -int32_t SMTP2V2::pump_aspirate_nl(int32_t nl) { - ZLOGI(TAG, "pump_aspirate %d", nl); - int32_t nownl; +// int32_t SMTP2V2::pump_aspirate_nl(int32_t nl) { +// ZLOGI(TAG, "pump_aspirate %d", nl); +// int32_t nownl; - int32_t ret = pump_get_state_as_int(kstate_pump_pos_nl, &nownl); - if (ret != 0) return ret; +// int32_t ret = pump_get_state_as_int(kstate_pump_pos_nl, &nownl); +// if (ret != 0) return ret; - int targetnl = nownl + nl; - if (targetnl < 0) targetnl = 0; - return pump_move_to_nl(targetnl); -} +// int targetnl = nownl + nl; +// if (targetnl < 0) targetnl = 0; +// return pump_move_to_nl(targetnl); +// } -int32_t SMTP2V2::pump_distribut_nl(int32_t nl) { return pump_aspirate_nl(-nl); } +// int32_t SMTP2V2::pump_distribut_nl(int32_t nl) { return pump_aspirate_nl(-nl); } int32_t SMTP2V2::pump_aspirate_and_verify(int32_t nl, int32_t eigen_time, int32_t p_thre, int32_t tolerance) { /** @@ -141,7 +159,7 @@ int32_t SMTP2V2::pump_aspirate_and_verify(int32_t nl, int32_t eigen_time, int32_ * 0…2047 压力阈值，用于识别堵塞的Tip * */ - ZLOGI(TAG, "pump_aspirate %d", nl); + ZLOGI(TAG, "pump_aspirate_and_verify %d %d %d %d", nl, eigen_time, p_thre, tolerance); int32_t nownl; int32_t ret = pump_get_state_as_int(kstate_pump_pos_nl, &nownl); @@ -255,6 +273,7 @@ int32_t SMTP2V2::pump_distribut_mlld_get_state(int32_t* detected) { } int32_t SMTP2V2::pump_set_back_clearance(int32_t val) { + ZLOGI(TAG, "pump_set_back_clearance %d", val); int32_t ret = 0; for (size_t i = 0; i < 3; i++) { ret = setstate(true, "/1K%dR\r", val); diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp index 2a21b1d..529bdd6 100644 --- a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp +++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp @@ -217,8 +217,8 @@ class SMTP2V2 { int32_t pump_put_tip(); // 丢弃TIP int32_t pump_reset(); // 泵机复位 int32_t pump_stop(); // 停止 - int32_t pump_move_to_nl(int32_t nl); // - int32_t pump_move_by_nl(int32_t nl); // + int32_t pump_move_to_nl(VelCfg* vcfg, int32_t nl); // + int32_t pump_move_by_nl(VelCfg* vcfg, int32_t nl); // int32_t pump_aspirate_plld(int32_t pressure_threshold); // plld,分配探测 int32_t pump_aspirate_plld_get_state(int32_t* detected); @@ -228,8 +228,8 @@ class SMTP2V2 { int32_t pump_distribut_mlld(int32_t pumpv, int32_t c_threshold, int32_t pressure_threshold); // int32_t pump_distribut_mlld_get_state(int32_t* detected); - int32_t pump_aspirate_nl(int32_t nl); - int32_t pump_distribut_nl(int32_t nl); + // int32_t pump_aspirate_nl(int32_t nl); + // int32_t pump_distribut_nl(int32_t nl); int32_t pump_aspirate_and_verify(int32_t ul, int32_t eigen_time, int32_t p_thre, int32_t tolerance); diff --git a/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp index cb29b1d..cfae2a8 100644 --- a/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp +++ b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp @@ -962,7 +962,7 @@ int32_t ZCanProtocolParser::pipette_get_pmvcfg(cmdcontxt_t* cxt) { } int32_t ZCanProtocolParser::pipette_set_container_info(cmdcontxt_t* cxt) { - CHECK_AND_GET_MODULE(2); + CHECK_AND_GET_MODULE(3); return module->pipette_set_container_info(cxt->params[0], (container_info_index_t)cxt->params[1], cxt->params[2]); }