10 changed files with 599 additions and 82 deletions
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3.gitmodules
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77components/errorcode/errorcode.hpp
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62components/pipette_module/pipette_ctrl_module.cpp
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36components/pipette_module/pipette_ctrl_module.hpp
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335components/sensors/smtp2/smtp2.cpp
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141components/sensors/smtp2/smtp2.hpp
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18components/tmc/ic/ztmc4361A.cpp
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6components/tmc/ic/ztmc4361A.hpp
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1components/zprotocols/errorcode
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2components/zprotocols/zcancmder
@ -1,3 +1,6 @@ |
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[submodule "components/zprotocols/zcancmder"] |
[submodule "components/zprotocols/zcancmder"] |
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path = components/zprotocols/zcancmder |
path = components/zprotocols/zcancmder |
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url = zwsd@192.168.1.3:zprotocols/zcancmder.git |
url = zwsd@192.168.1.3:zprotocols/zcancmder.git |
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[submodule "components/zprotocols/errorcode"] |
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path = components/zprotocols/errorcode |
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url = zwsd@192.168.1.3:zprotocols/errorcode.git |
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@ -1,76 +1 @@ |
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#pragma once
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namespace iflytop { |
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namespace err { |
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using namespace std; |
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#define ERROR_CODE(errortype, suberrorcode) (errortype + suberrorcode)
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typedef enum { |
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ksucc = ERROR_CODE(0, 0), |
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kfail = ERROR_CODE(0, 1), |
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/**
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* @brief 通信错误 |
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*/ |
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kce_overtime = ERROR_CODE(1000, 0), |
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kce_noack = ERROR_CODE(1000, 1), |
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kce_errorack = ERROR_CODE(1000, 2), |
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kce_device_offline = ERROR_CODE(1000, 3), |
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kce_parse_json_err = ERROR_CODE(1000, 4), |
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kce_subdevice_overtime = ERROR_CODE(1000, 5), |
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/**
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* @brief 数据库错误 |
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*/ |
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kdbe_user_not_exist = ERROR_CODE(2000, 0), |
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kdbe_catch_exception = ERROR_CODE(2000, 1), |
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/**
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* @brief 硬件错误 |
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*/ |
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kharde_unfound = ERROR_CODE(3000, 0), |
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/**
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* @brief 程序运行错误 |
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*/ |
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kre_catch_exception = ERROR_CODE(4000, 0), |
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/**
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* @brief 应用交互基本错误 |
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*/ |
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kinteraction_error_passwd_error = ERROR_CODE(5000, 0), // 密码错误
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kinteraction_error_user_not_exist = ERROR_CODE(5000, 1), // 用户不存在
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/**
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* @brief 系统错误 |
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*/ |
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ksys_error = ERROR_CODE(6000, 0), |
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ksys_create_file_error = ERROR_CODE(6000, 1), |
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ksys_create_dir_error = ERROR_CODE(6000, 2), |
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ksys_open_file_error = ERROR_CODE(6000, 3), |
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ksys_open_dir_error = ERROR_CODE(6000, 4), |
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ksys_read_file_error = ERROR_CODE(6000, 5), |
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ksys_write_file_error = ERROR_CODE(6000, 6), |
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ksys_close_file_error = ERROR_CODE(6000, 7), |
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ksys_close_dir_error = ERROR_CODE(6000, 8), |
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ksys_delete_file_error = ERROR_CODE(6000, 9), |
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ksys_delete_dir_error = ERROR_CODE(6000, 10), |
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ksys_copy_file_error = ERROR_CODE(6000, 11), |
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/**
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* @brief 通用，但未归类错误 |
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* 50000 |
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*/ |
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kcommon_error_device_not_zero = ERROR_CODE(50000, 0), // 设备未归零
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kcommon_error_over_temperature = ERROR_CODE(50000, 1), // 过温
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kcommon_error_over_voltage = ERROR_CODE(50000, 2), // 过压
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kcommon_error_param_out_of_range = ERROR_CODE(50000, 3), // 参数超出范围
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kcommon_error_not_found_zero_point = ERROR_CODE(50000, 4), // 未找到零点
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kcommon_error_not_found_x_zero_point = ERROR_CODE(50000, 5), // 未找到零点
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kcommon_error_not_found_y_zero_point = ERROR_CODE(50000, 6), // 未找到零点
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kcommon_error_x_leave_away_zero_point_fail = ERROR_CODE(50000, 7), // 离开零点失败
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kcommon_error_y_leave_away_zero_point_fail = ERROR_CODE(50000, 8), // 离开零点失败
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kcommon_error_operation_not_support = ERROR_CODE(50000, 9), // 操作不支持
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} error_t; |
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} // namespace err
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} // namespace iflytop
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#include "sdk\components\zprotocols\errorcode\errorcode.hpp"
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@ -0,0 +1,62 @@ |
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#include "pipette_ctrl_module.hpp"
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using namespace iflytop; |
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using namespace std; |
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#define TAG "PipetteModule"
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void PipetteModule::initialize(SMTP2 *smtp2, //
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StepMotorCtrlModule *stepMotor) { |
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m_smtp2 = smtp2; |
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m_stepMotor = stepMotor; |
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m_thread.init("pipette", 1024); |
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} |
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int32_t PipetteModule::enable(u8 enable) { //
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m_stepMotor->enable(enable); |
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} |
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int32_t PipetteModule::stop(u8 stop_type) { |
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m_stepMotor->stop(0); |
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m_smtp2->stop(); |
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} |
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int32_t PipetteModule::zero_pos_calibrate(function<void(action_cb_status_t status)> exec_complete_cb) { |
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/**
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* @brief |
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*/ |
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m_thread.stop(); |
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m_thread.start([this, exec_complete_cb]() { |
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// 移液枪复位
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// 移液枪复位完成后，开始进行零点校准
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// m_stepMotor->move_to_zero_with_calibrate();
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}); |
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} |
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int32_t PipetteModule::reset_device(function<void(action_cb_status_t status)> exec_complete_cb) { |
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/**
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* @brief |
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*/ |
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m_thread.stop(); |
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m_thread.start([this, exec_complete_cb]() { |
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action_cb_status_t report_status = {0}; |
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// 移液枪复位
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int ret = m_smtp2->init_device(); |
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if (ret != 0) { |
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ZLOGE(TAG, "init_device fail"); |
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report_status.exec_status = ret; |
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if (exec_complete_cb) exec_complete_cb(report_status); |
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} |
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// 等待移液枪复位完成
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while (true && !m_thread.getExitFlag()) { |
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int32_t state = m_smtp2->getState(); |
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if (state == 0) { |
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break; |
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} |
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m_thread.sleep(1000); |
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ZLOGI(TAG, "Waiting for SMTP2 to complete the reset"); |
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} |
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ZLOGI(TAG, "SMTP2 reset complete"); |
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// 移液枪复位完成后，开始进行零点校准
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}); |
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} |
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@ -0,0 +1,36 @@ |
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#pragma once
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//
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#include "sdk/os/zos.hpp"
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#include "sdk\components\sensors\smtp2\smtp2.hpp"
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#include "sdk\components\step_motor_ctrl_module\step_motor_ctrl_module.hpp"
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#include "sdk\components\tmc\basic\tmc_ic_interface.hpp"
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#include "sdk\components\zprotocols\zcancmder\api\i_pipette_module.hpp"
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// #include "StepMotorCtrlModule"
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namespace iflytop { |
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class PipetteModule : public I_PipetteModule { |
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public: |
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private: |
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bool m_module_enable = false; |
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SMTP2 *m_smtp2; |
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StepMotorCtrlModule *m_stepMotor; |
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ZThread m_thread; |
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public: |
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void initialize(SMTP2 *smtp2, StepMotorCtrlModule *stepMotor); |
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virtual int32_t enable(u8 enable); |
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virtual int32_t stop(u8 stop_type); |
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virtual int32_t zero_pos_calibrate(function<void(action_cb_status_t status)> exec_complete_cb); |
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virtual int32_t reset_device(function<void(action_cb_status_t status)> exec_complete_cb); |
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virtual int32_t take_tip(int tipid, function<void(action_cb_status_t status)> exec_complete_cb); |
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virtual int32_t remove_tip(function<void(action_cb_status_t status)> exec_complete_cb); |
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// 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)
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virtual int32_t take_and_split_liquid(u8 tube_id, s16 liquid_volume, s16 zhight, s16 abs_zhight, s16 shake_times, s16 shake_volume, //
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function<void(action_cb_status_t status)> exec_complete_cb); |
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}; |
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} // namespace iflytop
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@ -0,0 +1,335 @@ |
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#include "smtp2.hpp"
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#include <string.h>
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#include<stdarg.h>
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#include<stdio.h>
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#include "sdk\components\zprotocols\errorcode\errorcode.hpp"
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using namespace iflytop; |
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#define TAG "SMTP2"
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#define OVERTIME 20
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#define DUMP_HEX 1
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/**
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* @brief 协议概述 |
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* 协议示例 |
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* /2A3000R\r |
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* /:命令开始 |
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* 2:设备ID |
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* A:命令，绝对移动 |
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* 3000:参数，移动到3000位置 |
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* R:执行命令 |
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* \r:命令结束 |
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* |
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* |
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* 1.命令的名称；命令区分大小写 |
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* 2.一个命令包含多个参数时候，通过逗号隔开 |
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* 3.命令后面没有跟参数则使用默认值 |
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* 4.多个命令可以拼接,例如:A3000A0R |
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* 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 |
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* |
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* |
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*/ |
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/**
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* @brief |
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* |
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* 命令集 |
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* 命令名称 命令 |
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* 初始化 Z |
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* 泵运动 A |
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* 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 |
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* 执行命令 R |
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* 执行最后一个命令字符串 X |
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* 重复命令序列 G<n> |
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* 标记重复序列开始 g |
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* 延迟命令执行 M<n> |
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* 停止命令执行 H |
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* 设置 I/O1 输出 J<n> |
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* 终止 T |
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* 清除命令缓冲区 C |
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* E<n>弹出 Tip |
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* t<n1>,<n2>压力液面检测（pLLD），吸取或分配 |
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* ^<n> 电容式液面检测（cLLD） |
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* B<n1>,<n2>混合式液面检测 |
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* f<n>开启或停止压力数据流 |
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* +<n>继续传输压力数据 |
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* <p>设定压力传感器增益 |
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* r 复位 LLD 输出 |
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* *<n1>,<n2>实时温度补偿 |
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* q<n1>,<n2>操作验证 |
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* s<n>在 EEPROM 中存储命令字符串 |
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* e<n> 执行存储在 EEPROM 中的命令字符串 |
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* 链接 EEPROM 中存储的命令字符串 |
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* U<n>设置泵常规配置(PAGE:52) |
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* u<n1>,<n2>设置泵高级配置 |
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* Q 查询泵状态 |
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* =查询命令缓冲区 |
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* &报告固件版本 |
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* ?<n> 报告泵参数 |
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* |
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*/ |
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/**
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* 错误码 |
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* 40h 60h @ ` 0 无错误 |
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* 41h 61h A a 1 初始化失败 |
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* 42h 62h B b 2 无效命令 |
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* 43h 63h C c 3 无效参数 |
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* 44h 64h D d 4 压力传感器故障 |
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* 45h 65h E e 5 超过压力 |
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* 46h 66h F f 6 LLD 错误 |
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* 47h 67h G g 7 设备未初始化 |
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* 48h 68h H h 8 Tip 弹出错误 |
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* 49h 69h I i 9 泵过载 |
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* 4Ah 6Ah J j 10 Tip 脱落 |
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* 4Bh 6Bh K k 11 CAN 总线故障 |
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* 4Ch 6Ch L l 12 无效校验和 |
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* 4Dh 6Dh M m 13 EEPROM 故障 |
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* 4Eh 6Eh N n 14 命令缓冲区为空 |
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* 4Fh 6Fh O o 15 命令溢出 |
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* 50h 70h P p 16 Tip 堵塞 |
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* 51h 71h Q q 17 吸入空气 |
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* 52h 72h R r 18 液体中有气泡/泡沫 |
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* 53h 73h S s 19 吸取/分配量不准确 |
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* |
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*/ |
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static int Get1fromfloat(const float& val) { |
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float temp1 = val; |
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int t1 = (uint32_t)(temp1 * 10) % 10; |
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if (t1 > 4) { |
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temp1 = (float)(uint32_t)(temp1 + 1); |
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} else { |
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temp1 = (float)((uint32_t)(temp1)); |
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} |
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return (int)temp1; |
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} |
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int SMTP2::init_device() { |
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ZLOGI(TAG, "init_device"); |
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return doaction(fmt("/1ZR\r")); |
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} |
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int SMTP2::put_tip() { |
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// ZLOGI(TAG, "put_tip:%s", "/1E1R");
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ZLOGI(TAG, "put_tip"); |
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return doaction(fmt("/1E1R\r")); |
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} |
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int SMTP2::move_to(int pos) { |
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ZLOGI(TAG, "move_to %d", pos); |
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return doaction(fmt("/1N%dA%dR\r", 0, pos)); |
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} |
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int SMTP2::move_to_ul(int ul) { |
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/**
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* @brief 分辨率在0.319ul进行操作 |
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*/ |
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ZLOGI(TAG, "move_to_ul %d", ul); |
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float stepNumfloat = ul / 0.319; |
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int stepNum = Get1fromfloat(stepNumfloat); |
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return doaction(fmt("/1N%dA%dR\r", 0, stepNum)); |
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} |
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int SMTP2::set_resolution(int resolution) { |
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ZLOGI(TAG, "set_resolution %d", resolution); |
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return doaction(fmt("/1N%dR\r", resolution)); |
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} |
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void SMTP2::stop() { |
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ZLOGI(TAG, "stop"); |
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doaction(fmt("/1T\r")); |
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} |
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int SMTP2::read_capacitance_val(int& capval) { |
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size_t rxlen = 0; |
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int ret = sendcmd(fmt("/1?68\r"), m_rxbuf, sizeof(m_rxbuf), rxlen); |
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if (ret != 0) { |
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return -1; |
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} |
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iflytop::err::error_t ecode = read_ack_error_code(m_rxbuf, rxlen); |
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if (ecode != err::ksucc) { |
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return ecode; |
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} |
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capval = read_ack_int_val(m_rxbuf, rxlen); |
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return err::ksucc; |
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} |
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char* SMTP2::fmt(const char* fmt, ...) { |
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va_list args; |
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va_start(args, fmt); |
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vsprintf(txbuf, fmt, args); |
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va_end(args); |
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return txbuf; |
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} |
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/**
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* @brief Get the State object |
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* |
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* @param state |
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* @param error |
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* @return int |
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*/ |
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int SMTP2::getState(bool& isbusy, err::error_t& error) { |
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size_t rxlen = 0; |
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sprintf(txbuf, "/1Q\r"); |
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int ret = sendcmd(txbuf, strlen(txbuf), m_rxbuf, sizeof(m_rxbuf), rxlen); |
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if (ret != 0) { |
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return -1; |
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} |
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uint8_t errorcode = (uint8_t)m_rxbuf[2]; |
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if (errorcode > '`') { |
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isbusy = false; |
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errorcode = errorcode - '`'; |
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} 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; |
||||
|
} |
||||
@ -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
|
||||
@ -0,0 +1 @@ |
|||||
|
Subproject commit 072751f7f4573591d229a337fb16181dd58aa7bc |
||||
@ -1 +1 @@ |
|||||
Subproject commit 804b964be4e24a8fc929794768db6ffb5eeaa9a6 |
|
||||
|
Subproject commit 40bae4b887cc873eea0d37ba581669363fdc6f27 |
||||
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