diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index adcba3c..e1e42a8 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/a8000_protocol b/a8000_protocol
index ba614e6..5d083e1 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit ba614e601a4ec166fa2d6511f2fe0b4c14f60f85
+Subproject commit 5d083e13b654460d9de05192ce9446c9b1d62069
diff --git a/build.bat b/build.bat
new file mode 100644
index 0000000..724d072
--- /dev/null
+++ b/build.bat
@@ -0,0 +1 @@
+C:\ST\STM32CubeIDE_1.15.0\STM32CubeIDE\headless-build.bat -data ../ -build a8000_subboard/Debug
\ No newline at end of file
diff --git a/flush.bat b/flush.bat
new file mode 100644
index 0000000..5fff247
--- /dev/null
+++ b/flush.bat
@@ -0,0 +1,2 @@
+C:\ST\STM32CubeIDE_1.15.0\STM32CubeIDE\plugins\com.st.stm32cube.ide.mcu.externaltools.cubeprogrammer.win32_2.1.200.202311302303\tools\bin\STM32_Programmer_CLI.exe ^
+-c port=SWD -w Debug\a8000_subboard.hex -rst
\ No newline at end of file
diff --git a/sdk/chip/basic/logger.hpp b/sdk/chip/basic/logger.hpp
index 5e4d791..b1d262f 100644
--- a/sdk/chip/basic/logger.hpp
+++ b/sdk/chip/basic/logger.hpp
@@ -9,30 +9,30 @@ extern "C" {
extern bool g_enable_log;
#define ZEARLY_LOG_RELEASE(TAG, fmt, ...) \
if (g_enable_log) { \
- zchip_log(TAG "" fmt "\n", ##__VA_ARGS__); \
+ zchip_log(TAG "" fmt "\r\n", ##__VA_ARGS__); \
}
#define ZEARLY_LOGI(TAG, fmt, ...) \
if (g_enable_log) { \
- zchip_log("%08lu INFO [%-8s] " fmt "\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
+ zchip_log("%08lu INFO [%-8s] " fmt "\r\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
}
#define ZEARLY_LOGD(TAG, fmt, ...) \
if (g_enable_log) { \
- zchip_log("%08lu DEBU [%-8s] " fmt "\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
+ zchip_log("%08lu DEBU [%-8s] " fmt "\r\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
}
#define ZEARLY_LOGE(TAG, fmt, ...) \
if (g_enable_log) { \
- zchip_log("%08lu ERRO [%-8s] " fmt "\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
+ zchip_log("%08lu ERRO [%-8s] " fmt "\r\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
}
#define ZEARLY_LOGW(TAG, fmt, ...) \
if (g_enable_log) { \
- zchip_log("%08lu WARN [%-8s] " fmt "\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
+ zchip_log("%08lu WARN [%-8s] " fmt "\r\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
}
#define ZEARLY_ASSERT(cond) \
if (!(cond)) { \
while (1) { \
- zchip_log("ASSERT: %s [%s:%d]\n", #cond, __FILE__, __LINE__); \
+ zchip_log("ASSERT: %s [%s:%d]\r\n", #cond, __FILE__, __LINE__); \
zchip_clock_early_delayus(1000 * 1000); \
} \
}
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
index 8abe480..0c97de0 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
@@ -66,22 +66,24 @@ void PipetteModuleV2::initialize(int32_t id, config_t *config, hardward_config_t
m_zm->getGState(); // 读取状态，清空下复位标识
module_active_cfg();
+
+ // m_smtp2.dumpparam();
}
void PipetteModuleV2::create_default_cfg(config_t *defaultcfg) {
// defaultcfg->limit_ul = 250;
- defaultcfg->pump_acc = 18;
- defaultcfg->pump_dec = 18;
- defaultcfg->pump_vstart = 200;
- defaultcfg->pump_vstop = 300;
- defaultcfg->aspirate_pump_vel = 500; //
- defaultcfg->distribu_pump_vel = 1000; //
- defaultcfg->pump_vmax = 1000; // 1000已经是最大速度
- defaultcfg->lld_pump_vel = 30; // 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;
- defaultcfg->lld_prepare_pre_distribut_ul = LLD_PREPARE_DISTRIBUT_POS;
+ // defaultcfg->pump_acc = 18;
+ // defaultcfg->pump_dec = 18;
+ // defaultcfg->pump_vstart = 200;
+ // defaultcfg->pump_vstop = 300;
+ // defaultcfg->aspirate_pump_vel = 500; //
+ // defaultcfg->distribu_pump_vel = 1000; //
+ // defaultcfg->pump_vmax = 8000; // 8000已经是最大速度
+ // defaultcfg->lld_pump_vel = 30; // 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;
+ // defaultcfg->lld_prepare_pre_distribut_ul = LLD_PREPARE_DISTRIBUT_POS;
defaultcfg->zm_one_circle_pulse = 10000;
defaultcfg->zm_one_circle_pulse_denominator = 1;
@@ -101,9 +103,9 @@ int32_t PipetteModuleV2::module_stop() {
return 0;
}
int32_t PipetteModuleV2::module_active_cfg() {
- m_smtp2.pump_set_acc_and_dec(m_cfg.pump_acc, m_cfg.pump_dec);
- m_smtp2.pump_set_vstart(m_cfg.pump_vstart);
- m_smtp2.pump_set_vstop(m_cfg.pump_vstop);
+ // m_smtp2.pump_set_acc_and_dec(m_cfg.pump_acc, m_cfg.pump_dec);
+ // m_smtp2.pump_set_vstart(m_cfg.pump_vstart);
+ // m_smtp2.pump_set_vstop(m_cfg.pump_vstop);
m_zm->enable(false);
m_zm->setIHOLD_IRUN(m_cfg.zm_ihold, m_cfg.zm_irun, m_cfg.zm_iholddelay);
@@ -155,21 +157,6 @@ int32_t PipetteModuleV2::module_xxx_reg_impl(int32_t param_id, bool read, int32_
/***********************************************************************************************************************
* CFG *
***********************************************************************************************************************/
- // XXX_CFG_REG(limit_ul);
- XXX_CFG_REG(pump_acc);
- XXX_CFG_REG(pump_dec);
- XXX_CFG_REG(pump_vstart);
- XXX_CFG_REG(pump_vstop);
- XXX_CFG_REG(pump_vmax);
- XXX_CFG_REG(aspirate_pump_vel);
- XXX_CFG_REG(lld_pump_vel);
- XXX_CFG_REG(lld_motor_vel_rpm);
- XXX_CFG_REG(lld_detect_period_ms);
- XXX_CFG_REG(lld_prepare_pos);
- XXX_CFG_REG(lld_prepare_pre_distribut_ul);
- XXX_CFG_REG(lld_enable_record_data);
- XXX_CFG_REG(distribu_pump_vel);
-
XXX_CFG_REG(zm_shaft);
XXX_CFG_REG(zm_one_circle_pulse);
XXX_CFG_REG(zm_one_circle_pulse_denominator);
@@ -312,20 +299,84 @@ int32_t PipetteModuleV2::pipette_zmotor_move_to_zero_point_quick() {
return 0;
}
+/***********************************************************************************************************************
+ * PUMP *
+ ***********************************************************************************************************************/
+int32_t PipetteModuleV2::liquid_operation_clear_params() {
+ memset(&liquid_operation_runparam, 0, sizeof(liquid_operation_runparam));
+ return 0;
+}
+/**
+ * @brief 设置泵机液体操作-枪运动参数
+ *
+ * @param acc 1->20 deafault 14 datasheet:page-29
+ * @param dec 1->20 deafault 14 datasheet:page-29
+ * @param vstart 0->1000 default 0
+ * @param vstop 0->1000 default 900
+ * @param vmax 0->8000 default 1400
+ * @return int32_t
+ */
+int32_t PipetteModuleV2::liquid_operation_set_gun_runparams(int32_t acc, int32_t dec, int32_t vstart, int32_t vstop, int32_t vmax) {
+ liquid_operation_runparam.pump_acc = acc;
+ liquid_operation_runparam.pump_dec = dec;
+ liquid_operation_runparam.pump_vstart = vstart;
+ liquid_operation_runparam.pump_vstop = vstop;
+ liquid_operation_runparam.pump_vmax = vmax;
+ return 0;
+}
+
+/**
+ * @brief 设置泵机液体操作-枪运动参数
+ *
+ * @param posmin z轴运动范围最小值
+ * @param posmax z轴运动范围最大值
+ * @param vmax z轴运动最大速度
+ * @return int32_t
+ */
+int32_t PipetteModuleV2::liquid_operation_set_zmotor_runparams(int32_t posmin, int32_t posmax, int32_t vmax) {
+ liquid_operation_runparam.zmotor_posmin = posmin;
+ liquid_operation_runparam.zmotor_posmax = posmax;
+ liquid_operation_runparam.zmotor_vmax = vmax;
+ return 0;
+}
+
+int32_t PipetteModuleV2::liquid_operation_enable_lld_record() {
+ liquid_operation_runparam.lld_enable_record_data = 1;
+ return 0;
+}
+/**
+ * @brief 刷新液体操作参数
+ *
+ * @return int32_t
+ */
+int32_t PipetteModuleV2::liquid_operation_fresh_params() {
+ ZLOGI(TAG, "liquid_operation_runparam:");
+ ZLOGI(TAG, "pump_acc :%d", liquid_operation_runparam.pump_acc);
+ ZLOGI(TAG, "pump_dec :%d", liquid_operation_runparam.pump_dec);
+ ZLOGI(TAG, "pump_vstart :%d", liquid_operation_runparam.pump_vstart);
+ ZLOGI(TAG, "pump_vstop :%d", liquid_operation_runparam.pump_vstop);
+ ZLOGI(TAG, "pump_vmax :%d", liquid_operation_runparam.pump_vmax);
+ ZLOGI(TAG, "zmotor_posmin :%d", liquid_operation_runparam.zmotor_posmin);
+ ZLOGI(TAG, "zmotor_posmax :%d", liquid_operation_runparam.zmotor_posmax);
+ ZLOGI(TAG, "zmotor_vmax :%d", liquid_operation_runparam.zmotor_vmax);
+ ZLOGI(TAG, "lld_enable_record_data :%d", liquid_operation_runparam.lld_enable_record_data);
+
+ DO(m_smtp2.pump_set_acc_and_dec(liquid_operation_runparam.pump_acc, liquid_operation_runparam.pump_dec));
+ DO(m_smtp2.pump_set_vstart(liquid_operation_runparam.pump_vstart));
+ DO(m_smtp2.pump_set_vstop(liquid_operation_runparam.pump_vstop));
+ DO(m_smtp2.pump_set_io1_mode(0)); // lld输入高
+ DO(m_smtp2.pump_set_io2_mode(0)); // 通用输入
+ DO(m_smtp2.pump_set_tip_size(1)); // 250ul
+ DO(m_smtp2.pump_enable_temp_compensation(0)); // 关闭温度补偿
+ DO(m_smtp2.write_cmd("/1K0R\r")); // 设置背隙为0
+
+ return 0;
+}
+
int32_t PipetteModuleV2::pipette_init_device() {
THREAD_START_WORK([this]() {
- DO_IN_THREAD(m_smtp2.pump_init(m_cfg.pump_vmax));
+ DO_IN_THREAD(m_smtp2.pump_init(liquid_operation_runparam.pump_vmax));
pump_waitfor_stop();
-
- 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_tip_size(1)); // 250ul
- DO_IN_THREAD(m_smtp2.pump_enable_temp_compensation(0)); // 温度补偿
-
- //
- // m_state.load_val_ul = 0;
- // m_state.lld_prepared = 0;
- m_state.pipette_is_inited = 1;
});
return 0;
}
@@ -333,14 +384,14 @@ int32_t PipetteModuleV2::pipette_init_device() {
int32_t PipetteModuleV2::pipette_put_tip() {
THREAD_START_WORK([this]() {
DO_IN_THREAD(m_smtp2.pump_put_tip());
- // m_state.lld_prepared = 0;
pump_waitfor_stop();
});
return 0;
}
-int32_t PipetteModuleV2::pipette_pump_move_to(int32_t pumpv, int32_t nl) {
- THREAD_START_WORK([this, pumpv, nl]() {
+int32_t PipetteModuleV2::pipette_pump_move_to(int32_t nl) {
+ THREAD_START_WORK([this, nl]() {
+ int32_t pumpv = liquid_operation_runparam.pump_vmax;
DO_IN_THREAD(m_smtp2.pump_move_to_nl(pumpv, nl));
pump_waitfor_stop();
m_smtp2.pump_stop();
@@ -348,7 +399,7 @@ int32_t PipetteModuleV2::pipette_pump_move_to(int32_t pumpv, int32_t nl) {
return 0;
}
-int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t maxzpos, int32_t c_threshold, int32_t p_threshold) {
+int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t c_threshold, int32_t p_threshold) {
// 检查泵机是否初始化过
if (lldtype < 0 || lldtype > klldtypemax) {
return err::kparam_out_of_range;
@@ -364,17 +415,12 @@ int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t maxzpos, int32_t c
return err::kpipette_error_no_tip_when_lld;
}
- int32_t recorddata = m_cfg.lld_enable_record_data;
- THREAD_START_WORK([this, recorddata, lldtype, maxzpos, c_threshold, p_threshold]() { //
- int32_t start_capacitance = 0; // 启动时电容数值
- int32_t start_pressure = 0; // 启动时压力数值
- int32_t start_motor_pos = 0; // 启动时电机位置
+ int32_t recorddata = liquid_operation_runparam.lld_enable_record_data;
+ thread_start_work(__FUNCTION__, [this, recorddata, lldtype, c_threshold, p_threshold]() { //
+ int32_t start_capacitance = 0; // 启动时电容数值
+ int32_t start_pressure = 0; // 启动时压力数值
+ int32_t start_motor_pos = 0; // 启动时电机位置
- // 1. 泵机移动到0位
- DO_IN_THREAD(m_smtp2.pump_distribut_all(m_cfg.pump_vmax));
- pump_waitfor_stop();
-
- // 2. 读取初值
DO_IN_THREAD(m_smtp2.pump_get_capacitance(&start_capacitance));
DO_IN_THREAD(m_smtp2.pump_get_pressure(&start_pressure));
start_motor_pos = m_zm->getXACTUAL();
@@ -383,10 +429,10 @@ int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t maxzpos, int32_t c
if (lldtype == kclld) {
DO_IN_THREAD(m_smtp2.pump_clld(c_threshold));
} else if (lldtype == kplld) {
- DO_IN_THREAD(m_smtp2.pump_distribut_plld(m_cfg.lld_pump_vel, p_threshold));
+ DO_IN_THREAD(m_smtp2.pump_aspirate_plld(liquid_operation_runparam.pump_vmax, p_threshold));
}
osDelay(110);
- zm_move_to(maxzpos, m_cfg.lld_motor_vel_rpm);
+ zm_move_to(liquid_operation_runparam.zmotor_posmax, liquid_operation_runparam.zmotor_vmax);
while (true) {
bool motorstoped = false;
@@ -408,7 +454,7 @@ int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t maxzpos, int32_t c
if (lldtype == kclld) {
DO_IN_THREAD(m_smtp2.pump_clld_get_state(&detect_liquid));
} else if (lldtype == kplld) {
- DO_IN_THREAD(m_smtp2.pump_distribut_plld_get_state(&detect_liquid));
+ DO_IN_THREAD(m_smtp2.pump_aspirate_plld_get_state(&detect_liquid));
}
// 探测到液面
@@ -429,7 +475,7 @@ int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t maxzpos, int32_t c
}
if (recorddata) push_snesor_sample_data(motorpos, capacitance, pressure);
- m_thread.sleep(m_cfg.lld_detect_period_ms);
+ m_thread.sleep(2);
}
});
@@ -441,14 +487,18 @@ int32_t PipetteModuleV2::pipette_lld_is_detect_liquid(int32_t *detect) {
return 0;
}
-int32_t PipetteModuleV2::pipette_aspirate(int32_t llfrpm, int32_t llftpos, int32_t pumpv, int32_t nl) {
+int32_t PipetteModuleV2::pipette_aspirate(int32_t nl) {
// pipette_aspirate
if (nl < 0) {
ZLOGE(TAG, "pipette_aspirate %d fail , ul < 0", nl);
return err::kparam_out_of_range;
}
- THREAD_START_WORK([this, llfrpm, llftpos, pumpv, nl]() {
+ THREAD_START_WORK([this, nl]() {
+ int32_t llfrpm = liquid_operation_runparam.zmotor_vmax;
+ int32_t llftpos = liquid_operation_runparam.zmotor_posmax;
+ int32_t pumpv = liquid_operation_runparam.pump_vmax;
+
DO_IN_THREAD(m_smtp2.pump_aspirate_nl(pumpv, nl));
if (llfrpm != 0) zm_move_to(llftpos, llfrpm);
@@ -460,17 +510,20 @@ int32_t PipetteModuleV2::pipette_aspirate(int32_t llfrpm, int32_t llftpos, int32
});
return 0;
}
-int32_t PipetteModuleV2::pipette_distribu(int32_t llfrpm, int32_t pumpv, int32_t nl) {
+int32_t PipetteModuleV2::pipette_distribu(int32_t nl) {
// pipette_aspirate
if (nl < 0) {
ZLOGE(TAG, "pipette_distribu %d fail , nl < 0", nl);
return err::kparam_out_of_range;
}
- THREAD_START_WORK([this, llfrpm, pumpv, nl]() {
+ THREAD_START_WORK([this, nl]() {
+ int32_t llfrpm = liquid_operation_runparam.zmotor_vmax;
+ int32_t pumpv = liquid_operation_runparam.pump_vmax;
+
DO_IN_THREAD(m_smtp2.pump_aspirate_nl(pumpv, -nl));
- if (llfrpm != 0) zm_move_to(0, llfrpm);
+ if (llfrpm != 0) zm_move_to(liquid_operation_runparam.zmotor_posmin, llfrpm);
pump_waitfor_stop();
@@ -479,14 +532,18 @@ int32_t PipetteModuleV2::pipette_distribu(int32_t llfrpm, int32_t pumpv, int32_t
});
return 0;
}
-int32_t PipetteModuleV2::pipette_shake_up(int32_t llfrpm, int32_t maxzpos, int32_t pumpv, int32_t nl, int32_t times) {
- THREAD_START_WORK([this, llfrpm, maxzpos, pumpv, nl, times]() {
+int32_t PipetteModuleV2::pipette_shake_up(int32_t nl, int32_t times) {
+ thread_start_work(__FUNCTION__, [this, nl, times]() {
//
int32_t dpos = 0;
int32_t startpos = m_zm->getXACTUAL();
int32_t endpos = 0;
+ int32_t llfrpm = liquid_operation_runparam.zmotor_vmax;
+ int32_t maxzpos = liquid_operation_runparam.zmotor_posmax;
+ int32_t pumpv = liquid_operation_runparam.pump_vmax;
+
if (llfrpm != 0) zm_move_to(maxzpos, llfrpm);
DO_IN_THREAD(m_smtp2.pump_aspirate_nl(pumpv, nl));
@@ -521,16 +578,8 @@ int32_t PipetteModuleV2::pipette_shake_up(int32_t llfrpm, int32_t maxzpos, int32
int32_t PipetteModuleV2::pipette_clear_hanging_liquid(int32_t repeat_times) {
// llf_startz
// llf_endz
- THREAD_START_WORK([this, repeat_times]() {
- for (int i = 0; i < repeat_times; i++) {
- m_smtp2.pump_move_to_nl(m_cfg.pump_vmax, 0);
- pump_waitfor_stop();
+ thread_start_work(__FUNCTION__, [this, repeat_times]() {
- m_smtp2.pump_move_to_nl(m_cfg.pump_vmax, 100 * 1000);
- pump_waitfor_stop();
- }
- m_smtp2.pump_move_to_nl(m_cfg.pump_vmax, 0);
- pump_waitfor_stop();
});
return 0;
}
@@ -591,104 +640,6 @@ void PipetteModuleV2::do_pipette_zmotor_move_to_zero_point_quick() {
throw zapp_exception(err::kstep_motor_lost_step);
}
}
-#if 0
-int32_t PipetteModuleV2::do_pipette_lld(bool recorddata, int32_t lldtype, int32_t startpos, int32_t zdpos, int32_t c_threshold, int32_t p_threshold) {
- // 检查泵机是否初始化过
-
- if (lldtype < 0 || lldtype > klldtypemax) {
- return err::kparam_out_of_range;
- }
-
- THREAD_START_WORK([this, recorddata, lldtype, startpos, zdpos, c_threshold, p_threshold]() { //
- m_state.lld_prepared = 0; // 失效m_state.lld_prepared
-
- int32_t start_capacitance = 0; // 启动时电容数值
- int32_t start_pressure = 0; // 启动时压力数值
- int32_t start_motor_pos = 0; // 启动时电机位置
-
- // 准备
- capturedata_num = 0;
-
- // 读取初值
- DO_IN_THREAD(m_smtp2.pump_get_capacitance(&start_capacitance));
- DO_IN_THREAD(m_smtp2.pump_get_pressure(&start_pressure));
- start_motor_pos = m_zm->getXACTUAL();
-
- // 先分配一点体积，消除一些误差。
- ZLOGI(TAG, "start lld before distribut %d ul", m_cfg.lld_prepare_pre_distribut_ul);
- DO_IN_THREAD(m_smtp2.pump_aspirate(m_cfg.pump_vmax, -m_cfg.lld_prepare_pre_distribut_ul));
- pump_waitfor_stop();
- ZLOGI(TAG, "lld before distribut ok");
-
- ZLOGI(TAG, "start lld");
-
- bool moveToStartPos = false;
-
- zm_move_to(startpos, m_cfg.zm_default_velocity);
- osDelay(10);
- if (lldtype == kclld) {
- DO_IN_THREAD(m_smtp2.pump_clld(c_threshold));
- } else if (lldtype == kplld) {
- DO_IN_THREAD(m_smtp2.pump_distribut_plld(m_cfg.lld_pump_vel, p_threshold));
- } else if (lldtype == kmixlld) {
- DO_IN_THREAD(m_smtp2.pump_distribut_mlld(m_cfg.lld_pump_vel, c_threshold, p_threshold));
- }
-
- while (true) {
- bool motorstoped = false;
- int32_t motorerror = 0;
-
- int32_t motorpos = 0;
- int32_t capacitance = 0;
- int32_t pressure = 0;
-
- // 获取状态
- if (recorddata) {
- DO_IN_THREAD(m_smtp2.pump_get_capacitance(&capacitance));
- DO_IN_THREAD(m_smtp2.pump_get_pressure(&pressure));
- motorpos = m_zm->getXACTUAL() - start_motor_pos;
- }
-
- // 液面探测检测
- int32_t detect_liquid = 0;
- if (lldtype == kclld) {
- DO_IN_THREAD(m_smtp2.pump_clld_get_state(&detect_liquid));
- } else if (lldtype == kplld) {
- DO_IN_THREAD(m_smtp2.pump_distribut_plld_get_state(&detect_liquid));
- } else if (lldtype == kmixlld) {
- DO_IN_THREAD(m_smtp2.pump_distribut_mlld_get_state(&detect_liquid));
- }
-
- // 探测到液面
- if (detect_liquid == 1) {
- ZLOGI(TAG, "detect liquid");
- m_state.detected_liquid = 1;
- if (recorddata) push_snesor_sample_data(motorpos, capacitance, pressure);
- break;
- }
-
- // 电机停了也没有探测到液面
- if (m_zm->isStoped()) {
- if (!moveToStartPos) {
- zm_move_by(zdpos, m_cfg.lld_motor_vel_rpm);
- moveToStartPos = true;
- } else {
- ZLOGI(TAG, "motorstoped,but not detect liquid");
- creg.module_errorcode = 0;
- m_state.detected_liquid = 0;
- if (recorddata) push_snesor_sample_data(motorpos, capacitance, pressure);
- break;
- }
- }
-
- if (recorddata) push_snesor_sample_data(motorpos, capacitance, pressure);
- m_thread.sleep(m_cfg.lld_detect_period_ms);
- }
-
- });
- return 0;
-}
-#endif
int32_t PipetteModuleV2::pipette_zmotor_read_zero_point_state(int32_t *state) {
*state = zm0p_is_trigger();
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
index 94dd875..d6abc59 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
@@ -52,24 +52,6 @@ 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 distribu_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
- int32_t lld_prepare_pos; // lld,页面探测准备位置
- int32_t lld_prepare_pre_distribut_ul; // lld前，预分配位置
- int32_t lld_enable_record_data; //
-
- int32_t llf_area2rpm; // 液面跟随，电机运动速度和容器截面积比例关系
-
int32_t zm_shaft;
int32_t zm_one_circle_pulse; //
int32_t zm_one_circle_pulse_denominator; //
@@ -98,10 +80,24 @@ class PipetteModuleV2 : public ZIModule {
} config_t;
typedef struct {
- int32_t enable; // 电机使能
- int32_t pipette_is_inited; // 泵机是否初始化
- int32_t dul; // 吸吐变化量
- int32_t detected_liquid; // 检测到液面
+ int32_t pump_acc;
+ int32_t pump_dec;
+ int32_t pump_vstart;
+ int32_t pump_vstop;
+ int32_t pump_vmax;
+
+ int32_t zmotor_posmin;
+ int32_t zmotor_posmax;
+ int32_t zmotor_vmax;
+
+ int32_t lld_enable_record_data;
+
+ } liquid_operation_runparam_t;
+
+ typedef struct {
+ int32_t enable; // 电机使能
+ int32_t dul; // 吸吐变化量
+ int32_t detected_liquid; // 检测到液面
int32_t dpos;
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
@@ -121,15 +117,18 @@ class PipetteModuleV2 : public ZIModule {
ZGPIO *m_zm0p = nullptr;
TMC51X0 *m_zm = nullptr;
- int32_t m_id = 0;
- config_t m_cfg = {0};
- bool m_config_update = false;
+ int32_t m_id = 0;
+ config_t m_cfg = {0};
+
+ bool m_config_update = false;
/***********************************************************************************************************************
* state *
***********************************************************************************************************************/
state_t m_state = {0};
+ liquid_operation_runparam_t liquid_operation_runparam;
+
/***********************************************************************************************************************
* run_thread *
***********************************************************************************************************************/
@@ -169,15 +168,28 @@ class PipetteModuleV2 : public ZIModule {
/***********************************************************************************************************************
* PUMP *
***********************************************************************************************************************/
+
+ /**
+ * @brief 复位泵机运行参数
+ *
+ * @param enable
+ * @return int32_t
+ */
+ virtual int32_t liquid_operation_clear_params();
+ virtual int32_t liquid_operation_set_gun_runparams(int32_t acc, int32_t dec, int32_t vstart, int32_t vstop, int32_t vmax);
+ virtual int32_t liquid_operation_set_zmotor_runparams(int32_t posmin, int32_t posmax, int32_t vmax);
+ virtual int32_t liquid_operation_enable_lld_record();
+ virtual int32_t liquid_operation_fresh_params();
+
virtual int32_t pipette_init_device();
virtual int32_t pipette_put_tip();
- virtual int32_t pipette_pump_move_to(int32_t pumpv, int32_t ul);
- virtual int32_t pipette_lld(int32_t lldtype, int32_t maxzpos, int32_t c_threshold, int32_t p_threshold);
+ virtual int32_t pipette_pump_move_to(int32_t ul);
+ virtual int32_t pipette_lld(int32_t lldtype, int32_t c_threshold, int32_t p_threshold);
virtual int32_t pipette_lld_is_detect_liquid(int32_t *detect);
- virtual int32_t pipette_aspirate(int32_t llfrpm, int32_t llftpos, int32_t pumpv, int32_t ul);
- virtual int32_t pipette_distribu(int32_t llfrpm, int32_t pumpv, int32_t ul);
- virtual int32_t pipette_shake_up(int32_t llfrpm, int32_t maxzpos, int32_t pumpv, int32_t ul, int32_t times);
+ virtual int32_t pipette_aspirate(int32_t nl);
+ virtual int32_t pipette_distribu(int32_t nl);
+ virtual int32_t pipette_shake_up(int32_t nl, int32_t times);
virtual int32_t pipette_clear_hanging_liquid(int32_t repeat_times);
/***********************************************************************************************************************
* READ_STATE *
diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
index ed06c80..8b00705 100644
--- a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
+++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
@@ -58,7 +58,6 @@ int32_t SMTP2V2::pump_get_pressure(int32_t* pressure) { //
int32_t SMTP2V2::pump_get_tip_state(int32_t* tipison) { return pump_get_state_as_int(kstate_tip_state, tipison); }
int32_t SMTP2V2::pump_get_nl(int32_t* nl) {
-
int32_t ret = pump_get_state_as_int(kstate_pump_pos_nl, nl);
if (ret != 0) return ret;
return ret;
@@ -125,7 +124,6 @@ int32_t SMTP2V2::pump_aspirate_nl(int32_t v, int32_t nl) {
}
int32_t SMTP2V2::pump_distribut_nl(int32_t v, int32_t nl) { return pump_aspirate_nl(v, -nl); }
-int32_t SMTP2V2::pump_distribut_all(int32_t v) { return pump_aspirate_nl(v, -1000 * 1000); }
// int32_t SMTP2V2::pump_distribut(int32_t v, int32_t ul) {
// ZLOGI(TAG, "pump_distribut %d", ul);
@@ -241,14 +239,14 @@ int32_t SMTP2V2::pump_aspirate_and_verf(int32_t v, int32_t ul, int32_t p_thro, i
}
#endif
-int32_t SMTP2V2::pump_distribut_plld(int32_t pumpv, int32_t pressure_threshold) {
+int32_t SMTP2V2::pump_aspirate_plld(int32_t pumpv, int32_t pressure_threshold) {
// M100V100t50,0R
- ZLOGI(TAG, "pump_distribut_plld %d %d", pumpv, pressure_threshold);
+ ZLOGI(TAG, "pump_aspirate_plld %d %d", pumpv, pressure_threshold);
// return runaction(true, "/1V%dt%d,0R\r", pumpv * 319, pressure_threshold);
return runaction(true, "/1V%dt%d,1R\r", pumpv * 319, pressure_threshold); // 6.14.1 t,压力液面检测（pLLD），吸取或分配
}
-int32_t SMTP2V2::pump_distribut_plld_get_state(int32_t* detected) {
+int32_t SMTP2V2::pump_aspirate_plld_get_state(int32_t* detected) {
int32_t isbusy = 0;
int32_t ret = pump_get_state(&isbusy);
if (isbusy != 0) {
@@ -308,6 +306,24 @@ void SMTP2V2::getack(char* rx, int32_t* rxbufsize) {
memcpy(rx, m_rxbuf, m_rxNum - 2);
rx[*rxbufsize - 1] = 0;
}
+
+void SMTP2V2::dumpparam() {
+ static char rxbuf[128];
+ static int32_t rxbufsize = 0;
+
+ // write_cmd("/1K0R\r");
+
+ // memset(rxbuf, 0, sizeof(rxbuf));
+ // write_cmd("/1?4\r");
+ // getack(rxbuf, &rxbufsize);
+ // ZLOGI(TAG, "K(r): %s", rxbuf);
+
+ // memset(rxbuf, 0, sizeof(rxbuf));
+ // write_cmd("/1?53\r");
+ // getack(rxbuf, &rxbufsize);
+ // ZLOGI(TAG, "K(r): %s", rxbuf);
+}
+
/***********************************************************************************************************************
* BASIC *
***********************************************************************************************************************/
diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
index 2c01f10..e90441a 100644
--- a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
+++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
@@ -40,7 +40,6 @@ typedef enum {
} cmd_t;
typedef enum {
-
kcfg_pump_limit_ul = 1, // 最大行程(Tip尺寸) 1...3500 default:3143
kcfg_baudrate = 2, // 0:9600 1:38400 default:1
kcfg_communication_protocol = 3,
@@ -158,18 +157,6 @@ class SMTP2V2 {
bool pump_ping();
- /***********************************************************************************************************************
- * STATE *
- ***********************************************************************************************************************/
- int32_t pump_get_state(int32_t* isbusy);
- int32_t pump_get_capacitance(int32_t* capacitance);
- int32_t pump_get_pressure(int32_t* pressure);
- int32_t pump_get_tip_state(int32_t* tipison);
- int32_t pump_get_nl(int32_t* nl);
-
- int32_t pump_get_state_as_int(int32_t state_index, int32_t* val);
-
- // pump_get_state_as_int(kstate_pump_pos_nl, &nownl);
/***********************************************************************************************************************
* CONFIG *
@@ -179,13 +166,24 @@ class SMTP2V2 {
int32_t pump_set_vmax(int32_t vel);
int32_t pump_set_acc_and_dec(int32_t acc, int32_t dec);
int32_t pump_set_plld_start_delay(int32_t delay_ms);
-
int32_t pump_set_io1_mode(int32_t mode); // 0LLD输出高 1LLD输出低 2通用输出
int32_t pump_set_io2_mode(int32_t mode); // 0通用输入 1紧急制动 2Tip脱落输出高 3Tip脱落输出低
int32_t pump_set_tip_size(int32_t size); // Tip大小 0:1ml 1:200ul(max:250ul) 2:50ul(max:62ul) 3=20ul(max:40ul)
int32_t pump_enable_temp_compensation(int32_t enable); // 0:关闭 1:开启
/***********************************************************************************************************************
+ * STATE *
+ ***********************************************************************************************************************/
+ int32_t pump_get_state(int32_t* isbusy);
+ int32_t pump_get_capacitance(int32_t* capacitance);
+ int32_t pump_get_pressure(int32_t* pressure);
+ int32_t pump_get_tip_state(int32_t* tipison);
+ int32_t pump_get_nl(int32_t* nl);
+ int32_t pump_get_state_as_int(int32_t state_index, int32_t* val);
+
+ // pump_get_state_as_int(kstate_pump_pos_nl, &nownl);
+
+ /***********************************************************************************************************************
* ACTION *
***********************************************************************************************************************/
int32_t pump_init(int32_t v); // 泵机初始化(归零)
@@ -194,9 +192,8 @@ class SMTP2V2 {
int32_t pump_put_tip(); // 丢弃TIP
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);
+ int32_t pump_aspirate_plld(int32_t pumpv, int32_t pressure_threshold); // plld,分配探测
+ int32_t pump_aspirate_plld_get_state(int32_t* detected);
int32_t pump_clld(int32_t c_threshold); // clld 0...130
int32_t pump_clld_get_state(int32_t* detected);
@@ -206,11 +203,14 @@ class SMTP2V2 {
int32_t pump_aspirate_nl(int32_t v, int32_t nl);
int32_t pump_distribut_nl(int32_t v, int32_t nl);
- int32_t pump_distribut_all(int32_t v);
-
+
int32_t pump_aspirate_and_verify(int32_t v, int32_t ul, int32_t eigen_time, int32_t p_thre, int32_t tolerance);
// int32_t pump_distribut(int32_t v, int32_t ul);
+ /***********************************************************************************************************************
+ * infer *
+ ***********************************************************************************************************************/
+
int32_t pump_aspirate_infer_pressure(int32_t v, int32_t ul);
int32_t pump_get_infer_pressure(int32_t* p_thre);
@@ -223,6 +223,8 @@ class SMTP2V2 {
bool write_cmd(const char* cmd);
void getack(char* rx, int32_t* rxbufsize);
+ void dumpparam();
+
private:
int32_t runaction(bool dump, const char* format, ...);
int32_t _runaction(bool dump, const char* cmd);
diff --git a/sdk/components/zcancmder/zcan_protocol_parser.cpp b/sdk/components/zcancmder/zcan_protocol_parser.cpp
index 2f5f94f..593c0a2 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.cpp
+++ b/sdk/components/zcancmder/zcan_protocol_parser.cpp
@@ -74,26 +74,6 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
REGFN(code_scaner_get_result_length);
REGFN(code_scaner_read_scaner_result);
- // REGFN(pipette_ctrl_init_device);
- // REGFN(pipette_ctrl_put_tip);
- // REGFN(pipette_ctrl_move_to_ul);
- // REGFN(pipette_lld_prepare);
- // REGFN(pipette_plld);
- // REGFN(pipette_clld);
- // REGFN(pipette_mlld);
- // REGFN(pipette_lld_is_detect_liquid);
- // REGFN(pipette_aspirate);
- // REGFN(pipette_distribut);
- // REGFN(pipette_shake_up);
- // REGFN(pipette_aspirate_llf);
- // REGFN(pipette_distribut_llf);
- // REGFN(pipette_shake_up_llf);
-
- // REGFN(pipette_enable_zmotor);
- // REGFN(pipette_write_cmd_direct);
- // REGFN(pipette_get_sensor_sample_data);
- // REGFN(pipette_get_sensor_sample_data_num);
-
REGFN(temp_controler_start_hearting);
REGFN(temp_controler_stop_hearting);
REGFN(temp_controler_set_peltier_power_level);
@@ -159,6 +139,12 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
REGFN(pipette_zmotor_move_by);
REGFN(pipette_zmotor_move_to);
+ REGFN(liquid_operation_clear_params);
+ REGFN(liquid_operation_set_gun_runparams);
+ REGFN(liquid_operation_set_zmotor_runparams);
+ REGFN(liquid_operation_enable_lld_record);
+ REGFN(liquid_operation_fresh_params);
+
REGFN(pipette_init_device);
REGFN(pipette_put_tip);
REGFN(pipette_pump_move_to);
@@ -861,6 +847,31 @@ int32_t ZCanProtocolParser::pipette_zmotor_move_to(cmdcontxt_t* cxt) {
return module->pipette_zmotor_move_to(cxt->params[0]);
}
+int32_t ZCanProtocolParser::liquid_operation_clear_params(cmdcontxt_t* cxt) {
+ CHECK_AND_GET_MODULE(0);
+ return module->liquid_operation_clear_params();
+}
+
+int32_t ZCanProtocolParser::liquid_operation_set_gun_runparams(cmdcontxt_t* cxt) {
+ CHECK_AND_GET_MODULE(5);
+ return module->liquid_operation_set_gun_runparams(cxt->params[0], cxt->params[1], cxt->params[2], cxt->params[3], cxt->params[4]);
+}
+
+int32_t ZCanProtocolParser::liquid_operation_set_zmotor_runparams(cmdcontxt_t* cxt) {
+ CHECK_AND_GET_MODULE(3);
+ return module->liquid_operation_set_zmotor_runparams(cxt->params[0], cxt->params[1], cxt->params[2]);
+}
+
+int32_t ZCanProtocolParser::liquid_operation_enable_lld_record(cmdcontxt_t* cxt) {
+ CHECK_AND_GET_MODULE(0);
+ return module->liquid_operation_enable_lld_record();
+}
+
+int32_t ZCanProtocolParser::liquid_operation_fresh_params(cmdcontxt_t* cxt) {
+ CHECK_AND_GET_MODULE(0);
+ return module->liquid_operation_fresh_params();
+}
+
int32_t ZCanProtocolParser::pipette_init_device(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
return module->pipette_init_device();
@@ -870,24 +881,24 @@ int32_t ZCanProtocolParser::pipette_put_tip(cmdcontxt_t* cxt) {
return module->pipette_put_tip();
}
int32_t ZCanProtocolParser::pipette_pump_move_to(cmdcontxt_t* cxt) {
- CHECK_AND_GET_MODULE(2);
- return module->pipette_pump_move_to(cxt->params[0], cxt->params[1]);
+ CHECK_AND_GET_MODULE(1);
+ return module->pipette_pump_move_to(cxt->params[0]);
}
int32_t ZCanProtocolParser::pipette_lld(cmdcontxt_t* cxt) {
- CHECK_AND_GET_MODULE(4);
- return module->pipette_lld(cxt->params[0], cxt->params[1], cxt->params[2], cxt->params[3]);
+ CHECK_AND_GET_MODULE(3);
+ return module->pipette_lld(cxt->params[0], cxt->params[1], cxt->params[2]);
}
int32_t ZCanProtocolParser::pipette_aspirate(cmdcontxt_t* cxt) {
- CHECK_AND_GET_MODULE(4);
- return module->pipette_aspirate(cxt->params[0], cxt->params[1], cxt->params[2], cxt->params[3]);
+ CHECK_AND_GET_MODULE(1);
+ return module->pipette_aspirate(cxt->params[0]);
}
int32_t ZCanProtocolParser::pipette_distribu(cmdcontxt_t* cxt) {
- CHECK_AND_GET_MODULE(3);
- return module->pipette_distribu(cxt->params[0], cxt->params[1], cxt->params[2]);
+ CHECK_AND_GET_MODULE(1);
+ return module->pipette_distribu(cxt->params[0]);
}
int32_t ZCanProtocolParser::pipette_shake_up(cmdcontxt_t* cxt) {
- CHECK_AND_GET_MODULE(5);
- return module->pipette_shake_up(cxt->params[0], cxt->params[1], cxt->params[2], cxt->params[3], cxt->params[4]);
+ CHECK_AND_GET_MODULE(2);
+ return module->pipette_shake_up(cxt->params[0], cxt->params[1]);
}
/***********************************************************************************************************************
diff --git a/sdk/components/zcancmder/zcan_protocol_parser.hpp b/sdk/components/zcancmder/zcan_protocol_parser.hpp
index bc13bd4..674bf7b 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.hpp
+++ b/sdk/components/zcancmder/zcan_protocol_parser.hpp
@@ -173,6 +173,14 @@ class ZCanProtocolParser : public IZCanReceiverListener {
CMDFN(pipette_zmotor_move_by);
CMDFN(pipette_zmotor_move_to);
+
+
+ CMDFN(liquid_operation_clear_params);
+ CMDFN(liquid_operation_set_gun_runparams);
+ CMDFN(liquid_operation_set_zmotor_runparams);
+ CMDFN(liquid_operation_enable_lld_record);
+ CMDFN(liquid_operation_fresh_params);
+
CMDFN(pipette_init_device);
CMDFN(pipette_put_tip);
CMDFN(pipette_pump_move_to);
diff --git a/sdk/os/zoslogger.hpp b/sdk/os/zoslogger.hpp
index 64e3897..782afec 100644
--- a/sdk/os/zoslogger.hpp
+++ b/sdk/os/zoslogger.hpp
@@ -11,11 +11,11 @@ extern bool g_enable_log;
#define ZLOG_RELEASE(TAG, fmt, ...) \
if (g_enable_log) { \
- zos_log(TAG "" fmt "\n", ##__VA_ARGS__); \
+ zos_log(TAG "" fmt "\r\n", ##__VA_ARGS__); \
}
#define ZLOGI(TAG, fmt, ...) \
if (g_enable_log) { \
- zos_log("%08lu INFO [%-10s] " fmt "\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
+ zos_log("%08lu INFO [%-10s] " fmt "\r\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
}
#define ZLOGI_NOT_END_LINE(TAG, fmt, ...) \
if (g_enable_log) { \
@@ -24,16 +24,16 @@ extern bool g_enable_log;
#define ZLOGD(TAG, fmt, ...) \
if (g_enable_log) { \
- zos_log("%08lu DEBU [%-10s] " fmt "\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
+ zos_log("%08lu DEBU [%-10s] " fmt "\r\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
}
#define ZLOGE(TAG, fmt, ...) \
if (g_enable_log) { \
- zos_log("%08lu ERRO [%-10s] " fmt "\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
+ zos_log("%08lu ERRO [%-10s] " fmt "\r\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
}
#define ZLOGW(TAG, fmt, ...) \
if (g_enable_log) { \
- zos_log("%08lu WARN [%-10s] " fmt "\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
+ zos_log("%08lu WARN [%-10s] " fmt "\r\n", zchip_clock_get_ticket(), TAG, ##__VA_ARGS__); \
}
#define ZASSERT(cond) \
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 5edb9df..c1c2517 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,5 +1,5 @@
#pragma once
-#define PC_VERSION 604
+#define PC_VERSION 605
#define PC_MANUFACTURER "http://www.iflytop.com/"
#define PC_PROJECT_NAME "a8000_subboard"
#define PC_IFLYTOP_ENABLE_OS 1
diff --git a/usrc/sysmgr/sys_mgr.cpp b/usrc/sysmgr/sys_mgr.cpp
index ea8a87e..8a8e1c2 100644
--- a/usrc/sysmgr/sys_mgr.cpp
+++ b/usrc/sysmgr/sys_mgr.cpp
@@ -16,13 +16,13 @@ extern "C" {
* STM32_CODE_ERROR *
***********************************************************************************************************************/
void SysMgr_on_Error_Handler() {
- ZLOGE(TAG, "Error_Handler\n");
+ ZLOGE(TAG, "Error_Handler\r\n");
while (1) {
}
}
void SysMgr_on_assert_failed(uint8_t* file, uint32_t line) {
- ZLOGE(TAG, "ASSERT: %s [%s:%d]\n", file, line);
+ ZLOGE(TAG, "ASSERT: %s [%s:%d]\r\n", file, line);
while (1) {
}
}
@@ -40,13 +40,13 @@ void SysMgr_on_UsageFault_Handler(void) { ZLOGI(TAG, "on UsageFault_Handler"); }
* FREERTOS_ERROR *
***********************************************************************************************************************/
void vApplicationStackOverflowHook(xTaskHandle xTask, signed char* pcTaskName) {
- ZLOGE(TAG, "StackOverflowHook: %s\n", pcTaskName);
+ ZLOGE(TAG, "StackOverflowHook: %s\r\n", pcTaskName);
__disable_irq();
while (1) {
}
}
void vApplicationMallocFailedHook(void) {
- ZLOGE(TAG, "MallocFailedHook\n");
+ ZLOGE(TAG, "MallocFailedHook\r\n");
__disable_irq();
while (1) {
}
@@ -80,18 +80,18 @@ size_t SysMgr::osGetTotalHeapSize() { return configTOTAL_HEAP_SIZE; }
int32_t SysMgr::getTaskNum() { return m_ntask; }
void SysMgr::dumpSysInfo() {
- zos_log("---------------Heap Info--------------\n");
- zos_log("MinimumEverFreeHeapSize: %d\n", osGetMinimumEverFreeHeapSize());
- zos_log("FreeHeapSize : %d\n", osGetFreeHeapSize());
- zos_log("TotalHeapSize : %d\n", osGetTotalHeapSize());
+ zos_log("---------------Heap Info--------------\r\n");
+ zos_log("MinimumEverFreeHeapSize: %d\r\n", osGetMinimumEverFreeHeapSize());
+ zos_log("FreeHeapSize : %d\r\n", osGetFreeHeapSize());
+ zos_log("TotalHeapSize : %d\r\n", osGetTotalHeapSize());
zos_log("");
- zos_log("---------------Task Info--------------\n");
+ zos_log("---------------Task Info--------------\r\n");
static char buf[40 * SDK_MAX_TASK]; // 40一个任务，最多支持10个任务
vTaskList(buf);
- zos_log("Name State Priority Stack Num\n");
+ zos_log("Name State Priority Stack Num\r\n");
zlog_raw(buf);
- zos_log("- TaskInfoEnd -\n");
+ zos_log("- TaskInfoEnd -\r\n");
}
uint32_t SysMgr::osTaskStackRemainingSize(osThreadId id) { return uxTaskGetStackHighWaterMark(id); }