update

2 years ago · 16805d65cf
10 changed files with 599 additions and 82 deletions
--- a/.gitmodules
+++ b/.gitmodules
@ -1,3 +1,6 @@
 [submodule "components/zprotocols/zcancmder"]
 	path = components/zprotocols/zcancmder
 	url = zwsd@192.168.1.3:zprotocols/zcancmder.git
+[submodule "components/zprotocols/errorcode"]
+	path = components/zprotocols/errorcode
+	url = zwsd@192.168.1.3:zprotocols/errorcode.git
--- a/components/errorcode/errorcode.hpp
+++ b/components/errorcode/errorcode.hpp
@ -1,76 +1 @@
-#pragma once
-
-namespace iflytop {
-namespace err {
-using namespace std;
-
-#define ERROR_CODE(errortype, suberrorcode) (errortype + suberrorcode)
-
-typedef enum {
-  ksucc = ERROR_CODE(0, 0),
-  kfail = ERROR_CODE(0, 1),
-
-  /**
-   * @brief 通信错误
-   */
-  kce_overtime           = ERROR_CODE(1000, 0),
-  kce_noack              = ERROR_CODE(1000, 1),
-  kce_errorack           = ERROR_CODE(1000, 2),
-  kce_device_offline     = ERROR_CODE(1000, 3),
-  kce_parse_json_err     = ERROR_CODE(1000, 4),
-  kce_subdevice_overtime = ERROR_CODE(1000, 5),
-
-  /**
-   * @brief 数据库错误
-   */
-  kdbe_user_not_exist  = ERROR_CODE(2000, 0),
-  kdbe_catch_exception = ERROR_CODE(2000, 1),
-
-  /**
-   * @brief 硬件错误
-   */
-  kharde_unfound = ERROR_CODE(3000, 0),
-  /**
-   * @brief 程序运行错误
-   */
-  kre_catch_exception = ERROR_CODE(4000, 0),
-  /**
-   * @brief 应用交互基本错误
-   */
-  kinteraction_error_passwd_error   = ERROR_CODE(5000, 0),  // 密码错误
-  kinteraction_error_user_not_exist = ERROR_CODE(5000, 1),  // 用户不存在
-  /**
-   * @brief 系统错误
-   */
-  ksys_error             = ERROR_CODE(6000, 0),
-  ksys_create_file_error = ERROR_CODE(6000, 1),
-  ksys_create_dir_error  = ERROR_CODE(6000, 2),
-  ksys_open_file_error   = ERROR_CODE(6000, 3),
-  ksys_open_dir_error    = ERROR_CODE(6000, 4),
-  ksys_read_file_error   = ERROR_CODE(6000, 5),
-  ksys_write_file_error  = ERROR_CODE(6000, 6),
-  ksys_close_file_error  = ERROR_CODE(6000, 7),
-  ksys_close_dir_error   = ERROR_CODE(6000, 8),
-  ksys_delete_file_error = ERROR_CODE(6000, 9),
-  ksys_delete_dir_error  = ERROR_CODE(6000, 10),
-  ksys_copy_file_error   = ERROR_CODE(6000, 11),
-
-  /**
-   * @brief 通用，但未归类错误
-   * 50000
-   */
-
-  kcommon_error_device_not_zero              = ERROR_CODE(50000, 0),  // 设备未归零
-  kcommon_error_over_temperature             = ERROR_CODE(50000, 1),  // 过温
-  kcommon_error_over_voltage                 = ERROR_CODE(50000, 2),  // 过压
-  kcommon_error_param_out_of_range           = ERROR_CODE(50000, 3),  // 参数超出范围
-  kcommon_error_not_found_zero_point         = ERROR_CODE(50000, 4),  // 未找到零点
-  kcommon_error_not_found_x_zero_point       = ERROR_CODE(50000, 5),  // 未找到零点
-  kcommon_error_not_found_y_zero_point       = ERROR_CODE(50000, 6),  // 未找到零点
-  kcommon_error_x_leave_away_zero_point_fail = ERROR_CODE(50000, 7),  // 离开零点失败
-  kcommon_error_y_leave_away_zero_point_fail = ERROR_CODE(50000, 8),  // 离开零点失败
-  kcommon_error_operation_not_support        = ERROR_CODE(50000, 9),  // 操作不支持
-
-} error_t;
-}  // namespace err
-}  // namespace iflytop
+#include "sdk\components\zprotocols\errorcode\errorcode.hpp"
--- a/components/pipette_module/pipette_ctrl_module.cpp
+++ b/components/pipette_module/pipette_ctrl_module.cpp
@ -0,0 +1,62 @@
+#include "pipette_ctrl_module.hpp"
+using namespace iflytop;
+using namespace std;
+#define TAG "PipetteModule"
+void PipetteModule::initialize(SMTP2               *smtp2,  //
+                               StepMotorCtrlModule *stepMotor) {
+  m_smtp2     = smtp2;
+  m_stepMotor = stepMotor;
+  m_thread.init("pipette", 1024);
+}
+
+int32_t PipetteModule::enable(u8 enable) {  //
+  m_stepMotor->enable(enable);
+}
+int32_t PipetteModule::stop(u8 stop_type) {
+  m_stepMotor->stop(0);
+  m_smtp2->stop();
+}
+
+int32_t PipetteModule::zero_pos_calibrate(function<void(action_cb_status_t status)> exec_complete_cb) {
+  /**
+   * @brief
+   */
+
+  m_thread.stop();
+  m_thread.start([this, exec_complete_cb]() {
+    // 移液枪复位
+    // 移液枪复位完成后，开始进行零点校准
+    // m_stepMotor->move_to_zero_with_calibrate();
+  });
+}
+int32_t PipetteModule::reset_device(function<void(action_cb_status_t status)> exec_complete_cb) {
+  /**
+   * @brief
+   */
+
+  m_thread.stop();
+  m_thread.start([this, exec_complete_cb]() {
+    action_cb_status_t report_status = {0};
+    // 移液枪复位
+    int ret = m_smtp2->init_device();
+    if (ret != 0) {
+      ZLOGE(TAG, "init_device fail");
+      report_status.exec_status = ret;
+      if (exec_complete_cb) exec_complete_cb(report_status);
+    }
+
+    // 等待移液枪复位完成
+    while (true && !m_thread.getExitFlag()) {
+      int32_t state = m_smtp2->getState();
+      if (state == 0) {
+        break;
+      }
+      m_thread.sleep(1000);
+      ZLOGI(TAG, "Waiting for SMTP2 to complete the reset");
+    }
+
+    ZLOGI(TAG, "SMTP2 reset complete");
+
+    // 移液枪复位完成后，开始进行零点校准
+  });
+}
--- a/components/pipette_module/pipette_ctrl_module.hpp
+++ b/components/pipette_module/pipette_ctrl_module.hpp
@ -0,0 +1,36 @@
+#pragma once
+//
+#include "sdk/os/zos.hpp"
+#include "sdk\components\sensors\smtp2\smtp2.hpp"
+#include "sdk\components\step_motor_ctrl_module\step_motor_ctrl_module.hpp"
+#include "sdk\components\tmc\basic\tmc_ic_interface.hpp"
+#include "sdk\components\zprotocols\zcancmder\api\i_pipette_module.hpp"
+// #include "StepMotorCtrlModule"
+
+namespace iflytop {
+
+class PipetteModule : public I_PipetteModule {
+ public:
+ private:
+  bool                 m_module_enable = false;
+  SMTP2               *m_smtp2;
+  StepMotorCtrlModule *m_stepMotor;
+
+  ZThread m_thread;
+
+ public:
+  void initialize(SMTP2 *smtp2, StepMotorCtrlModule *stepMotor);
+
+  virtual int32_t enable(u8 enable);
+  virtual int32_t stop(u8 stop_type);
+
+  virtual int32_t zero_pos_calibrate(function<void(action_cb_status_t status)> exec_complete_cb);
+  virtual int32_t reset_device(function<void(action_cb_status_t status)> exec_complete_cb);
+
+  virtual int32_t take_tip(int tipid, function<void(action_cb_status_t status)> exec_complete_cb);
+  virtual int32_t remove_tip(function<void(action_cb_status_t status)> exec_complete_cb);
+  // 取液(平台参数，试管参数, 取样体积，取样高度，摇匀次数，摇匀体积)
+  virtual int32_t take_and_split_liquid(u8 tube_id, s16 liquid_volume, s16 zhight, s16 abs_zhight, s16 shake_times, s16 shake_volume,  //
+                                        function<void(action_cb_status_t status)> exec_complete_cb);
+};
+}  // namespace iflytop
--- a/components/sensors/smtp2/smtp2.cpp
+++ b/components/sensors/smtp2/smtp2.cpp
@ -0,0 +1,335 @@
+#include "smtp2.hpp"
+
+#include <string.h>
+#include<stdarg.h>
+#include<stdio.h>
+
+#include "sdk\components\zprotocols\errorcode\errorcode.hpp"
+using namespace iflytop;
+#define TAG "SMTP2"
+
+#define OVERTIME 20
+#define DUMP_HEX 1
+
+/**
+ * @brief 协议概述
+ * 协议示例
+ * /2A3000R\r
+ *      /:命令开始
+ *      2:设备ID
+ *      A:命令，绝对移动
+ *   3000:参数，移动到3000位置
+ *      R:执行命令
+ *     \r:命令结束
+ *
+ *
+ * 1.命令的名称；命令区分大小写
+ * 2.一个命令包含多个参数时候，通过逗号隔开
+ * 3.命令后面没有跟参数则使用默认值
+ * 4.多个命令可以拼接,例如:A3000A0R
+ * 5.一旦执行命令，泵就处于忙碌状态，且在命令完成之前不会接受除了查询类命令、终止命令[T]以外的新命令
+ *
+ *
+ */
+
+/**
+ * @brief
+ *
+ * 命令集
+ * 命令名称  命令
+ * 初始化    Z
+ * 泵运动    A
+ * 泵配置    L(设置加速和减速) v<n>开始速度 V<n>最高速度 S<n>设置预定速度 c<n>停止速度 K<n>背隙增量 N<n>选择增量模式 h<n>设置泵电机保持电流 m<n>设置泵电机运行电流
+ * 执行命令  R
+ * 执行最后一个命令字符串 X
+ * 重复命令序列 G<n>
+ * 标记重复序列开始 g
+ * 延迟命令执行 M<n>
+ * 停止命令执行 H
+ * 设置 I/O1 输出 J<n>
+ * 终止 T
+ * 清除命令缓冲区 C
+ * E<n>弹出 Tip
+ * t<n1>,<n2>压力液面检测（pLLD），吸取或分配
+ * ^<n> 电容式液面检测（cLLD）
+ * B<n1>,<n2>混合式液面检测
+ * f<n>开启或停止压力数据流
+ * +<n>继续传输压力数据
+ * <p>设定压力传感器增益
+ * r 复位 LLD 输出
+ * *<n1>,<n2>实时温度补偿
+ * q<n1>,<n2>操作验证
+ * s<n>在 EEPROM 中存储命令字符串
+ * e<n> 执行存储在 EEPROM 中的命令字符串
+ * 链接 EEPROM 中存储的命令字符串
+ * U<n>设置泵常规配置(PAGE:52)
+ * u<n1>,<n2>设置泵高级配置
+ * Q 查询泵状态
+ * =查询命令缓冲区
+ * &报告固件版本
+ * ?<n> 报告泵参数
+ *
+ */
+
+/**
+ * 错误码
+ * 40h 60h @ ` 0 无错误
+ * 41h 61h A a 1 初始化失败
+ * 42h 62h B b 2 无效命令
+ * 43h 63h C c 3 无效参数
+ * 44h 64h D d 4 压力传感器故障
+ * 45h 65h E e 5 超过压力
+ * 46h 66h F f 6 LLD 错误
+ * 47h 67h G g 7 设备未初始化
+ * 48h 68h H h 8 Tip 弹出错误
+ * 49h 69h I i 9 泵过载
+ * 4Ah 6Ah J j 10 Tip 脱落
+ * 4Bh 6Bh K k 11 CAN 总线故障
+ * 4Ch 6Ch L l 12 无效校验和
+ * 4Dh 6Dh M m 13 EEPROM 故障
+ * 4Eh 6Eh N n 14 命令缓冲区为空
+ * 4Fh 6Fh O o 15 命令溢出
+ * 50h 70h P p 16 Tip 堵塞
+ * 51h 71h Q q 17 吸入空气
+ * 52h 72h R r 18 液体中有气泡/泡沫
+ * 53h 73h S s 19 吸取/分配量不准确
+ *
+ */
+
+static int Get1fromfloat(const float& val) {
+  float temp1 = val;
+  int   t1    = (uint32_t)(temp1 * 10) % 10;
+  if (t1 > 4) {
+    temp1 = (float)(uint32_t)(temp1 + 1);
+  } else {
+    temp1 = (float)((uint32_t)(temp1));
+  }
+  return (int)temp1;
+}
+int SMTP2::init_device() {
+  ZLOGI(TAG, "init_device");
+  return doaction(fmt("/1ZR\r"));
+}
+int SMTP2::put_tip() {
+  // ZLOGI(TAG, "put_tip:%s", "/1E1R");
+  ZLOGI(TAG, "put_tip");
+  return doaction(fmt("/1E1R\r"));
+}
+int SMTP2::move_to(int pos) {
+  ZLOGI(TAG, "move_to %d", pos);
+  return doaction(fmt("/1N%dA%dR\r", 0, pos));
+}
+int SMTP2::move_to_ul(int ul) {
+  /**
+   * @brief 分辨率在0.319ul进行操作
+   */
+  ZLOGI(TAG, "move_to_ul %d", ul);
+  float stepNumfloat = ul / 0.319;
+  int   stepNum      = Get1fromfloat(stepNumfloat);
+  return doaction(fmt("/1N%dA%dR\r", 0, stepNum));
+}
+int SMTP2::set_resolution(int resolution) {
+  ZLOGI(TAG, "set_resolution %d", resolution);
+  return doaction(fmt("/1N%dR\r", resolution));
+}
+void SMTP2::stop() {
+  ZLOGI(TAG, "stop");
+  doaction(fmt("/1T\r"));
+}
+
+int SMTP2::read_capacitance_val(int& capval) {
+  size_t rxlen = 0;
+  int    ret   = sendcmd(fmt("/1?68\r"), m_rxbuf, sizeof(m_rxbuf), rxlen);
+  if (ret != 0) {
+    return -1;
+  }
+  iflytop::err::error_t ecode = read_ack_error_code(m_rxbuf, rxlen);
+  if (ecode != err::ksucc) {
+    return ecode;
+  }
+
+  capval = read_ack_int_val(m_rxbuf, rxlen);
+  return err::ksucc;
+}
+
+char* SMTP2::fmt(const char* fmt, ...) {
+  va_list args;
+  va_start(args, fmt);
+  vsprintf(txbuf, fmt, args);
+  va_end(args);
+  return txbuf;
+}
+
+/**
+ * @brief Get the State object
+ *
+ * @param state
+ * @param error
+ * @return int
+ */
+int SMTP2::getState(bool& isbusy, err::error_t& error) {
+  size_t rxlen = 0;
+  sprintf(txbuf, "/1Q\r");
+  int ret = sendcmd(txbuf, strlen(txbuf), m_rxbuf, sizeof(m_rxbuf), rxlen);
+  if (ret != 0) {
+    return -1;
+  }
+  uint8_t errorcode = (uint8_t)m_rxbuf[2];
+  if (errorcode > '`') {
+    isbusy    = false;
+    errorcode = errorcode - '`';
+  } else if (errorcode > '@') {
+    isbusy    = true;
+    errorcode = errorcode - '@';
+  }
+  return 0;
+}
+
+void SMTP2::initialize(UART_HandleTypeDef* uart, DMA_HandleTypeDef* hdma_rx, DMA_HandleTypeDef* hdma_tx) {
+  m_uart    = uart;
+  m_hdma_rx = hdma_rx;
+  m_hdma_tx = hdma_tx;
+}
+
+int32_t SMTP2::getState() {
+  bool         isbusy = false;
+  err::error_t error  = err::ksucc;
+  int          ret    = getState(isbusy, error);
+  if (ret == 0) {
+    if (isbusy) {
+      return err::kcommon_error_device_is_busy;
+    }
+    return error;
+  }
+  return err::kcommon_error_device_is_offline;
+}
+
+/*******************************************************************************
+ *                                   BASIC                                     *
+ *******************************************************************************/
+
+iflytop::err::error_t SMTP2::read_ack_error_code(char* rxbuf, size_t rxlen) {
+  if (rxlen < 3) {
+    return err::kcommon_error_device_is_offline;
+  }
+  uint8_t errorcode = (uint8_t)rxbuf[2];
+  if (errorcode > '`') {
+    errorcode = errorcode - '`';
+  } else if (errorcode > '@') {
+    errorcode = errorcode - '@';
+  }
+  return (err::error_t)errorcode;
+}
+
+int SMTP2::read_ack_int_val(char* rxbuf, size_t rxlen) {
+  if (rxlen < 3) {
+    ZLOGW(TAG, "read_ack_int_val rxlen < 3");
+    return 0;
+  }
+
+  memset(m_rxprocessbuf, 0, sizeof(m_rxprocessbuf));
+  memcpy(m_rxprocessbuf, rxbuf, rxlen);
+
+  for (size_t i = 0; i < rxlen; i++) {
+    if (m_rxprocessbuf[i] == '\r' || m_rxprocessbuf[i] == '\n' || m_rxprocessbuf[i] == 0x03) {
+      m_rxprocessbuf[i] = 0;
+      break;
+    }
+  }
+
+  // "/0`3\r\n"
+  int intval = atoi(m_rxprocessbuf + 3);
+  return intval;
+}
+
+int32_t SMTP2::doaction(char* cmd) {
+  //
+  size_t rxlen   = 0;
+  size_t txlen   = strlen(cmd);
+  cmd[txlen]     = '\r';
+  cmd[txlen + 1] = 0;
+  int ret        = sendcmd(cmd, txlen + 1, m_rxbuf, sizeof(m_rxbuf), rxlen);
+  if (ret != 0) {
+    return -1;
+  }
+
+  uint8_t state = (uint8_t)m_rxbuf[2];
+  if (state > '`') {
+    state = state - '`';
+  } else if (state > '@') {
+    state = state - '@';
+  }
+
+  if (state == 0) {
+    return 0;
+  }
+  return state + err::kSMTP2_NoError;
+}
+int SMTP2::sendcmd(const char* cmd, char* rxbuf, size_t rxbuflen, size_t& rxlen) { return sendcmd(cmd, strlen(cmd), rxbuf, rxbuflen, rxlen); }
+int SMTP2::sendcmd(const char* cmd, size_t txlen, char* rxbuf, size_t rxbuflen, size_t& rxlen) {
+  if (!m_uart) return -1;
+
+  int    ret   = 0;
+  //size_t rxlen = 0;
+
+#ifdef DUMP_HEX
+  printf("tx:%s\n", cmd);
+#endif
+
+  if (m_hdma_rx)
+    ret = sendcmd_dma(cmd, txlen, (char*)m_rxbuf, sizeof(m_rxbuf), rxlen);
+  else
+    ret = sendcmd_block(cmd, txlen, (char*)m_rxbuf, sizeof(m_rxbuf), rxlen);
+
+#ifdef DUMP_HEX
+  printf("rx:%s\n", m_rxbuf);
+#endif
+  return 0;
+}
+
+int SMTP2::sendcmd_dma(const char* cmd, size_t txlen, char* rxbuf, size_t rxbuflen, size_t& rxlen) {
+  memset(rxbuf, 0, rxbuflen);
+  HAL_UART_Transmit(m_uart, (uint8_t*)cmd, txlen, 1000);
+
+  uint32_t enter_ticket = HAL_GetTick();
+  HAL_UARTEx_ReceiveToIdle_DMA(m_uart, (uint8_t*)rxbuf, rxbuflen);
+  bool overtime_flag = false;
+  while (HAL_UART_GetState(m_uart) == HAL_UART_STATE_BUSY_RX ||  //
+         HAL_UART_GetState(m_uart) == HAL_UART_STATE_BUSY_TX_RX) {
+    osDelay(1);
+    if (zos_haspassedms(enter_ticket) > OVERTIME) {
+      ZLOGW(TAG, "sendcmd_dma overtime");
+      overtime_flag = true;
+      break;
+    }
+  }
+  HAL_UART_DMAStop(m_uart);
+  if (overtime_flag) {
+    return -1;
+  }
+  rxlen = rxbuflen - __HAL_DMA_GET_COUNTER(m_hdma_rx);
+  return 0;
+}
+int SMTP2::sendcmd_block(const char* cmd, size_t txlen, char* rxbuf, size_t rxbuflen, size_t& rxlen) {
+  // m_huart->tx(cmd);
+  memset(rxbuf, 0, rxbuflen);
+  //   printf("tx:%s\n", cmd);
+  HAL_UART_Transmit(m_uart, (uint8_t*)cmd, txlen, 1000);
+
+  int               rxnum    = 0;
+  HAL_StatusTypeDef rxstatus = HAL_UART_Receive(m_uart, (uint8_t*)&rxbuf[0], 1, OVERTIME);
+  if (rxstatus != HAL_OK) {
+    rxlen = 0;
+    return -1;
+  }
+  rxnum++;
+  for (;; rxnum++) {
+    HAL_StatusTypeDef rxstatus = HAL_UART_Receive(m_uart, (uint8_t*)&rxbuf[rxnum], 1, 3);
+    if (rxstatus != HAL_OK) break;
+    if ('\n' == rxbuf[rxnum]) break;
+    if (rxnum >= rxbuflen - 2) break;
+  }
+  //   printf("SMTP2:m_rxbuf:(%d) %s\n", rxnum, rxbuf);
+  rxlen = rxnum;
+  return 0;
+}
--- a/components/sensors/smtp2/smtp2.hpp
+++ b/components/sensors/smtp2/smtp2.hpp
@ -0,0 +1,141 @@
+#pragma once
+#include "sdk\components\zprotocols\errorcode\errorcode.hpp"
+#include "sdk\os\zos.hpp"
+namespace iflytop {
+using namespace std;
+
+class SMTP2 {
+ public:
+#if 0
+  typedef enum {
+    kNoError             = 0,   // 无错误
+    kInitFail            = 1,   // 初始化失败
+    kInvalidCmd          = 2,   // 无效命令
+    kInvalidArg          = 3,   // 无效参数
+    kPressureSensorError = 4,   // 压力传感器故障
+    kOverPressure        = 5,   // 超过压力
+    kLLDError            = 6,   // LLD 错误
+    kDeviceNotInit       = 7,   // 设备未初始化
+    kTipPopError         = 8,   // Tip 弹出错误
+    kPumpOverload        = 9,   // 泵过载
+    kTipDrop             = 10,  // Tip 脱落
+    kCanBusError         = 11,  // CAN 总线故障
+    kInvalidChecksum     = 12,  // 无效校验和
+    kEEPROMError         = 13,  // EEPROM 故障
+    kCmdBufferEmpty      = 14,  // 命令缓冲区为空
+    kCmdBufferOverflow   = 15,  // 命令溢出
+    kTipBlock            = 16,  // Tip 堵塞
+    kAirSuction          = 17,  // 吸入空气
+    kBubble              = 18,  // 液体中有气泡/泡沫
+    kVolumeError         = 19,  // 吸取/分配量不准确
+  } error_t;
+#endif
+
+
+
+#if 0
+  typedef enum {
+    kIdle = 0,
+    kBusy = 1,
+  } state_t;
+#endif
+
+ private:
+  UART_HandleTypeDef* m_uart = nullptr;
+  uint8_t             m_id   = 0;
+  //   const char*         m_name = nullptr;
+
+
+  DMA_HandleTypeDef*  m_hdma_rx;
+  DMA_HandleTypeDef*  m_hdma_tx;
+
+  char m_rxbuf[20]        = {0};
+  char m_rxprocessbuf[20] = {0};
+  char txbuf[20];
+
+  int32_t nowpos = 0;
+
+ public:
+  void initialize(UART_HandleTypeDef* uart, DMA_HandleTypeDef* hdma_rx, DMA_HandleTypeDef* hdma_tx);
+  /**
+   * @brief 获取当前设备状态
+   *
+   * @return int32_t 返回iflytop::err
+   */
+  int32_t getState();
+
+  /**
+   * @brief 设备初始化
+   *
+   * @return int
+   */
+  int init_device();
+  /**
+   * @brief 放Tip
+   *
+   * @return int
+   */
+  int put_tip();
+
+  /**
+   * @brief 移动到指定位置
+   *
+   * @param pos
+   * @return int
+   */
+  int move_to(int pos);
+  /**
+   * @brief 移动到指定位置
+   *
+   * @param ul
+   * @return int
+   */
+  int move_to_ul(int ul);
+
+  /**
+   * @brief 读取电容值
+   *
+   * @return int (0->159)，接触到水后数值会变成159
+   */
+  int read_capacitance_val(int& capval);
+  /**
+   * @brief 设置分辨率
+   *
+   * @param resolution
+   *            0:0.319ul
+   *            1:0.0199ul
+   *            2:nl
+   * @return int
+   */
+  int set_resolution(int resolution);
+
+  /**
+   * @brief Get the State object
+   *
+   * @param isbusy
+   * @param error
+   * @return int
+   */
+  int getState(bool& isbusy, iflytop::err::error_t& error);
+  /**
+   * @brief
+   */
+  void stop();
+
+ private:
+  int32_t doaction(char* cmd);
+
+  int sendcmd(const char* cmd, char* rxbuf, size_t rxbuflen, size_t& rxlen);
+  int sendcmd(const char* cmd, size_t txlen, char* rxbuf, size_t rxbuflen, size_t& rxlen);
+  int sendcmd_dma(const char* cmd, size_t txlen, char* rxbuf, size_t rxbuflen, size_t& rxlen);
+  int sendcmd_block(const char* cmd, size_t txlen, char* rxbuf, size_t rxbuflen, size_t& rxlen);
+
+  iflytop::err::error_t read_ack_error_code(char* rxbuf, size_t rxlen);
+  int                   read_ack_int_val(char* rxbuf, size_t rxlen);
+
+  char* fmt(const char* fmt, ...);
+
+ private:
+};
+
+}  // namespace iflytop
--- a/components/tmc/ic/ztmc4361A.cpp
+++ b/components/tmc/ic/ztmc4361A.cpp
@ -347,9 +347,7 @@ void TMC4361A::driverIC_writeDatagram(uint8_t address, uint8_t x1, uint8_t x2, u
  uint8_t data[5] = {static_cast<uint8_t>(address | static_cast<uint8_t>(TMC2160_WRITE_BIT)), x1, x2, x3, x4};
  readWriteCover(&data[0], 5);
 }
-void TMC4361A::driverIC_writeInt(uint8_t address, int32_t value) {
-  driverIC_writeDatagram(address, BYTE(value, 3), BYTE(value, 2), BYTE(value, 1), BYTE(value, 0));
-}
+void    TMC4361A::driverIC_writeInt(uint8_t address, int32_t value) { driverIC_writeDatagram(address, BYTE(value, 3), BYTE(value, 2), BYTE(value, 1), BYTE(value, 0)); }
 int32_t TMC4361A::driverIC_readInt(uint8_t address) {
  address = TMC_ADDRESS(address);
  // register not readable -> shadow register copy
@ -375,8 +373,18 @@ uint32_t TMC4361A::driverIC_readICVersion() {
  int32_t value = driverIC_readInt(TMC2160_IOIN___OUTPUT);
  return (value & TMC2160_VERSION_MASK) >> TMC2160_VERSION_SHIFT;
 }
-void TMC4361A::driverIC_setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) {
-  driverIC_writeInt(TMC2160_IHOLD_IRUN, (iholddelay << TMC2160_IHOLDDELAY_SHIFT) | (irun << TMC2160_IRUN_SHIFT) | (ihold << TMC2160_IHOLD_SHIFT));
+void TMC4361A::driverIC_setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) { driverIC_writeInt(TMC2160_IHOLD_IRUN, (iholddelay << TMC2160_IHOLDDELAY_SHIFT) | (irun << TMC2160_IRUN_SHIFT) | (ihold << TMC2160_IHOLD_SHIFT)); }
+
+// Left Virtual Limit Switch  XACTUAL ¡Ü VIRT_STOP_LEFT Ê±´¥·¢
+void TMC4361A::setLeftVirtualLimitSwitch(bool enable, int32_t position) {
+  PRV_FIELD_WRITE(TMC4361A_REFERENCE_CONF, TMC4361A_VIRTUAL_LEFT_LIMIT_EN_MASK, TMC4361A_VIRTUAL_LEFT_LIMIT_EN_SHIFT, enable ? 1 : 0);
+  writeInt(TMC4361A_VIRT_STOP_LEFT, position);
+}
+
+// Right Virtual Limit Switch  XACTUAL ¡Ý VIRT_STOP_RIGHT Ê±´¥·¢
+void TMC4361A::setRightVirtualLimitSwitch(bool enable, int32_t position) {
+  PRV_FIELD_WRITE(TMC4361A_REFERENCE_CONF, TMC4361A_VIRTUAL_RIGHT_LIMIT_EN_MASK, TMC4361A_VIRTUAL_RIGHT_LIMIT_EN_SHIFT, enable ? 1 : 0);
+  writeInt(TMC4361A_VIRT_STOP_RIGHT, position);
 }

 #endif
--- a/components/tmc/ic/ztmc4361A.hpp
+++ b/components/tmc/ic/ztmc4361A.hpp
@ -118,6 +118,12 @@ class TMC4361A : public IStepperMotor {

  virtual void setScale(float scale);

+  // Left Virtual Limit Switch  XACTUAL ≤ VIRT_STOP_LEFT 时触发
+  void setLeftVirtualLimitSwitch(bool enable, int32_t position);
+
+  // Right Virtual Limit Switch  XACTUAL ≥ VIRT_STOP_RIGHT 时触发
+  void setRightVirtualLimitSwitch(bool enable, int32_t position);
+
  /*******************************************************************************
   *                              驱动器初始化方法                               *
   *******************************************************************************/
--- a/components/zprotocols/errorcode
+++ b/components/zprotocols/errorcode
@ -0,0 +1 @@
+Subproject commit 072751f7f4573591d229a337fb16181dd58aa7bc
--- a/components/zprotocols/zcancmder
+++ b/components/zprotocols/zcancmder
@ -1 +1 @@
-Subproject commit 804b964be4e24a8fc929794768db6ffb5eeaa9a6
+Subproject commit 40bae4b887cc873eea0d37ba581669363fdc6f27