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a8000_subboard_sdk
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update

master
zhaohe 1 year ago
parent
48d225dbbf
commit
7367266623
4 changed files with 89 additions and 94 deletions
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  1. 151
      components/pipette_module/pipette_ctrl_module_v2.cpp
  2. 2
      components/pipette_module/pipette_ctrl_module_v2.hpp
  3. 22
      components/sensors/smtp2_v2/smtp2_v2.cpp
  4. 8
      components/sensors/smtp2_v2/smtp2_v2.hpp

151
components/pipette_module/pipette_ctrl_module_v2.cpp
View File

@ -24,7 +24,7 @@ using namespace iflytop;
} \
}
#define PIPETTE_PREPARE_POS 500
#define PIPETTE_PREPARE_POS 800
void PipetteModule::initialize(int32_t id, config_t *config, StepMotorCtrlModule *zmotor, hardward_config_t *hardwaredcfg) { //
ZASSERT(config != nullptr);
@ -44,6 +44,8 @@ void PipetteModule::initialize(int32_t id, config_t *config, StepMotorCtrlModule
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_detect_period_ms = 100; // 100ms
m_config.lld_prepare_pos = PIPETTE_PREPARE_POS;
m_config.lld_prepare_distribut_pos = 100;
ZASSERT(zmotor);
m_zmotor = zmotor;
@ -76,6 +78,8 @@ int32_t PipetteModule::module_xxx_reg(int32_t param_id, bool read, int32_t &val)
PROCESS_REG_CFG(kreg_pipette_lld_pump_vel, lld_pump_vel);
PROCESS_REG_CFG(kreg_pipette_lld_motor_vel_rpm, lld_motor_vel_rpm);
PROCESS_REG_CFG(kreg_pipette_lld_detect_period_ms, lld_detect_period_ms);
PROCESS_REG_CFG(kreg_pipette_lld_prepare_pos, lld_prepare_pos);
PROCESS_REG_CFG(kreg_pipette_lld_prepare_distribut_pos, lld_prepare_distribut_pos);
default:
return err::kmodule_not_find_reg;
@ -165,11 +169,18 @@ int32_t PipetteModule::pipette_lld_is_detect_liquid(int32_t *detect_liquid) { /
***********************************************************************************************************************/
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.start(
[this]() { //
DO_IN_THREAD(befor_run());
DO_IN_THREAD(m_smtp2.pump_init());
DO_IN_THREAD(m_smtp2.pump_init(m_config.pump_vmax));
while (true) {
if (!check_when_run()) break;
if (m_thread.getExitFlag()) break;
@ -182,13 +193,15 @@ int32_t PipetteModule::do_pipette_ctrl_init_device() {
}
},
[this]() { // exit fn
ZLOGI(TAG, "do_pipette_ctrl_put_tip finish");
after_run();
m_state.load_val_ul = 0;
m_state.aspirated = 0;
m_state.lld_prepared = 0;
m_state.pipette_is_inited = 1;
if (creg.module_errorcode == 0) {
m_state.load_val_ul = 0;
m_state.aspirated = 0;
m_state.lld_prepared = 0;
m_state.pipette_is_inited = 1;
}
ZLOGI(TAG, "do_pipette_ctrl_put_tip finish,ecode:%d", creg.module_errorcode);
} //
);
@ -206,7 +219,18 @@ int32_t PipetteModule::do_pipette_ctrl_put_tip() {
if (m_thread.getExitFlag()) break;
int32_t isbusy = 0;
DO_IN_THREAD(m_smtp2.pump_get_state(&isbusy));
int32_t ecode = m_smtp2.pump_get_state(&isbusy);
if (ecode != 0) {
if (ecode == err::kpipette_error_TipDrop || ecode == err::kpipette_error_TipPopError) {
break;
} else {
ZLOGE(TAG, "do do_pipette_ctrl_put_tip fail, error %s(%d)", err::error2str(ecode), ecode);
creg.module_errorcode = ecode;
break;
}
}
if (isbusy == 0) break;
m_thread.sleep(10);
@ -214,10 +238,13 @@ int32_t PipetteModule::do_pipette_ctrl_put_tip() {
},
[this]() { // exit fn
ZLOGI(TAG, "do_pipette_ctrl_put_tip finish");
after_run();
m_state.load_val_ul = 0;
m_state.aspirated = 0;
if (creg.module_errorcode == 0) {
m_state.load_val_ul = 0;
m_state.aspirated = 0;
}
ZLOGI(TAG, "do_pipette_ctrl_put_tip finish,ecode:%d", creg.module_errorcode);
} //
);
return 0;
@ -228,7 +255,7 @@ int32_t PipetteModule::do_pipette_ctrl_move_to_ul(int32_t ul) {
m_thread.start(
[this, ul]() { //
DO_IN_THREAD(befor_run());
DO_IN_THREAD(m_smtp2.pump_move_to_ul(ul));
DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_config.pump_vmax, ul));
while (true) {
if (!check_when_run()) break;
if (m_thread.getExitFlag()) break;
@ -241,8 +268,8 @@ int32_t PipetteModule::do_pipette_ctrl_move_to_ul(int32_t ul) {
}
},
[this]() { // exit fn
ZLOGI(TAG, "do_pipette_ctrl_move_to_ul finish");
after_run();
ZLOGI(TAG, "do_pipette_ctrl_move_to_ul finish,ecode:%d", creg.module_errorcode);
} //
);
return 0;
@ -278,7 +305,7 @@ int32_t PipetteModule::do_pipette_lld_prepare() {
m_thread.start(
[this]() { //
DO_IN_THREAD(befor_run());
DO_IN_THREAD(m_smtp2.pump_move_to_ul(PIPETTE_PREPARE_POS)); // 移动到中点
DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_config.pump_vmax, PIPETTE_PREPARE_POS)); // 移动到中点
while (true) {
if (!check_when_run()) break;
@ -292,13 +319,12 @@ int32_t PipetteModule::do_pipette_lld_prepare() {
}
},
[this]() { // exit fn
ZLOGI(TAG, "do_pipette_lld_prepare finish");
after_run();
if (creg.module_errorcode != 0) {
m_state.pipette_is_inited = 1;
m_state.load_val_ul = 0;
m_state.aspirated = 0;
if (creg.module_errorcode == 0) {
m_state.lld_prepared = 1;
}
ZLOGI(TAG, "do_pipette_lld_prepare finish,ecode:%d", creg.module_errorcode);
} //
);
return 0;
@ -320,6 +346,7 @@ int32_t PipetteModule::do_pipette_lld(lld_mode_t mode, int32_t zdpos, int32_t c_
*/
if (m_state.lld_prepared == 0) {
ZLOGI(TAG, "do_pipette_lld fail, not prepare");
return err::kpipette_error_not_lld_prepare;
}
@ -347,6 +374,21 @@ int32_t PipetteModule::do_pipette_lld(lld_mode_t mode, int32_t zdpos, int32_t c_
DO_IN_THREAD(m_smtp2.pump_get_pressure(&start_pressure));
start_motor_pos = submotor->getXACTUAL();
ZLOGI(TAG, "start lld before distribut");
DO_IN_THREAD(m_smtp2.pump_distribut(m_config.pump_vmax, m_config.lld_prepare_distribut_pos));
while (true) {
if (!check_when_run()) break;
if (m_thread.getExitFlag()) break;
int32_t isbusy = 0;
DO_IN_THREAD(m_smtp2.pump_get_state(&isbusy));
if (isbusy == 0) break;
}
ZLOGI(TAG, "lld before distribut ok");
ZLOGI(TAG, "start lld");
submotor->moveBy(zdpos, m_config.lld_motor_vel_rpm);
osDelay(50);
if (mode == kclld) {
DO_IN_THREAD(m_smtp2.pump_clld(c_threshold));
} else if (mode == kplld) {
@ -354,8 +396,6 @@ int32_t PipetteModule::do_pipette_lld(lld_mode_t mode, int32_t zdpos, int32_t c_
} else if (mode == kmixlld) {
DO_IN_THREAD(m_smtp2.pump_distribut_mlld(m_config.lld_pump_vel, c_threshold, p_threshold));
}
osDelay(50);
submotor->moveBy(zdpos, m_config.lld_motor_vel_rpm);
while (true) {
if (!check_when_run()) break;
@ -385,6 +425,7 @@ int32_t PipetteModule::do_pipette_lld(lld_mode_t mode, int32_t zdpos, int32_t c_
// 探测到液面
if (detect_liquid == 1) {
ZLOGI(TAG, "detect liquid");
m_state.detected_liquid = 1;
submotor->stop();
push_snesor_sample_data(motorpos, capacitance, pressure);
@ -396,19 +437,24 @@ int32_t PipetteModule::do_pipette_lld(lld_mode_t mode, int32_t zdpos, int32_t c_
if (motorerror != 0) {
creg.module_errorcode = motorerror;
ZLOGI(TAG, "motorerror %d", motorerror);
break;
return;
}
// 电机停了也没有探测到液面
if (motorstoped) {
ZLOGI(TAG, "motorstoped,but not detect liquid");
creg.module_errorcode = 0;
m_state.detected_liquid = 0;
push_snesor_sample_data(motorpos, capacitance, pressure);
break;
return;
}
push_snesor_sample_data(motorpos, capacitance, pressure);
m_thread.sleep(m_config.lld_detect_period_ms);
}
},
[this]() { // exit fn
auto submotor = m_zmotor->getMotor();
@ -436,7 +482,7 @@ int32_t PipetteModule::do_pipette_aspirate(int32_t ul) {
m_thread.start(
[this, ul]() { //
DO_IN_THREAD(befor_run());
DO_IN_THREAD(m_smtp2.pump_aspirate(ul));
DO_IN_THREAD(m_smtp2.pump_aspirate(m_config.aspirate_distribut_pump_vel, ul));
while (true) {
if (!check_when_run()) break;
if (m_thread.getExitFlag()) break;
@ -473,7 +519,7 @@ int32_t PipetteModule::do_pipette_distribut(int32_t ul) {
m_thread.start(
[this, ul]() { //
DO_IN_THREAD(befor_run());
DO_IN_THREAD(m_smtp2.pump_distribut(ul));
DO_IN_THREAD(m_smtp2.pump_distribut(m_config.aspirate_distribut_pump_vel, ul));
while (true) {
if (!check_when_run()) break;
if (m_thread.getExitFlag()) break;
@ -498,60 +544,6 @@ int32_t PipetteModule::do_pipette_distribut(int32_t ul) {
return 0;
}
#if 0
int32_t PipetteModule::do_pipette_clld_test(int32_t zdpos) {
m_thread.stop();
creg.module_status = 1;
m_thread.start(
[this, zdpos]() { //
DO_IN_THREAD(befor_run());
m_zmotor->module_active_cfg();
m_zmotor->step_motor_enable(1);
auto submotor = m_zmotor->getMotor();
submotor->moveBy(zdpos, m_config.lld_velocity);
int32_t zmotor_start_pos = submotor->getXACTUAL();
capturedata_num = 0;
while (true) {
if (!check_when_run()) break;
if (m_thread.getExitFlag()) break;
bool motorstoped = false;
int32_t motorerror = 0;
int32_t motorpos = 0;
int32_t capacitance = 0;
m_smtp2.pump_get_capacitance(&capacitance);
motorpos = submotor->getXACTUAL() - zmotor_start_pos;
submotor->readMotorState(&motorstoped, &motorerror);
if (motorerror != 0) {
creg.module_errorcode = motorerror;
break;
}
if (motorstoped) {
break;
}
push_snesor_sample_data(motorpos, capacitance, 0);
m_thread.sleep(m_config.lld_detect_period_ms);
}
},
[this]() { // exit fn
ZLOGI(TAG, "do_pipette_clld_test finish");
after_run();
} //
);
return 0;
}
int32_t PipetteModule::do_pipette_plld_test(int32_t zdpos) { return 0; }
#endif
int32_t PipetteModule::pipette_enable_zmotor(int32_t enable) { return m_zmotor->step_motor_enable(enable); }
int32_t PipetteModule::pipette_get_sensor_sample_data(int32_t index, int32_t *motor_pos, int32_t *cval, int32_t *pval) {
if (index > capturedata_num) return err::kparam_out_of_range;
@ -585,6 +577,7 @@ int32_t PipetteModule::befor_run() {
creg.module_errorcode = 0;
DO(module_active_cfg());
DO(m_smtp2.pump_get_motor_pos_ul(&m_state.pump_before_pos_ul));
return 0;
}
int32_t PipetteModule::after_run() {
int32_t err = 0;

2
components/pipette_module/pipette_ctrl_module_v2.hpp
View File

@ -49,6 +49,8 @@ class PipetteModule : public ZIModule, public ZIPipetteCtrlModule {
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_distribut_pos; // lld前，预分配位置
} config_t;
typedef struct {

22
components/sensors/smtp2_v2/smtp2_v2.cpp
View File

@ -67,15 +67,15 @@ int32_t SMTP2V2::pump_get_motor_pos_ul(int32_t* ul) {
return ret;
}
int32_t SMTP2V2::pump_stop() { return SEND_CMD("H"); }
int32_t SMTP2V2::pump_stop() { return SEND_CMD("T"); }
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_vmax(int32_t vel) { return SEND_CMD("V%d", vel); }
int32_t SMTP2V2::pump_set_acc_and_dec(int32_t acc, int32_t dec) { return SEND_CMD("L%d,%d", acc, dec); }
int32_t SMTP2V2::pump_set_plld_start_delay(int32_t delay_ms) { return SEND_CMD("T%d", delay_ms); }
int32_t SMTP2V2::pump_put_tip() { return SEND_CMD("E"); }
int32_t SMTP2V2::pump_init() { return SEND_CMD("Z"); }
int32_t SMTP2V2::pump_put_tip() { return SEND_CMD("E1"); }
int32_t SMTP2V2::pump_init(int32_t v) { return SEND_CMD("V%dZ", v); }
int32_t SMTP2V2::pump_reset() {
_sendcmd(true, "/1!0R\r"); // 复位指令没有回执，所以这里只能使用方法_sendcmd
return 0;
@ -92,7 +92,7 @@ static int32_t Get1fromfloat(const float& val) {
return (int32_t)temp1;
}
int32_t SMTP2V2::pump_move_to_ul(int32_t ul) {
int32_t SMTP2V2::pump_move_to_ul(int32_t v, int32_t ul) {
/**
* @brief 分辨率在0.319ul进行操作
*
@ -102,18 +102,18 @@ int32_t SMTP2V2::pump_move_to_ul(int32_t ul) {
*/
ZLOGI(TAG, "pump_move_to_ul %d", ul);
int stepNum = ul / 0.319 + 0.5; //+0.5 是为了浮点数强转成正数时采用四舍五入的方式
return SEND_CMD("N%dA%d", 0 /*模式*/, stepNum);
return SEND_CMD("N%dV%dA%d", 0 /*模式*/, v, stepNum);
}
int32_t SMTP2V2::pump_aspirate(int32_t ul) {
int32_t SMTP2V2::pump_aspirate(int32_t v, int32_t ul) {
ZLOGI(TAG, "pump_aspirate %d", ul);
int stepNum = ul / 0.319 + 0.5;
return SEND_CMD("N%dP%d", 1 /*模式*/, stepNum);
return SEND_CMD("N%dV%dP%d", 1 /*模式*/, v, stepNum);
}
int32_t SMTP2V2::pump_distribut(int32_t ul) {
int32_t SMTP2V2::pump_distribut(int32_t v, int32_t ul) {
ZLOGI(TAG, "pump_distribut %d", ul);
int stepNum = ul / 0.319 + 0.5;
return SEND_CMD("N%dD%d", 2 /*模式*/, stepNum);
return SEND_CMD("N%dV%dD%d", 2 /*模式*/, v, stepNum);
}
int32_t SMTP2V2::pump_distribut_plld(int32_t pumpv, int32_t pressure_threshold) {
@ -123,8 +123,8 @@ int32_t SMTP2V2::pump_distribut_plld(int32_t pumpv, int32_t pressure_threshold)
}
int32_t SMTP2V2::pump_distribut_plld_get_state(int32_t* detected) {
int32_t isbusy;
int32_t ret = pump_get_state(&isbusy);
int32_t isbusy = 0;
int32_t ret = pump_get_state(&isbusy);
if (isbusy != 0) {
*detected = 0;
} else {

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

@ -181,11 +181,11 @@ class SMTP2V2 {
/***********************************************************************************************************************
* ACTION *
***********************************************************************************************************************/
int32_t pump_init(); // 泵机初始化(归零)
int32_t pump_init(int32_t v); // 泵机初始化(归零)
int32_t pump_reset(); // 泵机复位
int32_t pump_stop(); // 停止
int32_t pump_put_tip(); // 丢弃TIP
int32_t pump_move_to_ul(int32_t ul); //
int32_t pump_move_to_ul(int32_t v, int32_t ul); //
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);
@ -196,8 +196,8 @@ class SMTP2V2 {
int32_t pump_distribut_mlld(int32_t pumpv, int32_t c_threshold, int32_t pressure_threshold); //
int32_t pump_distribut_mlld_get_state(int32_t* detected);
int32_t pump_aspirate(int32_t ul);
int32_t pump_distribut(int32_t ul);
int32_t pump_aspirate(int32_t v, int32_t ul);
int32_t pump_distribut(int32_t v, int32_t ul);
public:
//

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