diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 0c68457..68ccc9d 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
index 153f6e2..375fc50 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
@@ -622,7 +622,6 @@ int32_t PipetteModule::do_pipette_shake_up(int32_t ul, int32_t zmotor_v, int32_t
DO_IN_THREAD(m_smtp2.pump_aspirate(m_config.aspirate_distribut_pump_vel, ul));
while (true) {
if (!check_when_run()) break;
- if (m_thread.getExitFlag()) break;
int32_t isbusy = 0;
DO_IN_THREAD(m_smtp2.pump_get_state(&isbusy));
@@ -640,7 +639,6 @@ int32_t PipetteModule::do_pipette_shake_up(int32_t ul, int32_t zmotor_v, int32_t
if (zmotor_v != 0) submotor->moveBy(-dpos, zmotor_v);
while (true) {
if (!check_when_run()) return;
- if (m_thread.getExitFlag()) return;
int32_t isbusy = 0;
bool motorIsReachTarget = false;
@@ -652,7 +650,7 @@ int32_t PipetteModule::do_pipette_shake_up(int32_t ul, int32_t zmotor_v, int32_t
m_thread.sleep(10);
}
dotimes++;
- if (dotimes >= times) {
+ if (dotimes >= times || m_thread.getExitFlag()) {
ZLOGI(TAG, "shake end ...")
break;
}
@@ -663,7 +661,6 @@ int32_t PipetteModule::do_pipette_shake_up(int32_t ul, int32_t zmotor_v, int32_t
DO_IN_THREAD(m_smtp2.pump_aspirate(m_config.aspirate_distribut_pump_vel, ul));
while (true) {
if (!check_when_run()) return;
- if (m_thread.getExitFlag()) return;
int32_t isbusy = 0;
bool motorIsReachTarget = false;
diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
index eb6d5f0..82009c6 100644
--- a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
+++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
@@ -11,11 +11,8 @@ using namespace smtp2;
#define TAG "SMTP2"
#define OVERTIME 100
-#define DUMP_HEX 0
+#define DUMP_HEX 1
-#define SEND_CMD(fmt, ...) sendcmd(true, 1, "/1" fmt "R\r", ##__VA_ARGS__);
-#define SEND_CMD_AUTO_RETRY(retry_times, fmt, ...) sendcmd(true, retry_times, "/1" fmt "R\r", ##__VA_ARGS__);
-#define SEND_CMD_NLOG(fmt, ...) sendcmd(false, 1, "/1" fmt "R\r", ##__VA_ARGS__);
// 模式2
void SMTP2V2::initialize(UART_HandleTypeDef* uart, uint8_t id, DMA_HandleTypeDef* hdma_rx, DMA_HandleTypeDef* hdma_tx) {
m_uart = uart;
@@ -30,7 +27,7 @@ bool SMTP2V2::pump_ping() {
}
int32_t SMTP2V2::pump_get_state(int32_t* isbusy) {
size_t rxlen = 0;
- int ret = sendcmd(false /*dump*/, 5 /*retry_times*/, "/1QR\r");
+ int ret = readstate(false, "/1QR\r");
if (ret != 0) return ret;
uint8_t errorcode = (uint8_t)m_rxbuf[2];
@@ -43,7 +40,7 @@ int32_t SMTP2V2::pump_get_state(int32_t* isbusy) {
}
int32_t SMTP2V2::pump_get_state_as_int(int32_t state_index, int32_t* val) {
size_t rxlen = 0;
- int ret = SEND_CMD_AUTO_RETRY(3, "?%d\r", state_index);
+ int ret = readstate(true, "/1?%d\r", state_index);
if (ret != 0) {
return ret;
}
@@ -67,20 +64,20 @@ int32_t SMTP2V2::pump_get_motor_pos_ul(int32_t* ul) {
return ret;
}
-int32_t SMTP2V2::pump_stop() { return sendcmd(true, 1, "/1TR\r"); }
-int32_t SMTP2V2::pump_set_vstart(int32_t vel) { return SEND_CMD("N2v%d", vel * 319); }
-int32_t SMTP2V2::pump_set_vstop(int32_t vel) { return SEND_CMD("N2c%d", vel * 319); }
-int32_t SMTP2V2::pump_set_vmax(int32_t vel) { return SEND_CMD("N2V%d", vel * 319); }
-int32_t SMTP2V2::pump_set_acc_and_dec(int32_t acc, int32_t dec) { return SEND_CMD("L%d,%d", acc, dec); }
-int32_t SMTP2V2::pump_set_plld_start_delay(int32_t delay_ms) { return SEND_CMD("T%d", delay_ms); }
+int32_t SMTP2V2::pump_stop() { return setstate(true, "/1TR\r"); }
+int32_t SMTP2V2::pump_set_vstart(int32_t vel) { return setstate(true, "/1N2v%dR\r", vel * 319); }
+int32_t SMTP2V2::pump_set_vstop(int32_t vel) { return setstate(true, "/1N2c%dR\r", vel * 319); }
+int32_t SMTP2V2::pump_set_vmax(int32_t vel) { return setstate(true, "/1N2V%dR\r", vel * 319); }
+int32_t SMTP2V2::pump_set_acc_and_dec(int32_t acc, int32_t dec) { return setstate(true, "/1L%d,%dR\r", acc, dec); }
+int32_t SMTP2V2::pump_set_plld_start_delay(int32_t delay_ms) { return setstate(true, "/1T%dR\r", delay_ms); }
-int32_t SMTP2V2::pump_put_tip() { return SEND_CMD("E1"); }
-int32_t SMTP2V2::pump_init(int32_t v) { return SEND_CMD("N2V%dZ", v * 319); }
+int32_t SMTP2V2::pump_put_tip() { return runaction(true, "/1E1R\r"); }
+int32_t SMTP2V2::pump_init(int32_t v) { return runaction(true, "/1N2V%dZR\r", v * 319); }
int32_t SMTP2V2::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
return 0;
}
-
+#if 0
static int32_t Get1fromfloat(const float& val) {
float temp1 = val;
int32_t t1 = (uint32_t)(temp1 * 10) % 10;
@@ -91,6 +88,7 @@ static int32_t Get1fromfloat(const float& val) {
}
return (int32_t)temp1;
}
+#endif
int32_t SMTP2V2::pump_move_to_ul(int32_t v, int32_t ul) {
/**
@@ -102,13 +100,23 @@ int32_t SMTP2V2::pump_move_to_ul(int32_t v, int32_t ul) {
*/
ZLOGI(TAG, "pump_move_to_ul %d", ul);
int stepNum = ul * 1000; //+0.5 是为了浮点数强转成正数时采用四舍五入的方式
- return SEND_CMD("V%dA%d", v * 319, stepNum);
+ return pump_move_to_nl(v, ul * 1000);
+}
+
+int32_t SMTP2V2::pump_move_to_nl(int32_t v, int32_t nl) {
+ ZLOGI(TAG, "pump_move_to_nl %d", nl);
+ return runaction(true, "/1V%dA%dR\r", v * 319, nl);
}
int32_t SMTP2V2::pump_aspirate(int32_t v, int32_t ul) {
ZLOGI(TAG, "pump_aspirate %d", ul);
- int stepNum = ul * 1000;
- return SEND_CMD("V%dP%d", v * 319, stepNum);
+ int32_t nownl;
+
+ int32_t ret = pump_get_state_as_int(kstate_pump_pos_nl, &nownl);
+ if (ret != 0) return ret;
+
+ int targetnl = nownl + ul * 1000;
+ return pump_move_to_nl(v, targetnl);
}
int32_t SMTP2V2::pump_distribut(int32_t v, int32_t ul) {
ZLOGI(TAG, "pump_distribut %d", ul);
@@ -118,19 +126,15 @@ int32_t SMTP2V2::pump_distribut(int32_t v, int32_t ul) {
int32_t ret = pump_get_state_as_int(kstate_pump_pos_nl, &nownl);
if (ret != 0) return ret;
- int stepNum = ul * 1000;
-
- if (stepNum > nownl) {
- stepNum = nownl;
- }
-
- return SEND_CMD("V%dD%d", v * 319, stepNum);
+ int targetnl = nownl - ul * 1000;
+ if (targetnl < 0) targetnl = 0;
+ return pump_move_to_nl(v, targetnl);
}
int32_t SMTP2V2::pump_distribut_plld(int32_t pumpv, int32_t pressure_threshold) {
// M100V100t50,0R
ZLOGI(TAG, "pump_distribut_plld %d %d", pumpv, pressure_threshold);
- return SEND_CMD("V%dt%d,0", pumpv * 319, pressure_threshold);
+ return runaction(true, "/1V%dt%d,0R\r", pumpv * 319, pressure_threshold);
}
int32_t SMTP2V2::pump_distribut_plld_get_state(int32_t* detected) {
@@ -146,7 +150,7 @@ int32_t SMTP2V2::pump_distribut_plld_get_state(int32_t* detected) {
int32_t SMTP2V2::pump_clld(int32_t c_threshold) { //
ZLOGI(TAG, "pump_clld %d", c_threshold);
- return SEND_CMD("^%d", c_threshold);
+ return runaction(true, "/1^%dR\r", c_threshold);
}
int32_t SMTP2V2::pump_clld_get_state(int32_t* detected) {
int32_t isbusy;
@@ -161,7 +165,7 @@ int32_t SMTP2V2::pump_clld_get_state(int32_t* detected) {
// B,
int32_t SMTP2V2::pump_distribut_mlld(int32_t pumpv, int32_t c_threshold, int32_t pressure_threshold) {
ZLOGI(TAG, "pump_distribut_mlld %d %d %d", pumpv, c_threshold, pressure_threshold);
- return SEND_CMD("V%dB%d,%d", pumpv * 319, c_threshold, pressure_threshold);
+ return runaction(true, "/1V%dB%d,%dR\r", pumpv * 319, c_threshold, pressure_threshold);
}
int32_t SMTP2V2::pump_distribut_mlld_get_state(int32_t* detected) {
int32_t isbusy;
@@ -179,7 +183,7 @@ int32_t SMTP2V2::pump_distribut_mlld_get_state(int32_t* detected) {
***********************************************************************************************************************/
bool SMTP2V2::write_cmd(const char* cmd) {
int32_t ret = 0;
- ret = sendcmd(true, 1, cmd);
+ ret = _sendcmd(true, cmd);
return ret == 0;
}
void SMTP2V2::getack(char* rx, int32_t* rxbufsize) {
@@ -228,28 +232,96 @@ int32_t SMTP2V2::getAck0AsInt() {
int intval = atoi(&m_rxprocessbuf[3]);
return intval;
}
+int32_t SMTP2V2::runaction(bool dump, const char* format, ...) {
+ static char cmdbuf[256];
+ va_list args;
+ va_start(args, format);
+ vsnprintf(cmdbuf, sizeof(cmdbuf), format, args);
+ va_end(args);
+ return _runaction(dump, cmdbuf);
+}
-int32_t SMTP2V2::sendcmd(bool dump, int auto_retry_times, const char* format, ...) {
- static char buf[256];
+int32_t SMTP2V2::_runaction(bool dump, const char* cmd) {
+ for (size_t i = 0; i < 3; i++) {
+ if (i != 0) {
+ ZLOGE(TAG, "resend cmd .......................................................");
+ osDelay(10);
+ }
+
+ if (!_sendcmd(dump, "/1T\r")) continue;
+ if (!_sendcmd(dump, "/1CR\r")) continue;
+ if (!_sendcmd(dump, cmd)) continue;
+ return getAckEcode();
+ }
+ return getAckEcode();
+}
+int32_t SMTP2V2::readstate(bool dump, const char* format, ...) {
+ static char cmdbuf[256];
+ va_list args;
+ va_start(args, format);
+ vsnprintf(cmdbuf, sizeof(cmdbuf), format, args);
+ va_end(args);
+
+ for (size_t i = 0; i < 3; i++) {
+ if (_sendcmd(dump, cmdbuf)) {
+ return getAckEcode();
+ }
+ osDelay(20);
+ }
+ return getAckEcode();
+}
+int32_t SMTP2V2::setstate(bool dump, const char* format, ...) {
+ static char cmdbuf[256];
va_list args;
va_start(args, format);
- vsnprintf(buf, sizeof(buf), format, args);
+ vsnprintf(cmdbuf, sizeof(cmdbuf), format, args);
va_end(args);
- sendcmd_auto_retry(dump, auto_retry_times, buf);
+ for (size_t i = 0; i < 3; i++) {
+ if (_sendcmd(dump, cmdbuf)) {
+ return getAckEcode();
+ }
+ osDelay(20);
+ }
return getAckEcode();
}
-bool SMTP2V2::sendcmd_auto_retry(bool dump, int auto_retry_times, const char* cmd) {
+#if 0
+int32_t SMTP2V2::sendcmd(bool dump, int auto_retry_times, const char* format, ...) {
+ static char cmdbuf[256];
+ va_list args;
+ va_start(args, format);
+ vsnprintf(cmdbuf, sizeof(cmdbuf), format, args);
+ va_end(args);
+
for (size_t i = 0; i < auto_retry_times; i++) {
- if (_sendcmd(dump, cmd)) {
+ if (_sendcmd(dump, cmdbuf)) {
return true;
}
osDelay(50);
m_rxNum = 0;
}
- return false;
+ return getAckEcode();
}
+int32_t SMTP2V2::send_action_cmd(bool dump, int auto_retry_times, const char* format, ...) {
+ static char cmdbuf[256];
+ va_list args;
+ va_start(args, format);
+ vsnprintf(cmdbuf, sizeof(cmdbuf), format, args);
+ va_end(args);
+
+ for (size_t i = 0; i < auto_retry_times; i++) {
+ if (_sendcmd(dump, cmdbuf)) {
+ return true;
+ }
+ ZLOGI(TAG, "send_action_cmd retry %d", i);
+ osDelay(10);
+ sendcmd(true, 2, "/1TR\r");
+ osDelay(20);
+ }
+ return getAckEcode();
+}
+#endif
static const char* hex2str(const char* hex, size_t len) {
static char buf[256];
@@ -259,6 +331,7 @@ static const char* hex2str(const char* hex, size_t len) {
}
return buf;
}
+
bool SMTP2V2::_sendcmd(bool dump, const char* cmd) {
m_rxNum = 0;
diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
index 9807523..cd8edf0 100644
--- a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
+++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
@@ -181,11 +181,12 @@ class SMTP2V2 {
/***********************************************************************************************************************
* ACTION *
***********************************************************************************************************************/
- int32_t pump_init(int32_t v); // 泵机初始化(归零)
- int32_t pump_reset(); // 泵机复位
- int32_t pump_stop(); // 停止
- int32_t pump_put_tip(); // 丢弃TIP
+ int32_t pump_init(int32_t v); // 泵机初始化(归零)
+ int32_t pump_reset(); // 泵机复位
+ int32_t pump_stop(); // 停止
+ int32_t pump_put_tip(); // 丢弃TIP
int32_t pump_move_to_ul(int32_t v, int32_t ul); //
+ int32_t pump_move_to_nl(int32_t v, int32_t nl); //
int32_t pump_distribut_plld(int32_t pumpv, int32_t pressure_threshold); // plld,分配探测
int32_t pump_distribut_plld_get_state(int32_t* detected);
@@ -206,10 +207,18 @@ class SMTP2V2 {
void getack(char* rx, int32_t* rxbufsize);
private:
+ int32_t runaction(bool dump, const char* format, ...);
+ int32_t _runaction(bool dump, const char* cmd);
+ int32_t readstate(bool dump, const char* format, ...);
+ int32_t setstate(bool dump, const char* format, ...);
+#if 0
int32_t sendcmd(bool dump, int auto_retry_times, const char* format, ...);
+ int32_t send_action_cmd(bool dump, int auto_retry_times, const char* format, ...);
bool sendcmd_auto_retry(bool dump, int auto_retry_times, const char* cmd);
- bool _sendcmd(bool dump, const char* cmd);
- bool _sendcmd_dma(const char* cmd);
+#endif
+
+ bool _sendcmd(bool dump, const char* cmd);
+ bool _sendcmd_dma(const char* cmd);
int32_t getAckEcode();
int32_t getAck0AsInt();
diff --git a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
index 853e000..5e3aade 100644
--- a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -479,9 +479,9 @@ int32_t StepMotorCtrlModule::step_motor_easy_reciprocating_motion(int32_t startp
int32_t ecode = check_befor_run();
if (ecode != 0) return ecode;
-
+
int32_t x_startpos = startpos;
- int32_t x_endpos = endpos;
+ int32_t x_endpos = endpos;
int32_t x_beginpos;
getnowpos(x_beginpos);
@@ -499,19 +499,19 @@ int32_t StepMotorCtrlModule::step_motor_easy_reciprocating_motion(int32_t startp
ZLOGI(TAG, "reciprocating_motion move pos:%d", x_startpos);
moveTo(x_startpos, m_cfg.motor_default_velocity);
while (!m_stepM1->isReachTarget()) {
+ osDelay(50);
+
if (m_thread.getExitFlag()) break;
if (!check_when_run()) break;
-
- vTaskDelay(5);
}
ZLOGI(TAG, "reciprocating_motion move pos:%d", x_endpos);
moveTo(x_endpos, m_cfg.motor_default_velocity);
while (!m_stepM1->isReachTarget()) {
+ osDelay(50);
+
if (m_thread.getExitFlag()) break;
if (!check_when_run()) break;
-
- vTaskDelay(5);
}
}
@@ -521,7 +521,7 @@ int32_t StepMotorCtrlModule::step_motor_easy_reciprocating_motion(int32_t startp
if (m_thread.getExitFlag()) break;
if (!check_when_run()) break;
- vTaskDelay(5);
+ osDelay(50);
}
after_motor_move();
@@ -542,7 +542,7 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_rotate(int32_t direction) {
while (true) {
if (m_thread.getExitFlag()) break;
if (!check_when_run()) break;
- vTaskDelay(5);
+ osDelay(50);
}
}
@@ -565,7 +565,7 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_move_to(int32_t tox) {
if (m_thread.getExitFlag()) break;
if (!check_when_run()) break;
- vTaskDelay(5);
+ osDelay(50);
}
}
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 4023082..d3fa874 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,5 +1,5 @@
#pragma once
-#define PC_VERSION 508
+#define PC_VERSION 509
#define PC_MANUFACTURER "http://www.iflytop.com/"
#define PC_PROJECT_NAME "a8000_subboard"
#define PC_IFLYTOP_ENABLE_OS 1