update

.vscode/settings.json

@@ -4,7 +4,8 @@
         "freertos.h": "c",
         "cmsis_os.h": "c",
         "*.bak": "cpp",
-        "compare": "cpp"
+        "compare": "cpp",
+        "random": "cpp"
     },
     "files.autoGuessEncoding": false,
     "files.encoding": "utf8"

sdk/components/pipette_module/base/pipette_cfg.hpp

@@ -122,10 +122,10 @@ typedef enum {
  *                                                      容器参数                                                       *
  ***********************************************************************************************************************/
 typedef struct {
+  int32_t container_type;                   // 容器类型 0:平面 1:flat(平底) 2:conical(锥底) 3:round(圆底)
   int32_t container_neck_pos;               // 容器,瓶口位置(相对位置0.1mm)
   int32_t container_depth;                  // 容器,深度(0.1mm)
   int32_t container_round;                  // 容器,直径(0.1mm)
-  int32_t container_bottom_section_type;    // 容器,瓶底类型//flat(平底),conical(锥底) round(圆底)
   int32_t container_bottom_section_height;  // 容器,瓶底高度(0.1mm)
   int32_t immersion_depth;                  // 侵入液面高度，即液面以下的高度，精度0.1mm
   int32_t leaving_height;                   // 离开液面高度，此位置ZEUS开始缓慢进入液面或离开液面，精度0.1mm
@@ -136,10 +136,10 @@ typedef struct {
 } container_info_t;
 
 typedef enum {
-  kcontainer_info_container_neck_pos              = 600,
-  kcontainer_info_container_depth                 = 601,
-  kcontainer_info_container_round                 = 602,
-  kcontainer_info_container_bottom_section_type   = 603,
+  kcontainer_info_container_type                  = 600,
+  kcontainer_info_container_neck_pos              = 601,
+  kcontainer_info_container_depth                 = 602,
+  kcontainer_info_container_round                 = 603,
   kcontainer_info_container_bottom_section_height = 604,
   kcontainer_info_immersion_depth                 = 605,
   kcontainer_info_leaving_height                  = 606,

sdk/components/pipette_module/pipette_ctrl_module.cpp

@@ -260,6 +260,35 @@ int32_t PipetteModule::pipette_pump_put_tip(int32_t pos) {
   });
   return 0;
 }
+
+int32_t PipetteModule::pipette_pump_aspirate_set_param(aspiration_paramid_t param, int32_t val) {
+#define CASE_ITEM(param, item, val)                                      \
+  case param: {                                                          \
+    ZLOGI(TAG, "pipette_pump_aspirate_set_param set %s %d", #item, val); \
+    m_aspiration_param.item = val;                                       \
+    break;                                                               \
+  }
+
+  switch (param) {
+    CASE_ITEM(kaspiration_paramid_x100nl, x100nl, val);
+    CASE_ITEM(kaspiration_paramid_container_info_index, container_info_index, val);
+    CASE_ITEM(kaspiration_paramid_liquid_cfg_index, liquid_cfg_index, val);
+    CASE_ITEM(kaspiration_paramid_aspiration_mode, aspiration_mode, val);
+    CASE_ITEM(kaspiration_paramid_lld_type, lld_type, val);
+    CASE_ITEM(kaspiration_paramid_lld_enable_protect, lld_enable_protect, val);
+    CASE_ITEM(kaspiration_paramid_mix_llf_enable, mix_llf_enable, val);
+    CASE_ITEM(kaspiration_paramid_llf_enable, llf_enable, val);
+    CASE_ITEM(kaspiration_paramid_mix_volume, mix_volume, val);
+    CASE_ITEM(kaspiration_paramid_mix_times, mix_times, val);
+    default: {
+      ZLOGE(TAG, "pipette_pump_aspirate_set_param fail,paramid == %d not support", param);
+      return err::kparam_out_of_range;
+    }
+  }
+#undef CASE_ITEM
+  return 0;
+}
+
 int32_t PipetteModule::pipette_pump_aspirate() {
   /**
    * @brief

sdk/components/pipette_module/pipette_ctrl_module.hpp

@@ -117,6 +117,7 @@ class PipetteModule : public ZIModule {
   virtual int32_t pipette_pump_init_device();
   virtual int32_t pipette_pump_take_tip(int32_t tip_pos);
   virtual int32_t pipette_pump_put_tip(int32_t pos);
+  virtual int32_t pipette_pump_pierce_through(int32_t pos);
 
   virtual int32_t pipette_pump_aspirate_set_param(aspiration_paramid_t param, int32_t val);
   virtual int32_t pipette_pump_aspirate();

sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp

@@ -6,15 +6,15 @@
 //
 #include "public_service\ext_board_impl.hpp"
 #include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
+#include "sdk\components\pipette_module\pipette_ctrl_module.hpp"
 #include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
 #include "sdk\components\step_motor_ctrl_module\step_motor_ctrl_module.hpp"
 #include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module.hpp"
 #include "sdk\components\xy_robot_ctrl_module\xy_robot_ctrl_module.hpp"
-#include "subboards\subboard40_and_50_temperature_ctrl\zcan_fan_ctrl_module.hpp"
-#include "subboards\subboard90_optical_module\optical_module_v2.hpp"
 #include "subboards\subboard100_idcard_reader\eeprom_service.hpp"
 #include "subboards\subboard20_plate_clamp_case\plate_code_scaner_module.hpp"
-#include "sdk\components\pipette_module\pipette_ctrl_module.hpp"
+#include "subboards\subboard40_and_50_temperature_ctrl\zcan_fan_ctrl_module.hpp"
+#include "subboards\subboard90_optical_module\optical_module_v2.hpp"
 //
 
 #include "sdk/os/zos.hpp"
@@ -162,6 +162,7 @@ void ZCanProtocolParser::initialize(ZCanReceiver* cancmder) {
   REGFN(pipette_pump_init_device);
   REGFN(pipette_pump_take_tip);
   REGFN(pipette_pump_put_tip);
+  REGFN(pipette_pump_aspirate_set_param);
   REGFN(pipette_pump_aspirate);
   REGFN(pipette_pump_distribu);
   REGFN(pipette_get_sensor_sample_data);
@@ -937,6 +938,11 @@ int32_t ZCanProtocolParser::pipette_pump_put_tip(cmdcontxt_t* cxt) {
   return module->pipette_pump_put_tip(cxt->params[0]);
 }
 
+int32_t ZCanProtocolParser::pipette_pump_aspirate_set_param(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->pipette_pump_aspirate_set_param((aspiration_paramid_t)cxt->params[0], cxt->params[1]);
+}
+
 int32_t ZCanProtocolParser::pipette_pump_aspirate(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(0);
   return module->pipette_pump_aspirate();

sdk/components/zcan_protocol_parser/zcan_protocol_parser.hpp

@@ -183,6 +183,7 @@ class ZCanProtocolParser : public IZCanRxProcesser {
   CMDFN(pipette_pump_init_device);
   CMDFN(pipette_pump_take_tip);
   CMDFN(pipette_pump_put_tip);
+  CMDFN(pipette_pump_aspirate_set_param);
   CMDFN(pipette_pump_aspirate);
   CMDFN(pipette_pump_distribu);
   CMDFN(pipette_get_sensor_sample_data);

usrc/a8000_protocol/protocol/cmdid.hpp

@@ -145,10 +145,11 @@ typedef enum {
   kpipette_pump_init_device           = 0x7550,
   kpipette_pump_take_tip              = 0x7551,
   kpipette_pump_put_tip               = 0x7552,
-  kpipette_pump_aspirate              = 0x7553,
-  kpipette_pump_distribu              = 0x7554,
-  kpipette_get_sensor_sample_data     = 0x7555,
-  kpipette_get_sensor_sample_data_num = 0x7556,
+  kpipette_pump_aspirate_set_param    = 0x7553,
+  kpipette_pump_aspirate              = 0x7554,
+  kpipette_pump_distribu              = 0x7555,
+  kpipette_get_sensor_sample_data     = 0x7556,
+  kpipette_get_sensor_sample_data_num = 0x7557,
 
 } cmdid_t;