update

TODO.md

@@ -0,0 +1,6 @@
+```
+步进电机的加速度换算是错的
+    现在的单位是:[1/60 r/s^2]
+
+
+```

sdk/components/pipette_module/base/constant_cfg.hpp

@@ -7,11 +7,12 @@
  ***********************************************************************************************************************/
 
 #define PM_BCFG_CPY_NUM 1
-#define PLATINFO_CPY_NUM 1
 #define ZM_BCFG_CPY_NUM 1
 
-#define ZM_VCFG_CPY_NUM 20
-#define PM_VCFG_CPY_NUM 20
+#define PLATINFO_CPY_NUM 5
+
+#define ZM_VCFG_CPY_NUM 10
+#define PM_VCFG_CPY_NUM 10
 
 #define CONTAINER_INFO_CPY_NUM 15
 #define LIQUID_INFO_CPY_NUM    10

sdk/components/pipette_module/base/pipette_action_param.hpp

@@ -10,6 +10,7 @@ typedef struct {
   //
   //  参数索引
   //
+  int32_t platinfo_index;        // 平台配置索引
   int32_t container_info_index;  // 容器配置索引
   int32_t liquid_cfg_index;      // 液体配置索引
   //
@@ -43,25 +44,26 @@ typedef enum {
   //
   //  参数索引
   //
-  kaspiration_paramid_container_info_index = 1,
-  kaspiration_paramid_liquid_cfg_index     = 2,
+  kaspiration_paramid_platinfo_index       = 1,
+  kaspiration_paramid_container_info_index = 2,
+  kaspiration_paramid_liquid_cfg_index     = 3,
   //
   // 吸取模式
   //
-  kaspiration_paramid_aspiration_mode = 3,
+  kaspiration_paramid_aspiration_mode = 4,
   //
   //  lld配置
   //
-  kaspiration_paramid_lld_type           = 4,
-  kaspiration_paramid_lld_enable_protect = 5,
+  kaspiration_paramid_lld_type           = 5,
+  kaspiration_paramid_lld_enable_protect = 6,
   //
   //  llf配置
   //
-  kaspiration_paramid_mix_llf_enable = 6,
-  kaspiration_paramid_llf_enable     = 7,
+  kaspiration_paramid_mix_llf_enable = 7,
+  kaspiration_paramid_llf_enable     = 8,
   //
   //  混匀配置
   //
-  kaspiration_paramid_mix_volume = 8,
-  kaspiration_paramid_mix_times  = 9,
+  kaspiration_paramid_mix_volume = 9,
+  kaspiration_paramid_mix_times  = 10,
 } aspiration_paramid_t;

sdk/components/pipette_module/base/pipette_cfg.hpp

@@ -4,21 +4,34 @@
  *                                                      平台参数                                                       *
  ***********************************************************************************************************************/
 typedef struct {
-  int32_t zm_ref_level;         // 移液枪带上tip后，参考面高度(绝对位置0.1mm)，建议选择一个大部分操作都在其之上的平面
-  int32_t tip_picking_pos;      // 开始取tip位置(绝对位置0.1mm)
-  int32_t tip_picking_max_pos;  // 结束取tip位置(绝对位置0.1mm)
-  int32_t tip_deposit_pos;      // 丢tip位置(绝对位置0.1mm)
-  int32_t transform_pos;        // 移液枪安全移动的高度(绝对位置0.1mm)
-  int32_t tip_type;             // tip类型
+  /**
+   * @brief 工作参考平面
+   *
+   */
+  int32_t work_ref_plane;  // 移液枪带上tip后，tip刚好与平面接触时候，z轴的坐标，后续系统中非特殊情况，所有坐标参考这个坐标
+
+  int32_t tip_picking_pos;           // 开始取tip位置(参考位0.1mm)
+  int32_t tip_picking_search_range;  // 取tip的范围
+  int32_t tip_deposit_pos;           // 丢tip位置(参考位0.1mm)
+  // int32_t transform_pos;             // 移液枪安全移动的高度(参考位0.1mm)
+  /**
+   * @brief tip类型
+   *
+   * TS1000UL = 0,  // 1000ul, max=1002.6ul
+   * TS200UL  = 1,  // 200ul, max=250ul
+   * TS50UL   = 2,  // 50ul, max=62ul
+   * TS20UL   = 3,  // 20ul, max=40ul
+   */
+  int32_t tip_type;
   int32_t tip_length;  // tip长度
 } platinfo_t;
 
 typedef enum {
-  kplatinfo_zm_ref_level        = 100,
+  kplatinfo_work_ref_plane           = 100,
   kplatinfo_tip_picking_pos          = 101,
-  kplatinfo_tip_picking_max_pos = 102,
+  kplatinfo_tip_picking_search_range = 102,
   kplatinfo_tip_deposit_pos          = 103,
-  kplatinfo_transform_pos       = 104,
+  // kplatinfo_transform_pos            = 104,
   kplatinfo_tip_type                 = 105,
   kplatinfo_tip_length               = 106,
 } platinfo_index_t;
@@ -103,11 +116,11 @@ typedef enum {
  *                                                   移液枪速度配置                                                    *
  ***********************************************************************************************************************/
 typedef struct {
-  int32_t acc;     // 加速度   level 1…20 default:14  1:797 nl/s^2  ...  20:797*20 nl/s^2
+  int32_t acc;     // 加速度   level 1…20 default:14  1:797.5 ul/s^2  ...  20:797*20 nl/s^2
   int32_t dec;     // 减速度   level 1…20 default:14
   int32_t vstart;  // 启动速度 ul/s     (0...319)
-  int32_t vstop;   // 停止速度 nl/s     (0...319)
-  int32_t vmax;    // 最大速度 nl/s     (0...2552)
+  int32_t vstop;   // 停止速度 ul/s     (0...319)
+  int32_t vmax;    // 最大速度 ul/s     (0...2552)
 } pm_vcfg_t;
 
 typedef enum {

sdk/components/pipette_module/base/pipette_enum.hpp

@@ -4,11 +4,13 @@
  ***********************************************************************************************************************/
 typedef enum {
   kpm_v_default  = 0,  // 默认速度
-  kpm_v_min     = 1,  // 最低速
-  kpm_v_slow    = 2,  // 慢速
-  kpm_v_mid     = 3,  // 中速
-  kpm_v_quick   = 4,  // 快速
-  kpm_v_max     = 5,  // 高速
+  kpm_v_slow_lv1 = 1,  // 慢速
+  kpm_v_slow_lv2 = 2,  // 慢速
+  kpm_v_slow_lv3 = 3,  // 慢速
+  kpm_v_mid      = 4,  // 中速
+  kpm_v_quick    = 5,  // 快速
+  kpm_v_max      = 6,  // 高速
+  kpm_v_lld      = 7,  // 液面探测vlld
 } pm_vindex_t;
 
 /***********************************************************************************************************************

sdk/components/pipette_module/pipette_ctrl_module.cpp

@@ -28,8 +28,10 @@ void PipetteModule::initialize(int32_t id, hardward_config_t *hardwaredcfg) {  /
 
   m_zm->getGState();  // 读取状态，清空下复位标识
 
+  //! TODO: 将初始化代码移动到模块外部
   m_piette_gun_io1.initAsInput(PB1, ZGPIO::kMode_pullup, ZGPIO::kIRQ_noIrq, true);  // lld输入高
 
+  //! 测试IO1是否联通
   m_smtp2.pump_set_io1_mode(2);  // lld输入高
   m_smtp2.pump_set_io1_state(0);
   osDelay(100);
@@ -39,7 +41,8 @@ void PipetteModule::initialize(int32_t id, hardward_config_t *hardwaredcfg) {  /
   osDelay(100);
   ZLOGI(TAG, "read io1 state:%d", m_piette_gun_io1.getState());
   m_smtp2.pump_set_io1_mode(0);  // lld输入高
-  // m_smtp2.dumpparam();
+
+  parameter_init();
 }
 
 int32_t PipetteModule::module_stop() {
@@ -117,15 +120,22 @@ int32_t PipetteModule::pipette_get_pmbcfg(pm_bcfg_index_t index, int32_t *val) {
   }
   return 0;
 }
-int32_t PipetteModule::pipette_set_platinfo(platinfo_index_t index, int32_t val) {
+int32_t PipetteModule::pipette_set_platinfo(int32_t cpyid, platinfo_index_t index, int32_t val) {
+  if (cpyid < 0 || cpyid >= ARRARY_SIZE(m_platinfo)) {
+    ZLOGE(TAG, "pipette_set_platinfo cpyid %d out of range", cpyid);
+    return err::kparam_out_of_range;
+  }
+
+  platinfo_t *platinfo = &m_platinfo[cpyid];
+
   switch (index) {
-    SET_CFG(kplatinfo_zm_ref_level, m_platform_info.zm_ref_level, val);
-    SET_CFG(kplatinfo_tip_picking_pos, m_platform_info.tip_picking_pos, val);
-    SET_CFG(kplatinfo_tip_picking_max_pos, m_platform_info.tip_picking_max_pos, val);
-    SET_CFG(kplatinfo_tip_deposit_pos, m_platform_info.tip_deposit_pos, val);
-    SET_CFG(kplatinfo_transform_pos, m_platform_info.transform_pos, val);
-    SET_CFG(kplatinfo_tip_type, m_platform_info.tip_type, val);
-    SET_CFG(kplatinfo_tip_length, m_platform_info.tip_length, val);
+    SET_CFG(kplatinfo_work_ref_plane, platinfo->work_ref_plane, val);
+    SET_CFG(kplatinfo_tip_picking_pos, platinfo->tip_picking_pos, val);
+    SET_CFG(kplatinfo_tip_picking_search_range, platinfo->tip_picking_search_range, val);
+    SET_CFG(kplatinfo_tip_deposit_pos, platinfo->tip_deposit_pos, val);
+    // SET_CFG(kplatinfo_transform_pos, platinfo->transform_pos, val);
+    SET_CFG(kplatinfo_tip_type, platinfo->tip_type, val);
+    SET_CFG(kplatinfo_tip_length, platinfo->tip_length, val);
     default: {
       ZLOGE(TAG, "pipette_set_platinfo index %d out of range", index);
       return err::kparam_out_of_range;
@@ -133,15 +143,21 @@ int32_t PipetteModule::pipette_set_platinfo(platinfo_index_t index, int32_t val)
   }
   return 0;
 }
-int32_t PipetteModule::pipette_get_platinfo(platinfo_index_t index, int32_t *val) {
+int32_t PipetteModule::pipette_get_platinfo(int32_t cpyid, platinfo_index_t index, int32_t *val) {
+  if (cpyid < 0 || cpyid >= ARRARY_SIZE(m_platinfo)) {
+    ZLOGE(TAG, "pipette_get_platinfo cpyid %d out of range", cpyid);
+    return err::kparam_out_of_range;
+  }
+
+  platinfo_t *platinfo = &m_platinfo[cpyid];
   switch (index) {
-    GET_CFG(kplatinfo_zm_ref_level, m_platform_info.zm_ref_level, val);
-    GET_CFG(kplatinfo_tip_picking_pos, m_platform_info.tip_picking_pos, val);
-    GET_CFG(kplatinfo_tip_picking_max_pos, m_platform_info.tip_picking_max_pos, val);
-    GET_CFG(kplatinfo_tip_deposit_pos, m_platform_info.tip_deposit_pos, val);
-    GET_CFG(kplatinfo_transform_pos, m_platform_info.transform_pos, val);
-    GET_CFG(kplatinfo_tip_type, m_platform_info.tip_type, val);
-    GET_CFG(kplatinfo_tip_length, m_platform_info.tip_length, val);
+    GET_CFG(kplatinfo_work_ref_plane, platinfo->work_ref_plane, val);
+    GET_CFG(kplatinfo_tip_picking_pos, platinfo->tip_picking_pos, val);
+    GET_CFG(kplatinfo_tip_picking_search_range, platinfo->tip_picking_search_range, val);
+    GET_CFG(kplatinfo_tip_deposit_pos, platinfo->tip_deposit_pos, val);
+    // GET_CFG(kplatinfo_transform_pos, platinfo->transform_pos, val);
+    GET_CFG(kplatinfo_tip_type, platinfo->tip_type, val);
+    GET_CFG(kplatinfo_tip_length, platinfo->tip_length, val);
     default: {
       ZLOGE(TAG, "pipette_get_platinfo index %d out of range", index);
       return err::kparam_out_of_range;
@@ -387,6 +403,13 @@ liquid_info_t *PipetteModule::get_liquid_info(int32_t index) {
   }
   return &m_liquid_info[index];
 }
+platinfo_t *PipetteModule::get_platinfo(int32_t index) {
+  if (index < 0 || index >= ARRARY_SIZE(m_platinfo)) {
+    ZLOGE(TAG, "get_platinfo index %d out of range", index);
+    return &m_platinfo[0];
+  }
+  return &m_platinfo[index];
+}
 
 void PipetteModule::get_cfg_smart(int32_t index, zm_vcfg_t *cfg) {  //
   zm_vcfg_t *cfg0 = get_zm_vcfg(0);
@@ -538,8 +561,6 @@ int32_t PipetteModule::pipette_pump_init_device() {
     pump_apply_vcfg(kpm_v_max);  // 默认配置
     DO_IN_THREAD(m_smtp2.pump_init());
     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
   });
   return 0;
 }
@@ -618,12 +639,16 @@ int32_t PipetteModule::pipette_pump_aspirate() {
     if (pump_read_tip_state() == 0) {
       throw zapp_exception(err::kpipette_error_no_tip_when_lld);
     }
+    check_pipette_pump_aspirate_params();
+
     // 移液枪部分参数初始化
     DO_IN_THREAD(m_smtp2.pump_enable_temp_compensation(0));  // 关闭温度补偿
     DO_IN_THREAD(m_smtp2.pump_set_back_clearance(0));        // 设置背隙为0
+    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
 
-    platinfo_t         *platform_info = &m_platform_info;
     aspiration_param_t *acfg          = &m_aspiration_param;
+    platinfo_t         *platform_info = get_platinfo(acfg->platinfo_index);
     liquid_info_t      *liquidinfo    = get_liquid_info(acfg->liquid_cfg_index);
     container_info_t   *container_cfg = get_container_info(acfg->container_info_index);
     /***********************************************************************************************************************
@@ -633,7 +658,7 @@ int32_t PipetteModule::pipette_pump_aspirate() {
     if (acfg->lld_type != 0) {
       _do_lld(platform_info, container_cfg, liquidinfo, acfg);
     } else {
-      m_state.water_level = platform_info->zm_ref_level - container_cfg->container_neck_pos + container_cfg->fix_aspiration_depth;
+      m_state.water_level = platform_info->work_ref_plane - container_cfg->container_neck_pos + container_cfg->fix_aspiration_depth;
       ZLOGI(TAG, "lld isn't enable,use fix depth %d", m_state.water_level);
       zm_move_to_block(m_state.water_level - 150, kzm_v_default, 0);  //
       pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vindex);  // 清空tip
@@ -650,12 +675,12 @@ void PipetteModule::_do_lld(platinfo_t *platform_info, container_info_t *contain
   ZLOGI(TAG, "start lld, lld_type %d lld_pm_vindex %d plld_threshold %d", acfg->lld_type, liquidinfo->plld_pm_vindex, liquidinfo->plld_threshold);
 
   // 移动到转移位置
-  zm_move_to_block(platform_info->transform_pos, kzm_v_default, 0);
+  zm_move_to_block(0, kzm_v_default, 0);
   // 清空tip
   pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vindex);
 
   // 移动到瓶口
-  zm_move_to_pr_block(platform_info, container_cfg->container_neck_pos + 50 /*5mm*/,  //
+  zm_wp_move_to_block(platform_info, container_cfg->container_neck_pos + 50 /*5mm*/,  //
                       kzm_v_default, 0);
   pump_move_to_x100nl_block(0, kpm_v_default);  // 回转一下，消除齿轮间隙
 
@@ -666,10 +691,10 @@ void PipetteModule::_do_lld(platinfo_t *platform_info, container_info_t *contain
   DO_IN_THREAD(m_smtp2.pump_aspirate_plld(liquidinfo->plld_threshold));
 
   // 快速移动到瓶口
-  zm_move_to_pr_block(platform_info, container_cfg->container_neck_pos + container_cfg->lld_start_search_depth,  //
+  zm_wp_move_to_block(platform_info, container_cfg->container_neck_pos + container_cfg->lld_start_search_depth,  //
                       kzm_v_default, 0);
   // lld,zm移动到瓶底
-  zm_move_to_pr(platform_info, container_cfg->container_neck_pos - container_cfg->container_depth, kzm_v_lld, 0);
+  zm_wp_move_to(platform_info, container_cfg->container_neck_pos - container_cfg->container_depth, kzm_v_lld, 0);
 
   /**
    * @brief 等待压力大于阈值
@@ -745,7 +770,7 @@ void PipetteModule::_do_sapirate(platinfo_t *platform_info, container_info_t *co
     int32_t mix_start_pos = zm_get_now_pos();
     for (size_t i = 0; i < acfg->mix_times; i++) {
       if (acfg->mix_llf_enable > 0) {
-        zm_move_to_pr(platform_info,
+        zm_wp_move_to(platform_info,
                       container_cfg->container_neck_pos - container_cfg->container_depth,  // 瓶底
                       kzm_v_llf,                                                           // 基础速度配置
                       compute_zm_llf_vel(liquidinfo->mix_pm_vindex, container_cfg));       // 计算llf速度
@@ -771,7 +796,7 @@ void PipetteModule::_do_sapirate(platinfo_t *platform_info, container_info_t *co
     int32_t x100nl = acfg->x100nl * liquidinfo->volume_calibration_coefficient_k * 0.0001 + liquidinfo->volume_calibration_coefficient_b * 0.0001;
 
     if (acfg->llf_enable > 0) {
-      zm_move_to_pr(platform_info,                                                       //
+      zm_wp_move_to(platform_info,                                                       //
                     container_cfg->container_neck_pos - container_cfg->container_depth,  // 瓶底
                     kzm_v_llf,                                                           //
                     compute_zm_llf_vel(aspiration_pm_index, container_cfg)               //
@@ -793,7 +818,7 @@ void PipetteModule::_do_sapirate(platinfo_t *platform_info, container_info_t *co
   }
 
   // z轴移动transform_pos
-  zm_move_to_block(platform_info->transform_pos, kzm_v_default, 0);
+  zm_move_to_block(0, kzm_v_default, 0);
 }
 
 int32_t PipetteModule::pipette_pump_distribu(int32_t distribu_cfg_index, int32_t n100nl /*0.1ul*/) { return 0; }
@@ -865,15 +890,15 @@ void PipetteModule::zm_move_to_block(int32_t x, int32_t vbaseindex, int32_t vel)
   zm_move_to(x, vbaseindex, vel);
   zm_waitfor_stop();
 }
-void PipetteModule::zm_move_to_pr(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel) {
+void PipetteModule::zm_wp_move_to(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel) {
   /**
    * @brief 以平台的参考位置为基准，向上为正向，向下为负向
    */
-  zm_move_to(platform->zm_ref_level - x, vbaseindex, vel);
+  zm_move_to(platform->work_ref_plane - x, vbaseindex, vel);
 }
 
-void PipetteModule::zm_move_to_pr_block(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel) {
-  zm_move_to_pr(platform, x, vbaseindex, vel);
+void PipetteModule::zm_wp_move_to_block(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel) {
+  zm_wp_move_to(platform, x, vbaseindex, vel);
   zm_waitfor_stop();
 }
 
@@ -922,6 +947,22 @@ void PipetteModule::zm_apply_vcfg(int32_t vbasecfgindex, int32_t vel) {
   m_zm->set_vstop(cfg.vstop);
 }
 
+void PipetteModule::zm_sync_base_cfg() {
+  m_zm->enable(false);
+  m_zm->setMRES((mres_type_t)zm_base_cfg.mres);
+  m_zm->setIHOLD_IRUN(zm_base_cfg.ihold, zm_base_cfg.irun, zm_base_cfg.iholddelay);
+  m_zm->setScale(zm_base_cfg.one_circle_pulse);
+  m_zm->setScaleDenominator(zm_base_cfg.one_circle_pulse_denominator);
+  m_zm->setMotorShaft(zm_base_cfg.shaft);
+  m_zm->setGlobalScale(zm_base_cfg.iglobalscaler);
+  m_zm->set_tzerowait(zm_base_cfg.tzerowait);
+  m_zm->set_enc_resolution(zm_base_cfg.enc_resolution);
+  zm_apply_vcfg(kzm_v_default, 0);
+  if (m_state.enable) {
+    m_zm->enable(true);
+  }
+}
+
 void PipetteModule::zm_waitfor_zm0p_trigger_and_stop_motor() {
   while (!zm0p_is_trigger()) {
     if (m_zm->isStoped()) {
@@ -1188,3 +1229,175 @@ void PipetteModule::thread_start_work(const char *fnname, function<void()> fn) {
     ZLOGI(TAG, "<- end work");
   });
 }
+
+void PipetteModule::check_platinfo_cpyid(int32_t cpyid) {
+  if (cpyid < 0 || cpyid >= ARRARY_SIZE(m_platinfo)) {
+    ZLOGE(TAG, "pipette_get_container_info cpyid %d out of range", cpyid);
+    throw zapp_exception(err::kparam_out_of_range);
+  }
+}
+void PipetteModule::check_zmvcfg_cpyid(int32_t cpyid) {
+  if (cpyid < 0 || cpyid >= ARRARY_SIZE(m_zm_vcfg)) {
+    ZLOGE(TAG, "pipette_get_zmvcfg cpyid %d out of range", cpyid);
+    throw zapp_exception(err::kparam_out_of_range);
+  }
+}
+void PipetteModule::check_pmvcfg_cpyid(int32_t cpyid) {
+  if (cpyid < 0 || cpyid >= ARRARY_SIZE(m_pm_vcfg)) {
+    ZLOGE(TAG, "pipette_get_pmvcfg cpyid %d out of range", cpyid);
+    throw zapp_exception(err::kparam_out_of_range);
+  }
+}
+void PipetteModule::check_container_info_cpyid(int32_t cpyid) {
+  if (cpyid < 0 || cpyid >= ARRARY_SIZE(m_container_info)) {
+    ZLOGE(TAG, "pipette_get_container_info cpyid %d out of range", cpyid);
+    throw zapp_exception(err::kparam_out_of_range);
+  }
+}
+void PipetteModule::check_liquid_info_cpyid(int32_t cpyid) {
+  if (cpyid < 0 || cpyid >= ARRARY_SIZE(m_liquid_info)) {
+    ZLOGE(TAG, "pipette_get_liquid_info cpyid %d out of range", cpyid);
+    throw zapp_exception(err::kparam_out_of_range);
+  }
+}
+
+void PipetteModule::check_pipette_pump_aspirate_params() {
+  aspiration_param_t *acfg = &m_aspiration_param;
+
+  if (acfg->x100nl < 0) {
+    ZLOGE(TAG, "pipette_pump_aspirate_set_param x100nl %d out of range", acfg->x100nl);
+    throw zapp_exception(err::kparam_out_of_range);
+  }
+  check_platinfo_cpyid(acfg->platinfo_index);
+  check_container_info_cpyid(acfg->container_info_index);
+  check_liquid_info_cpyid(acfg->liquid_cfg_index);
+}
+
+void PipetteModule::parameter_init() {
+  /***********************************************************************************************************************
+   *                                                     zm_base_cfg                                                     *
+   ***********************************************************************************************************************/
+  zm_base_cfg.shaft                        = 0;   // Z轴电机运动方向调整
+  zm_base_cfg.one_circle_pulse             = 80;  // 电子齿轮比-分子
+  zm_base_cfg.one_circle_pulse_denominator = 1;   // 电子齿轮比-分母
+  zm_base_cfg.ihold                        = 7;   //
+  zm_base_cfg.irun                         = 7;   //
+  zm_base_cfg.iholddelay                   = 10;  //
+  zm_base_cfg.iglobalscaler                = 0;   //
+  zm_base_cfg.min_d                        = 0;   //
+  zm_base_cfg.max_d                        = 0;   //
+  zm_base_cfg.tzerowait                    = 0;   //
+  zm_base_cfg.enc_resolution               = 0;   //
+  zm_base_cfg.enable_enc                   = 0;   //
+  zm_base_cfg.dzero                        = 92;  //
+  zm_base_cfg.io_trigger_append_distance   = 20;  //
+  zm_base_cfg.pos_devi_tolerance           = 20;  //
+  zm_base_cfg.mres                         = 0;   //
+  /***********************************************************************************************************************
+   *                                                     pm_base_cfg                                                     *
+   ***********************************************************************************************************************/
+  pm_base_cfg.pad = 0;
+
+  /***********************************************************************************************************************
+   *                                                     m_platinfo                                                      *
+   ***********************************************************************************************************************/
+  for (int32_t i = 0; i < ARRARY_SIZE(m_platinfo); i++) {
+    m_platinfo[i].work_ref_plane           = 0;
+    m_platinfo[i].tip_picking_pos          = 0;
+    m_platinfo[i].tip_picking_search_range = 0;
+    m_platinfo[i].tip_deposit_pos          = 0;
+    // m_platinfo[i].transform_pos       = 0;  //
+    m_platinfo[i].tip_type   = smtp2::TS200UL;
+    m_platinfo[i].tip_length = 500;  // 50mm
+  }
+
+  /***********************************************************************************************************************
+   *                                                      m_zm_vcfg                                                      *
+   ***********************************************************************************************************************/
+  for (int32_t i = 0; i < ARRARY_SIZE(m_zm_vcfg); i++) {
+    m_zm_vcfg[i].vstart = -1;
+    m_zm_vcfg[i].a1     = -1;
+    m_zm_vcfg[i].amax   = -1;
+    m_zm_vcfg[i].v1     = -1;
+    m_zm_vcfg[i].dmax   = -1;
+    m_zm_vcfg[i].d1     = -1;
+    m_zm_vcfg[i].vstop  = -1;
+    m_zm_vcfg[i].vmax   = -1;
+  }
+
+  m_zm_vcfg[kzm_v_default].vstart = 100;
+  m_zm_vcfg[kzm_v_default].a1     = 10;
+  m_zm_vcfg[kzm_v_default].amax   = 50;
+  m_zm_vcfg[kzm_v_default].v1     = 300;
+  m_zm_vcfg[kzm_v_default].dmax   = 50;
+  m_zm_vcfg[kzm_v_default].d1     = 10;
+  m_zm_vcfg[kzm_v_default].vstop  = 100;
+  m_zm_vcfg[kzm_v_default].vmax   = 1200;
+
+  m_zm_vcfg[kzm_v_move_to_zero].vmax   = 600;
+  m_zm_vcfg[kzm_v_look_zero_edge].vmax = 100;
+  m_zm_vcfg[kzm_v_lld].vmax            = 600;
+  m_zm_vcfg[kzm_v_swap].vmax           = 300;
+  m_zm_vcfg[kzm_v_llf].vmax            = 500;
+
+  /***********************************************************************************************************************
+   *                                                      m_pm_vcfg                                                      *
+   ***********************************************************************************************************************/
+
+  for (int32_t i = 0; i < ARRARY_SIZE(m_pm_vcfg); i++) {
+    m_pm_vcfg[i].acc    = 1;
+    m_pm_vcfg[i].dec    = 1;
+    m_pm_vcfg[i].vstart = 0;
+    m_pm_vcfg[i].vstop  = 0;
+    m_pm_vcfg[i].vmax   = 2500;
+  }
+
+  m_pm_vcfg[kpm_v_default].vmax  = 2500;
+  m_pm_vcfg[kpm_v_slow_lv1].vmax = 5;
+  m_pm_vcfg[kpm_v_slow_lv2].vmax = 10;
+  m_pm_vcfg[kpm_v_slow_lv3].vmax = 50;
+  m_pm_vcfg[kpm_v_mid].vmax      = 1000;
+  m_pm_vcfg[kpm_v_quick].vmax    = 2000;
+  m_pm_vcfg[kpm_v_max].vmax      = 2500;
+  m_pm_vcfg[kpm_v_lld].vmax      = 100;
+
+  /***********************************************************************************************************************
+   *                                                  m_container_info                                                   *
+   ***********************************************************************************************************************/
+
+  for (int32_t i = 0; i < ARRARY_SIZE(m_container_info); i++) {
+    m_container_info[i].container_type                  = 0;
+    m_container_info[i].container_neck_pos              = 0;
+    m_container_info[i].container_depth                 = 0;
+    m_container_info[i].container_round                 = 0;
+    m_container_info[i].container_bottom_section_height = 0;
+    m_container_info[i].immersion_depth                 = 0;
+    m_container_info[i].leaving_height                  = 150;
+    m_container_info[i].jet_height                      = 0;
+  }
+
+  /***********************************************************************************************************************
+   *                                                    m_liquid_info                                                    *
+   ***********************************************************************************************************************/
+
+  for (int32_t i = 0; i < ARRARY_SIZE(m_liquid_info); i++) {
+    m_liquid_info[i].plld_pm_vindex                   = kpm_v_lld;
+    m_liquid_info[i].plld_threshold                   = 30;
+    m_liquid_info[i].empty_tip_pm_vindex              = kpm_v_max;
+    m_liquid_info[i].blowout_air_volume               = 0;
+    m_liquid_info[i].blowout_air_pm_vindex            = kpm_v_quick;
+    m_liquid_info[i].over_aspirated_volume            = 100;  // 100(x100nl) == 10ul
+    m_liquid_info[i].over_aspirated_pm_vindex         = kpm_v_slow_lv2;
+    m_liquid_info[i].aspiration_pm_vindex_low         = kpm_v_slow_lv1;
+    m_liquid_info[i].aspiration_pm_vindex_high        = kpm_v_slow_lv3;
+    m_liquid_info[i].aspiration_volume_break_val      = 500;  // 500(x100nl) == 50ul
+    m_liquid_info[i].volume_calibration_coefficient_b = 1.0f;
+    m_liquid_info[i].volume_calibration_coefficient_k = 1.0f;
+    m_liquid_info[i].settling_time                    = 1000;  // ms
+    m_liquid_info[i].transport_volume                 = 50;    // 50(x100nl) == 5ul
+    m_liquid_info[i].transport_volume_pm_vindex       = kpm_v_slow_lv2;
+    m_liquid_info[i].mix_pm_vindex                    = kpm_v_max;
+  }
+
+  zm_sync_base_cfg();
+}

sdk/components/pipette_module/pipette_ctrl_module.hpp

@@ -70,7 +70,8 @@ class PipetteModule : public ZIModule {
 
   zm_bcfg_t   zm_base_cfg;
   pump_bcfg_t pm_base_cfg;
-  platinfo_t  m_platform_info;
+
+  platinfo_t m_platinfo[PLATINFO_CPY_NUM];
 
   zm_vcfg_t m_zm_vcfg[ZM_VCFG_CPY_NUM];
   pm_vcfg_t m_pm_vcfg[PM_VCFG_CPY_NUM];
@@ -103,16 +104,22 @@ class PipetteModule : public ZIModule {
 
   virtual int32_t pipette_set_zmbcfg(zm_bcfg_index_t index, int32_t val);
   virtual int32_t pipette_get_zmbcfg(zm_bcfg_index_t index, int32_t *val);
+
   virtual int32_t pipette_set_pmbcfg(pm_bcfg_index_t index, int32_t val);
   virtual int32_t pipette_get_pmbcfg(pm_bcfg_index_t index, int32_t *val);
-  virtual int32_t pipette_set_platinfo(platinfo_index_t index, int32_t val);
-  virtual int32_t pipette_get_platinfo(platinfo_index_t index, int32_t *val);
+
+  virtual int32_t pipette_set_platinfo(int32_t cpyid, platinfo_index_t index, int32_t val);
+  virtual int32_t pipette_get_platinfo(int32_t cpyid, platinfo_index_t index, int32_t *val);
+
   virtual int32_t pipette_set_zmvcfg(int32_t cpyid, zm_vcfg_index_t index, int32_t val);
   virtual int32_t pipette_get_zmvcfg(int32_t cpyid, zm_vcfg_index_t index, int32_t *val);
+
   virtual int32_t pipette_set_pmvcfg(int32_t cpyid, pm_vcfg_index_t index, int32_t val);
   virtual int32_t pipette_get_pmvcfg(int32_t cpyid, pm_vcfg_index_t index, int32_t *val);
+
   virtual int32_t pipette_set_container_info(int32_t cpyid, container_info_index_t index, int32_t val);
   virtual int32_t pipette_get_container_info(int32_t cpyid, container_info_index_t index, int32_t *val);
+
   virtual int32_t pipette_set_liquid_info(int32_t cpyid, liquid_info_index_t index, int32_t val);
   virtual int32_t pipette_get_liquid_info(int32_t cpyid, liquid_info_index_t index, int32_t *val);
 
@@ -165,8 +172,8 @@ class PipetteModule : public ZIModule {
 
   void zm_move_to(int32_t x, int32_t vbaseindex, int32_t vel);
   void zm_move_to_block(int32_t x, int32_t vbaseindex, int32_t vel);
-  void zm_move_to_pr(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel);
-  void zm_move_to_pr_block(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel);
+  void zm_wp_move_to(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel);
+  void zm_wp_move_to_block(platinfo_t *platform, int32_t x, int32_t vbaseindex, int32_t vel);
   void zm_move_by(int32_t dx, int32_t vindex, int32_t vel);
   void zm_stop();
   void zm_move_to_end(int32_t direction, int32_t vindex);
@@ -177,6 +184,7 @@ class PipetteModule : public ZIModule {
   bool    zm0p_is_trigger();
 
   void zm_apply_vcfg(int32_t vbasecfgindex, int32_t vel);
+  void zm_sync_base_cfg();
 
   void zm_waitfor_zm0p_trigger_and_stop_motor();
   void zm_waitfor_zm0p_not_trigger_and_stop_motor();
@@ -207,6 +215,7 @@ class PipetteModule : public ZIModule {
   pm_vcfg_t        *get_pm_vcfg(int32_t index);
   container_info_t *get_container_info(int32_t index);
   liquid_info_t    *get_liquid_info(int32_t index);
+  platinfo_t       *get_platinfo(int32_t index);
 
   void get_cfg_smart(int32_t index, zm_vcfg_t *cfg);
   void get_cfg_smart(int32_t index, pm_vcfg_t *cfg);
@@ -222,5 +231,19 @@ class PipetteModule : public ZIModule {
   void            runingcheck();
   void            thread_delay(int32_t delayms);
   void            thread_start_work(const char *fnname, function<void()> fn);
+
+  /***********************************************************************************************************************
+   *                                                        CHECK                                                        *
+   ***********************************************************************************************************************/
+
+  void check_platinfo_cpyid(int32_t cpyid);
+  void check_zmvcfg_cpyid(int32_t cpyid);
+  void check_pmvcfg_cpyid(int32_t cpyid);
+  void check_container_info_cpyid(int32_t cpyid);
+  void check_liquid_info_cpyid(int32_t cpyid);
+
+  void check_pipette_pump_aspirate_params();
+
+  void parameter_init();
 };
 }  // namespace iflytop