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a8000_subboard_sdk
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update

master
zhaohe 1 year ago
parent
7367266623
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5b94d5e4cf
2 changed files with 30 additions and 20 deletions
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  1. 42
      components/pipette_module/pipette_ctrl_module_v2.cpp
  2. 8
      components/sensors/smtp2_v2/smtp2_v2.cpp

42
components/pipette_module/pipette_ctrl_module_v2.cpp
View File

@ -40,7 +40,7 @@ void PipetteModule::initialize(int32_t id, config_t *config, StepMotorCtrlModule
m_config.pump_vstart = 0; m_config.pump_vstart = 0;
m_config.pump_vstop = 900; m_config.pump_vstop = 900;
m_config.aspirate_distribut_pump_vel = 100; // m_config.aspirate_distribut_pump_vel = 100; //
m_config.pump_vmax = 1400;
m_config.pump_vmax = 1000;
m_config.lld_pump_vel = 100; // lld推荐使用速度为50->200,这里 m_config.lld_pump_vel = 100; // lld推荐使用速度为50->200,这里
m_config.lld_motor_vel_rpm = 50; m_config.lld_motor_vel_rpm = 50;
m_config.lld_detect_period_ms = 100; // 100ms m_config.lld_detect_period_ms = 100; // 100ms
@ -168,15 +168,8 @@ int32_t PipetteModule::pipette_lld_is_detect_liquid(int32_t *detect_liquid) { /
* ACTION * * ACTION *
***********************************************************************************************************************/ ***********************************************************************************************************************/
int32_t PipetteModule::do_pipette_ctrl_init_device() { int32_t PipetteModule::do_pipette_ctrl_init_device() {
creg.module_status = 1;
// 检查tip头状态
int32_t tipstate = 0;
int32_t ret = m_smtp2.pump_get_tip_state(&tipstate);
if (ret != 0) return ret;
if (tipstate != 0) return err::kpipette_error_tipisload_when_lld_prepare;
m_thread.stop(); m_thread.stop();
creg.module_status = 1;
m_thread.start( m_thread.start(
[this]() { // [this]() { //
DO_IN_THREAD(befor_run()); DO_IN_THREAD(befor_run());
@ -194,7 +187,7 @@ int32_t PipetteModule::do_pipette_ctrl_init_device() {
}, },
[this]() { // exit fn [this]() { // exit fn
after_run(); after_run();
m_smtp2.pump_stop();
if (creg.module_errorcode == 0) { if (creg.module_errorcode == 0) {
m_state.load_val_ul = 0; m_state.load_val_ul = 0;
m_state.aspirated = 0; m_state.aspirated = 0;
@ -239,6 +232,8 @@ int32_t PipetteModule::do_pipette_ctrl_put_tip() {
}, },
[this]() { // exit fn [this]() { // exit fn
after_run(); after_run();
m_smtp2.pump_stop();
if (creg.module_errorcode == 0) { if (creg.module_errorcode == 0) {
m_state.load_val_ul = 0; m_state.load_val_ul = 0;
m_state.aspirated = 0; m_state.aspirated = 0;
@ -269,6 +264,8 @@ int32_t PipetteModule::do_pipette_ctrl_move_to_ul(int32_t ul) {
}, },
[this]() { // exit fn [this]() { // exit fn
after_run(); after_run();
m_smtp2.pump_stop();
ZLOGI(TAG, "do_pipette_ctrl_move_to_ul finish,ecode:%d", creg.module_errorcode); ZLOGI(TAG, "do_pipette_ctrl_move_to_ul finish,ecode:%d", creg.module_errorcode);
} // } //
); );
@ -302,10 +299,11 @@ int32_t PipetteModule::do_pipette_lld_prepare() {
if (tipstate != 0) return err::kpipette_error_tipisload_when_lld_prepare; if (tipstate != 0) return err::kpipette_error_tipisload_when_lld_prepare;
m_thread.stop(); m_thread.stop();
creg.module_status = 1;
m_thread.start( m_thread.start(
[this]() { // [this]() { //
DO_IN_THREAD(befor_run()); DO_IN_THREAD(befor_run());
DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_config.pump_vmax, PIPETTE_PREPARE_POS)); // 移动到中点
DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_config.pump_vmax, m_config.lld_prepare_pos)); // 移动到中点
while (true) { while (true) {
if (!check_when_run()) break; if (!check_when_run()) break;
@ -320,6 +318,8 @@ int32_t PipetteModule::do_pipette_lld_prepare() {
}, },
[this]() { // exit fn [this]() { // exit fn
after_run(); after_run();
m_smtp2.pump_stop();
if (creg.module_errorcode == 0) { if (creg.module_errorcode == 0) {
m_state.lld_prepared = 1; m_state.lld_prepared = 1;
} }
@ -377,18 +377,21 @@ int32_t PipetteModule::do_pipette_lld(lld_mode_t mode, int32_t zdpos, int32_t c_
ZLOGI(TAG, "start lld before distribut"); ZLOGI(TAG, "start lld before distribut");
DO_IN_THREAD(m_smtp2.pump_distribut(m_config.pump_vmax, m_config.lld_prepare_distribut_pos)); DO_IN_THREAD(m_smtp2.pump_distribut(m_config.pump_vmax, m_config.lld_prepare_distribut_pos));
while (true) { while (true) {
if (!check_when_run()) break;
if (m_thread.getExitFlag()) break;
if (!check_when_run()) return;
if (m_thread.getExitFlag()) return;
int32_t isbusy = 0; int32_t isbusy = 0;
DO_IN_THREAD(m_smtp2.pump_get_state(&isbusy)); DO_IN_THREAD(m_smtp2.pump_get_state(&isbusy));
if (isbusy == 0) break; if (isbusy == 0) break;
m_thread.sleep(10);
} }
m_smtp2.pump_stop();
ZLOGI(TAG, "lld before distribut ok"); ZLOGI(TAG, "lld before distribut ok");
ZLOGI(TAG, "start lld"); ZLOGI(TAG, "start lld");
submotor->moveBy(zdpos, m_config.lld_motor_vel_rpm); submotor->moveBy(zdpos, m_config.lld_motor_vel_rpm);
osDelay(50);
osDelay(10);
if (mode == kclld) { if (mode == kclld) {
DO_IN_THREAD(m_smtp2.pump_clld(c_threshold)); DO_IN_THREAD(m_smtp2.pump_clld(c_threshold));
} else if (mode == kplld) { } else if (mode == kplld) {
@ -453,8 +456,6 @@ int32_t PipetteModule::do_pipette_lld(lld_mode_t mode, int32_t zdpos, int32_t c_
m_thread.sleep(m_config.lld_detect_period_ms); m_thread.sleep(m_config.lld_detect_period_ms);
} }
}, },
[this]() { // exit fn [this]() { // exit fn
auto submotor = m_zmotor->getMotor(); auto submotor = m_zmotor->getMotor();
@ -496,6 +497,7 @@ int32_t PipetteModule::do_pipette_aspirate(int32_t ul) {
}, },
[this]() { // exit fn [this]() { // exit fn
after_run(); after_run();
m_smtp2.pump_stop();
m_state.load_val_ul = m_state.load_val_ul + m_state.dul; m_state.load_val_ul = m_state.load_val_ul + m_state.dul;
if (m_state.load_val_ul < 0) { if (m_state.load_val_ul < 0) {
m_state.load_val_ul = 0; m_state.load_val_ul = 0;
@ -533,6 +535,8 @@ int32_t PipetteModule::do_pipette_distribut(int32_t ul) {
}, },
[this]() { // exit fn [this]() { // exit fn
after_run(); after_run();
m_smtp2.pump_stop();
m_state.load_val_ul = m_state.load_val_ul + m_state.dul; m_state.load_val_ul = m_state.load_val_ul + m_state.dul;
if (m_state.load_val_ul < 0) { if (m_state.load_val_ul < 0) {
m_state.load_val_ul = 0; m_state.load_val_ul = 0;
@ -573,6 +577,9 @@ int32_t PipetteModule::pipette_write_cmd_direct(uint8_t *tx, int32_t len, uint8_
int32_t PipetteModule::befor_run() { int32_t PipetteModule::befor_run() {
// //
ZLOGI(TAG, "befor_run");
m_smtp2.pump_stop();
creg.module_status = 1; creg.module_status = 1;
creg.module_errorcode = 0; creg.module_errorcode = 0;
DO(module_active_cfg()); DO(module_active_cfg());
@ -580,6 +587,9 @@ int32_t PipetteModule::befor_run() {
return 0; return 0;
} }
int32_t PipetteModule::after_run() { int32_t PipetteModule::after_run() {
ZLOGI(TAG, "after_run");
m_smtp2.pump_stop();
int32_t err = 0; int32_t err = 0;
err = creg.module_errorcode; err = creg.module_errorcode;
if (err != 0) goto tag_err; if (err != 0) goto tag_err;

8
components/sensors/smtp2_v2/smtp2_v2.cpp
View File

@ -11,7 +11,7 @@ using namespace smtp2;
#define TAG "SMTP2" #define TAG "SMTP2"
#define OVERTIME 100 #define OVERTIME 100
#define DUMP_HEX 0
#define DUMP_HEX 1
#define SEND_CMD(fmt, ...) sendcmd(true, 1, "/1" fmt "R\r", ##__VA_ARGS__); #define SEND_CMD(fmt, ...) sendcmd(true, 1, "/1" fmt "R\r", ##__VA_ARGS__);
#define SEND_CMD_AUTO_RETRY(retry_times, fmt, ...) sendcmd(true, retry_times, "/1" fmt "R\r", ##__VA_ARGS__); #define SEND_CMD_AUTO_RETRY(retry_times, fmt, ...) sendcmd(true, retry_times, "/1" fmt "R\r", ##__VA_ARGS__);
@ -67,7 +67,7 @@ int32_t SMTP2V2::pump_get_motor_pos_ul(int32_t* ul) {
return ret; return ret;
} }
int32_t SMTP2V2::pump_stop() { return SEND_CMD("T"); }
int32_t SMTP2V2::pump_stop() { return sendcmd(true, 1, "/1TR\r"); }
int32_t SMTP2V2::pump_set_vstart(int32_t vel) { return SEND_CMD("v%d", vel); } int32_t SMTP2V2::pump_set_vstart(int32_t vel) { return SEND_CMD("v%d", vel); }
int32_t SMTP2V2::pump_set_vstop(int32_t vel) { return SEND_CMD("c%d", vel); } int32_t SMTP2V2::pump_set_vstop(int32_t vel) { return SEND_CMD("c%d", vel); }
int32_t SMTP2V2::pump_set_vmax(int32_t vel) { return SEND_CMD("V%d", vel); } int32_t SMTP2V2::pump_set_vmax(int32_t vel) { return SEND_CMD("V%d", vel); }
@ -108,12 +108,12 @@ int32_t SMTP2V2::pump_move_to_ul(int32_t v, int32_t ul) {
int32_t SMTP2V2::pump_aspirate(int32_t v, int32_t ul) { int32_t SMTP2V2::pump_aspirate(int32_t v, int32_t ul) {
ZLOGI(TAG, "pump_aspirate %d", ul); ZLOGI(TAG, "pump_aspirate %d", ul);
int stepNum = ul / 0.319 + 0.5; int stepNum = ul / 0.319 + 0.5;
return SEND_CMD("N%dV%dP%d", 1 /*模式*/, v, stepNum);
return SEND_CMD("N%dV%dP%d", 0 /*模式*/, v, stepNum);
} }
int32_t SMTP2V2::pump_distribut(int32_t v, int32_t ul) { int32_t SMTP2V2::pump_distribut(int32_t v, int32_t ul) {
ZLOGI(TAG, "pump_distribut %d", ul); ZLOGI(TAG, "pump_distribut %d", ul);
int stepNum = ul / 0.319 + 0.5; int stepNum = ul / 0.319 + 0.5;
return SEND_CMD("N%dV%dD%d", 2 /*模式*/, v, stepNum);
return SEND_CMD("N%dV%dD%d", 0 /*模式*/, v, stepNum);
} }
int32_t SMTP2V2::pump_distribut_plld(int32_t pumpv, int32_t pressure_threshold) { int32_t SMTP2V2::pump_distribut_plld(int32_t pumpv, int32_t pressure_threshold) {

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