project_boditech_vidas_a8000_v3
/
a8000_subboard
2
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 9 months ago
parent
0e55b8b60f
commit
bdb799fd15
5 changed files with 87 additions and 36 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      a8000_protocol
  2. 56
      sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
  3. 29
      sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
  4. 26
      sdk/components/zcancmder/zcan_protocol_parser.cpp
  5. 10
      sdk/components/zcancmder/zcan_protocol_parser.hpp

2
a8000_protocol

@ -1 +1 @@
Subproject commit 51da893d74468dd8ae898e97936a2357a6120eb0
Subproject commit e4ccf301ebe4edb258ec95a90c2389d8caa394c1

56
sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
View File

@ -76,8 +76,7 @@ void PipetteModuleV2::create_default_cfg(config_t *defaultcfg) {
defaultcfg->pump_vstop = 900;
defaultcfg->aspirate_pump_vel = 500; //
defaultcfg->pump_vmax = 1000;
defaultcfg->aspirate_zmotor_max_move_by = 400; // 50mm,tip头的长度
defaultcfg->lld_pump_vel = 80; // lld推荐使用速度为50->200,这里
defaultcfg->lld_pump_vel = 80; // lld推荐使用速度为50->200,这里
defaultcfg->lld_motor_vel_rpm = 80;
defaultcfg->lld_detect_period_ms = 1; // 100ms
defaultcfg->lld_prepare_pos = PIPETTE_PREPARE_POS;
@ -349,11 +348,11 @@ int32_t PipetteModuleV2::pipette_lld_prepare() {
}
int32_t PipetteModuleV2::pipette_lld_test() { //
return do_pipette_lld(true, kplld, m_state.pipette_startz, m_state.pipette_endz, 100, 1000);
return do_pipette_lld(true, kplld, m_state.lld_startz, m_state.lld_endz - m_state.lld_startz, 100, 1000);
}
int32_t PipetteModuleV2::pipette_lld() { //
return do_pipette_lld(false, m_state.lld_type, m_state.pipette_startz, m_state.pipette_endz - m_state.pipette_startz, m_state.lld_c_threshold, m_state.lld_p_threshold);
return do_pipette_lld(false, m_state.lld_type, m_state.lld_startz, m_state.lld_endz - m_state.lld_startz, m_state.lld_c_threshold, m_state.lld_p_threshold);
}
int32_t PipetteModuleV2::pipette_lld_is_detect_liquid(int32_t *detect) {
@ -385,14 +384,14 @@ int32_t PipetteModuleV2::pipette_aspirate_prepare() {
return 0;
}
int32_t PipetteModuleV2::pipette_set_startz(int32_t startz) {
ZLOGI(TAG, "pipette_set_startz %d", startz);
m_state.pipette_startz = startz;
int32_t PipetteModuleV2::pipette_set_lld_startz(int32_t startz) {
ZLOGI(TAG, "pipette_set_lld_startz %d", startz);
m_state.lld_startz = startz;
return 0;
}
int32_t PipetteModuleV2::pipette_set_endz(int32_t endz) {
ZLOGI(TAG, "pipette_set_endz %d", endz);
m_state.pipette_endz = endz;
int32_t PipetteModuleV2::pipette_set_lld_endz(int32_t endz) {
ZLOGI(TAG, "pipette_set_lld_endz %d", endz);
m_state.lld_endz = endz;
return 0;
}
@ -417,6 +416,17 @@ int32_t PipetteModuleV2::pipette_set_llf_velocity(int32_t llf_zm_rpm) {
ZLOGI(TAG, "pipette_set_llf_velocity %d", llf_zm_rpm);
return 0;
}
int32_t PipetteModuleV2::pipette_set_llf_startz(int32_t startz) {
m_state.llf_startz = startz;
ZLOGI(TAG, "pipette_set_llf_startz %d", startz);
return 0;
}
int32_t PipetteModuleV2::pipette_set_llf_endz(int32_t endz) {
m_state.llf_endz = endz;
ZLOGI(TAG, "pipette_set_llf_end %d", endz);
return 0;
}
int32_t PipetteModuleV2::pipette_set_aspirate_operation_verifi_p_thre(int32_t p_thre) {
m_state.aspirate_cfg_p_thre = p_thre;
ZLOGI(TAG, "pipette_set_aspirate_operation_verifi_p_thre %d", p_thre);
@ -441,14 +451,24 @@ int32_t PipetteModuleV2::pipette_aspirate(int32_t ul) {
return err::kparam_out_of_range;
}
// llf_startz
// llf_endz
THREAD_START_WORK([this, ul]() {
m_state.lld_prepared = 0;
int dul = m_state.load_val_ul + ul <= 0 ? -m_state.load_val_ul : ul;
DO_IN_THREAD(m_smtp2.pump_aspirate(m_cfg.aspirate_pump_vel, dul));
int32_t dpos = ul > 0 ? m_cfg.aspirate_zmotor_max_move_by : -m_cfg.aspirate_zmotor_max_move_by;
if (m_state.aspirate_cfg_llf_zm_rpm != 0) zm_move_by(dpos, m_state.aspirate_cfg_llf_zm_rpm);
// int32_t dpos = ul > 0 ? m_cfg.aspirate_zmotor_max_move_by : -m_cfg.aspirate_zmotor_max_move_by;
if (m_state.aspirate_cfg_llf_zm_rpm != 0) {
if (ul >= 0) {
zm_move_to(m_state.llf_startz, m_state.aspirate_cfg_llf_zm_rpm);
} else {
zm_move_to(m_state.llf_endz, m_state.aspirate_cfg_llf_zm_rpm);
}
}
pump_waitfor_stop();
@ -486,8 +506,16 @@ int32_t PipetteModuleV2::pipette_aspirate_and_verify(int32_t ul) {
m_state.aspirate_cfg_eigen_time, //
m_state.aspirate_cfg_tolerance));
int32_t dpos = ul > 0 ? m_cfg.aspirate_zmotor_max_move_by : -m_cfg.aspirate_zmotor_max_move_by;
if (m_state.aspirate_cfg_llf_zm_rpm != 0) zm_move_by(dpos, m_state.aspirate_cfg_llf_zm_rpm);
// int32_t dpos = ul > 0 ? m_cfg.aspirate_zmotor_max_move_by : -m_cfg.aspirate_zmotor_max_move_by;
// if (m_state.aspirate_cfg_llf_zm_rpm != 0) zm_move_by(dpos, m_state.aspirate_cfg_llf_zm_rpm);
if (m_state.aspirate_cfg_llf_zm_rpm != 0) {
if (ul >= 0) {
zm_move_to(m_state.llf_startz, m_state.aspirate_cfg_llf_zm_rpm);
} else {
zm_move_to(m_state.llf_endz, m_state.aspirate_cfg_llf_zm_rpm);
}
}
// wait...
pump_waitfor_stop();
// stop

29
sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
View File

@ -52,14 +52,14 @@ class PipetteModuleV2 : public ZIModule {
} snesor_sample_data_t;
typedef struct {
int32_t limit_ul; // 泵机限制
int32_t pump_acc; // 泵机速度参数
int32_t pump_dec; // 泵机速度参数
int32_t pump_vstart; // 泵机速度参数
int32_t pump_vstop; // 泵机速度参数
int32_t pump_vmax; // 泵机速度参数
int32_t aspirate_pump_vel; // 吸吐泵机速度
int32_t aspirate_zmotor_max_move_by; // 吸液Z轴最大移动距离 //TODO add config index to set it
int32_t limit_ul; // 泵机限制
int32_t pump_acc; // 泵机速度参数
int32_t pump_dec; // 泵机速度参数
int32_t pump_vstart; // 泵机速度参数
int32_t pump_vstop; // 泵机速度参数
int32_t pump_vmax; // 泵机速度参数
int32_t aspirate_pump_vel; // 吸吐泵机速度
// int32_t aspirate_zmotor_max_move_by; // 吸液Z轴最大移动距离 //TODO add config index to set it
int32_t lld_pump_vel; // lld,泵机吸吐速度
int32_t lld_motor_vel_rpm; // lld,z轴电机移动速度
int32_t lld_detect_period_ms; // lld,探测周期
@ -104,13 +104,15 @@ class PipetteModuleV2 : public ZIModule {
int32_t dpos;
// setting
int32_t pipette_startz; // lld探测起始位
int32_t pipette_endz; // lld探测结束位置, llf液面跟随限制位
int32_t lld_startz; // lld探测起始位
int32_t lld_endz; // lld探测结束位置, llf液面跟随限制位
int32_t lld_type; // lld类型
int32_t lld_c_threshold; // lld c_threshold
int32_t lld_p_threshold; // lld p_threshold
int32_t aspirate_cfg_llf_zm_rpm; // 液面跟随速度
int32_t llf_startz; // 液面跟随，z轴移动的最大开始位置
int32_t llf_endz; // 液面跟随，z轴移动的最大结束位置
int32_t aspirate_cfg_p_thre; // 吸液操作验证，压力阈值，用来检测tip阻塞问题
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
@ -177,13 +179,14 @@ class PipetteModuleV2 : public ZIModule {
virtual int32_t pipette_init_device();
virtual int32_t pipette_put_tip();
virtual int32_t pipette_set_startz(int32_t startz);
virtual int32_t pipette_set_endz(int32_t maxz);
virtual int32_t pipette_set_lld_startz(int32_t startz);
virtual int32_t pipette_set_lld_endz(int32_t maxz);
virtual int32_t pipette_set_lld_type(int32_t lld_type);
virtual int32_t pipette_set_lld_c_threshold(int32_t c_threshold);
virtual int32_t pipette_set_lld_p_threshold(int32_t p_threshold);
virtual int32_t pipette_set_llf_startz(int32_t startz);
virtual int32_t pipette_set_llf_endz(int32_t endz);
virtual int32_t pipette_set_llf_velocity(int32_t llf_zm_rpm);
virtual int32_t pipette_set_aspirate_operation_verifi_p_thre(int32_t p_thre);
virtual int32_t pipette_set_aspirate_operation_verifi_eigen_time(int32_t eigen_time);

26
sdk/components/zcancmder/zcan_protocol_parser.cpp
View File

@ -181,11 +181,13 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
REGFN(pipette_lld_is_detect_liquid);
REGFN(pipette_lld_test);
REGFN(pipette_set_startz);
REGFN(pipette_set_endz);
REGFN(pipette_set_lld_startz);
REGFN(pipette_set_lld_endz);
REGFN(pipette_set_lld_type);
REGFN(pipette_set_lld_c_threshold);
REGFN(pipette_set_lld_p_threshold);
REGFN(pipette_set_llf_startz);
REGFN(pipette_set_llf_endz);
}
void ZCanProtocolParser::_registerModule(uint16_t id, ZIModule* module) { m_modulers[id] = module; }
void ZCanProtocolParser::registerModule(ZIModule* module) {
@ -1083,14 +1085,14 @@ int32_t ZCanProtocolParser::pipette_lld_test(cmdcontxt_t* cxt) {
return module->pipette_lld_test();
}
int32_t ZCanProtocolParser::pipette_set_startz(cmdcontxt_t* cxt) {
int32_t ZCanProtocolParser::pipette_set_lld_startz(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->pipette_set_startz(cxt->params[0]);
return module->pipette_set_lld_startz(cxt->params[0]);
}
int32_t ZCanProtocolParser::pipette_set_endz(cmdcontxt_t* cxt) {
int32_t ZCanProtocolParser::pipette_set_lld_endz(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->pipette_set_endz(cxt->params[0]);
return module->pipette_set_lld_endz(cxt->params[0]);
}
int32_t ZCanProtocolParser::pipette_set_lld_type(cmdcontxt_t* cxt) {
@ -1108,4 +1110,16 @@ int32_t ZCanProtocolParser::pipette_set_lld_p_threshold(cmdcontxt_t* cxt) {
return module->pipette_set_lld_p_threshold(cxt->params[0]);
}
int32_t ZCanProtocolParser::pipette_set_llf_startz(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->pipette_set_llf_startz(cxt->params[0]);
}
int32_t ZCanProtocolParser::pipette_set_llf_endz(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->pipette_set_llf_endz(cxt->params[0]);
}
#undef MODULE_CLASS

10
sdk/components/zcancmder/zcan_protocol_parser.hpp
View File

@ -214,11 +214,17 @@ class ZCanProtocolParser : public IZCanReceiverListener {
CMDFN(pipette_zmotor_read_dev_status_cache);
CMDFN(pipette_lld_is_detect_liquid);
CMDFN(pipette_lld_test);
CMDFN(pipette_set_startz);
CMDFN(pipette_set_endz);
CMDFN(pipette_set_lld_startz);
CMDFN(pipette_set_lld_endz);
CMDFN(pipette_set_lld_type);
CMDFN(pipette_set_lld_c_threshold);
CMDFN(pipette_set_lld_p_threshold);
CMDFN(pipette_set_llf_startz);
CMDFN(pipette_set_llf_endz);
};
} // namespace iflytop
Write Preview
Loading…
Cancel
Save