From ad1573894de3f24f00f63b0ffb224896c548b9a1 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Wed, 12 Jun 2024 11:29:23 +0800 Subject: [PATCH] update --- .settings/language.settings.xml | 4 +- README.md | 66 ++++++++++++++++++++++ a8000_protocol | 2 +- sdk | 2 +- usrc/public_service/gservice.cpp | 2 +- usrc/public_service/gservice.hpp | 2 + .../subboard100_idcard_reader/eeprom_service.cpp | 4 +- .../subboard100_idcard_reader/eeprom_service.hpp | 13 +++-- 8 files changed, 82 insertions(+), 13 deletions(-) diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml index 1ae201f..cddd77d 100644 --- a/.settings/language.settings.xml +++ b/.settings/language.settings.xml @@ -5,7 +5,7 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/README.md b/README.md index cffe523..c343462 100644 --- a/README.md +++ b/README.md @@ -65,4 +65,70 @@ ID地址: 1. 去除掉input_reg，修改驱动读取gpio的寄存器为kreg_step_motor_io_state 2. 增加舵机专用寄存器和方法 +``` + +``` +~吸吐 + 此时探头中没有液体 + 1.液面探测(max_dpos)(混合液体探测) + 2.吸液且液面跟随(step_motor_v) + + +移液枪动作 + 刺破: + Z轴电机移动 + + + 大瓶缓冲液+探测物质 + 1. 刺破探测物质 + 取tip + 移动Z轴 + 丢tip（应该可以不丢） + 2. 取大瓶子缓冲液（PS:1,2步应该可以使用同一个tip） + 取tip + 液面探测复位 + 移动z轴 + 液面探测(maxdpos,) + 液体跟随&&取液体(v,ul) + 3. 滴入探测物质 + 移动z轴 + 排空液体 + 丢tip + 4. 取血液体 + 取tip + 移动Z轴 + 液面探测 + 吸液&&液面跟随 + 5. 血液滴入探测物质（此过程中没有液面探测，没有液面跟随） + 移动z轴（固定位置） + 排空液体 + 吸吐混匀(液面跟随V) + + 小瓶缓冲液 + 1. 刺破小瓶缓冲液 + 取tip + 移动Z轴（刺破） + 丢tip(可以不丢弃) + 2. 取血液 + 取tip + 移动Z轴 + 液面探测 + 吸液&&液面跟随 + 3. 血液滴入探测物质（此过程中没有液面探测，没有液面跟随） + 移动z轴（固定位置） + 排空液体 + 吸吐混匀 + 排空液体 + 丢tip + + + + + + + + + + + ``` \ No newline at end of file diff --git a/a8000_protocol b/a8000_protocol index db4404e..cab27e0 160000 --- a/a8000_protocol +++ b/a8000_protocol @@ -1 +1 @@ -Subproject commit db4404e94683ade89cffb540a570fa749b518bfb +Subproject commit cab27e09a7e78e662b55de7b72e6b232988d5b27 diff --git a/sdk b/sdk index e73bbb7..8691aac 160000 --- a/sdk +++ b/sdk @@ -1 +1 @@ -Subproject commit e73bbb727cbc87ea0ddcd64c0a9a7d48fb7bd8f8 +Subproject commit 8691aaccb11538496a6898eacebb031048d4a324 diff --git a/usrc/public_service/gservice.cpp b/usrc/public_service/gservice.cpp index e642a21..957aeae 100644 --- a/usrc/public_service/gservice.cpp +++ b/usrc/public_service/gservice.cpp @@ -1,7 +1,7 @@ #include "gservice.hpp" -#include "a8000_protocol\protocol_event_bus_sender.hpp" #include "configs/device_id_mgr.hpp" + using namespace iflytop; void GService::initialize() { // diff --git a/usrc/public_service/gservice.hpp b/usrc/public_service/gservice.hpp index 8e337c1..affa551 100644 --- a/usrc/public_service/gservice.hpp +++ b/usrc/public_service/gservice.hpp @@ -4,6 +4,8 @@ #include "sdk/chip/chip.hpp" #include "sdk/components/zcancmder/zcan_protocol_parser.hpp" #include "sdk/components/zcancmder/zcanreceiver.hpp" +#include "sdk\components\zcancmder\protocol_event_bus_sender.hpp" + #include "sdk/os/zos.hpp" namespace iflytop { diff --git a/usrc/subboards/subboard100_idcard_reader/eeprom_service.cpp b/usrc/subboards/subboard100_idcard_reader/eeprom_service.cpp index 74e20eb..bbb53a7 100644 --- a/usrc/subboards/subboard100_idcard_reader/eeprom_service.cpp +++ b/usrc/subboards/subboard100_idcard_reader/eeprom_service.cpp @@ -1,5 +1,5 @@ #include "eeprom_service.hpp" - +#include "sdk\components\zcancmder\protocol_event_bus_sender.hpp" #include #include @@ -39,7 +39,7 @@ static __unused void dumpbuf(uint8_t* buf, size_t len) { * CODE * *******************************************************************************/ -void EEPROMService::initialize(int id, I2C_HandleTypeDef* i2c_handle, ZIEventBusSender* event_bus_sender) { +void EEPROMService::initialize(int id, I2C_HandleTypeDef* i2c_handle, ProtocolEventBusSender* event_bus_sender) { m_i2c_handle = i2c_handle; ZASSERT(m_i2c_handle); m_mutex.init(); diff --git a/usrc/subboards/subboard100_idcard_reader/eeprom_service.hpp b/usrc/subboards/subboard100_idcard_reader/eeprom_service.hpp index 8a9ed5a..ed3ec1f 100644 --- a/usrc/subboards/subboard100_idcard_reader/eeprom_service.hpp +++ b/usrc/subboards/subboard100_idcard_reader/eeprom_service.hpp @@ -2,6 +2,7 @@ #include "sdk\components\sensors\i2ceeprom\m24lrxxe_i2c_eeprom.hpp" #include "sdk\components\sensors\i2ceeprom\p24c16_eeprom.hpp" +#include "sdk\components\zcancmder\protocol_event_bus_sender.hpp" // #include "sdk\os\zos.hpp" @@ -21,11 +22,11 @@ using namespace std; class EEPROMService : public ZIModule, public ZIA8000IDCardReaderModule { ENABLE_MODULE(EEPROMService, ka8000_idcard_reader, PC_VERSION) - I2C_HandleTypeDef* m_i2c_handle; - ZThread m_monitor_thread; - bool m_is_online_flag = false; - zmutex m_mutex; - ZIEventBusSender* m_event_bus_sender; + I2C_HandleTypeDef* m_i2c_handle; + ZThread m_monitor_thread; + bool m_is_online_flag = false; + zmutex m_mutex; + ProtocolEventBusSender* m_event_bus_sender; int32_t id = 0; @@ -43,7 +44,7 @@ class EEPROMService : public ZIModule, public ZIA8000IDCardReaderModule { EEPROMService(){}; ~EEPROMService(){}; - void initialize(int id, I2C_HandleTypeDef* i2c_handle, ZIEventBusSender* event_bus_sender); + void initialize(int id, I2C_HandleTypeDef* i2c_handle, ProtocolEventBusSender* event_bus_sender); public: virtual int32_t a8000_idcard_reader_read_raw(int32_t index, uint8_t* data, int32_t* len) override;