diff --git a/log/死机日志.log b/log/死机日志.log
index b6cdf24..b283da9 100644
--- a/log/死机日志.log
+++ b/log/死机日志.log
@@ -150,7 +150,7 @@
 00243217 INFO [SMTP2     ] tx:/1u10,0R
 00243247 INFO [SMTP2     ] rx:(6) (2F3040030D0A) /0@
 
-00243248 INFO [SMTP2     ] pump_set_tip_size 1
+00243248 INFO [SMTP2     ] pump_set_tip_type 1
 00243249 INFO [SMTP2     ] tx:/1u18,1R
 00243279 INFO [SMTP2     ] rx:(6) (2F3040030D0A) /0@
 
diff --git a/sdk/components/pipette_module/base/pipette_action_param.hpp b/sdk/components/pipette_module/base/pipette_action_param.hpp
index b735b95..28e74a3 100644
--- a/sdk/components/pipette_module/base/pipette_action_param.hpp
+++ b/sdk/components/pipette_module/base/pipette_action_param.hpp
@@ -73,4 +73,21 @@ typedef enum {
   //
   kaspiration_paramid_mix_volume,
   kaspiration_paramid_mix_times,
-} aspiration_paramid_t;
\ No newline at end of file
+} aspiration_paramid_t;
+
+typedef struct {
+  //
+  //  容器
+  //
+  int32_t container_pos;         // 容器位置
+  int32_t container_info_index;  // 容器配置索引
+  //
+  //  液体类型
+  //
+  int32_t liquid_cfg_index;  // 液体配置索引
+  //
+  //  混匀配置
+  //
+  int32_t mix_volume;  // 混匀体积
+  int32_t mix_times;   // 混匀次数
+} distribu_all_param_t;
diff --git a/sdk/components/pipette_module/base/pipette_cfg.hpp b/sdk/components/pipette_module/base/pipette_cfg.hpp
index 5ab8e0d..2fddaef 100644
--- a/sdk/components/pipette_module/base/pipette_cfg.hpp
+++ b/sdk/components/pipette_module/base/pipette_cfg.hpp
@@ -23,7 +23,7 @@ typedef struct {
   int32_t tip_picking_append_distance;  // 取tip时z轴的附加距离
 
   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 _transform_pos;   // 移液枪安全移动的高度(绝对位置0.1mm)
   /**
    * @brief tip类型
    *
@@ -70,7 +70,7 @@ typedef struct {
   int32_t io_trigger_append_distance;    //
   int32_t pos_devi_tolerance;            //
   int32_t mres;                          //
-  int32_t mark;  // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
+  int32_t mark;                          // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
 } zm_bcfg_t;
 
 typedef enum {
@@ -166,7 +166,7 @@ typedef struct {
   int32_t leaving_height;                   // 离开液面高度，此位置ZEUS开始缓慢进入液面或离开液面，精度0.1mm
   int32_t jet_height;                       // 喷射高度(0.1mm)
   int32_t lld_start_search_depth;           // lld开始搜索时位置冗余,精度0.1mm，abspos = container_neck_pos + lld_start_search_pos_redundancy
-  int32_t fix_aspiration_depth;             // 固定吸液深度((0.1mm)，当lld失能时，移液枪先移动到这个位置，然后开始吸液
+  int32_t fix_water_level_depth;            // 固定吸液深度((0.1mm)，当lld失能时，移液枪先移动到这个位置，然后开始吸液
   int32_t llf_vconvert_coneff;              // 液面跟随转换系数 0.0001  llf_zm_vel = aspiration_pm_vel * llf_vconvert_coneff * 0.0001
   int32_t pierce_depth;                     // 穿刺深度(0.1mm)，用于刺破容器防尘膜
   int32_t mark;                             // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
@@ -182,7 +182,7 @@ typedef enum {
   kcontainer_info_leaving_height,
   kcontainer_info_jet_height,
   kcontainer_info_lld_start_search_depth,
-  kcontainer_info_fix_aspiration_depth,
+  kcontainer_info_fix_water_level_depth,
   kcontainer_info_llf_vconvert_coneff,
   kcontainer_info_pierce_depth,
   kcontainer_info_mark,
diff --git a/sdk/components/pipette_module/pipette_ctrl_module.cpp b/sdk/components/pipette_module/pipette_ctrl_module.cpp
index 409ab10..e59ef49 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module.cpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module.cpp
@@ -25,16 +25,22 @@ void PipetteModule::initialize(int32_t id, hardward_config_t *hardwaredcfg) {  /
   m_zm->getGState();  // 读取状态，清空下复位标识
   m_piette_gun_io1.initAsInput(hardwaredcfg->IO1, ZGPIO::kMode_pullup, ZGPIO::kIRQ_noIrq, hardwaredcfg->IO1Mirror);
 
-  // ZASSERT(hardwaredcfg->uart232);
-  // EXHAL_UART_BindUart("pipette-uart232", hardwaredcfg->uart232);
-  // EXHAL_UART_RegListener(hardwaredcfg->uart232, [this](UART_HandleTypeDef *huart, uint8_t *data, size_t len) {
-  //   printf("!rx(%d): ", len);
-  //   if (len > 0) {
-  //     printf("%c", data[0]);
-  //   }
-  //   printf("\n");
-  // });
-  // EXHAL_UART_ITStartAutoRead(hardwaredcfg->uart232);
+  ZASSERT(hardwaredcfg->uart232);
+  EXHAL_UART_BindUart("pipette-uart232", hardwaredcfg->uart232);
+  EXHAL_UART_RegListener(hardwaredcfg->uart232, [this](UART_HandleTypeDef *huart, uint8_t *data, size_t len) {
+    printf("!rx(%d): ", len);
+    if (len > 0) {
+      printf("%c", data[0]);
+    }
+    printf("\n");
+  });
+  EXHAL_UART_ITStartAutoRead(hardwaredcfg->uart232);
+
+  while (true) {
+    EXHAL_UART_TransmitStringBlock(hardwaredcfg->uart232, "/1QR\r");
+    osDelay(10);
+  }
+
   m_smtp2.pump_set_pressure_data_stream_port(0);  //
   // EXHAL_UART_BindUart("pipette-uart", hardwaredcfg->uart);
   // EXHAL_UART_RegListener(hardwaredcfg->uart, [this](UART_HandleTypeDef *huart, uint8_t *data, size_t len) {
@@ -49,11 +55,26 @@ void PipetteModule::initialize(int32_t id, hardward_config_t *hardwaredcfg) {  /
   // HAL_Delay(1000);
   // EXHAL_UART_TransmitStringBlock(hardwaredcfg->uart232, "/1QR\r");
 
+  // m_smtp2.pump_factory_reset();
+  // osDelay(1000);
+
   test_connectivity();
   parameter_init();
   zm_sync_base_cfg();
-
   get_platinfo_smart(m_state.platinfo_cpyid, &m_now_platinfo);
+
+  int32_t maxul = 0;
+  // int32_t ecode = 0;
+
+  // m_smtp2.pump_set_tip_type(smtp2::TipSize_t::TS1000UL);  // 默认1000ul
+  // m_smtp2.pump_get_max_limit(&maxul);
+  // ZLOGI(TAG, "1pipette gun max limit:%d", maxul);
+
+  m_smtp2.pump_set_tip_type(smtp2::TipSize_t::TS200UL);  //
+  m_smtp2.pump_get_max_limit(&maxul);
+  ZLOGI(TAG, "2pipette gun max limit:%d", maxul);
+
+  ZLOGI(TAG, "pipette gun version:%s", m_smtp2.pump_read_version());
 }
 
 void PipetteModule::test_connectivity() {
@@ -339,7 +360,7 @@ int32_t PipetteModule::pipette_set_container_info(int32_t cpyid, container_info_
     SET_CFG(kcontainer_info_leaving_height, cfg->leaving_height, val);
     SET_CFG(kcontainer_info_jet_height, cfg->jet_height, val);
     SET_CFG(kcontainer_info_lld_start_search_depth, cfg->lld_start_search_depth, val);
-    SET_CFG(kcontainer_info_fix_aspiration_depth, cfg->fix_aspiration_depth, val);
+    SET_CFG(kcontainer_info_fix_water_level_depth, cfg->fix_water_level_depth, val);
     SET_CFG(kcontainer_info_llf_vconvert_coneff, cfg->llf_vconvert_coneff, val);
     SET_CFG(kcontainer_info_pierce_depth, cfg->pierce_depth, val);
     SET_CFG(kcontainer_info_mark, cfg->mark, val);
@@ -368,7 +389,7 @@ int32_t PipetteModule::pipette_get_container_info(int32_t cpyid, container_info_
     GET_CFG(kcontainer_info_leaving_height, cfg->leaving_height, val);
     GET_CFG(kcontainer_info_jet_height, cfg->jet_height, val);
     GET_CFG(kcontainer_info_lld_start_search_depth, cfg->lld_start_search_depth, val);
-    GET_CFG(kcontainer_info_fix_aspiration_depth, cfg->fix_aspiration_depth, val);
+    GET_CFG(kcontainer_info_fix_water_level_depth, cfg->fix_water_level_depth, val);
     GET_CFG(kcontainer_info_llf_vconvert_coneff, cfg->llf_vconvert_coneff, val);
     GET_CFG(kcontainer_info_pierce_depth, cfg->pierce_depth, val);
     GET_CFG(kcontainer_info_mark, cfg->mark, val);
@@ -591,8 +612,9 @@ void PipetteModule::memset_int32_t(int32_t *table, int32_t val, int32_t num) {
 int32_t PipetteModule::compute_zm_llf_vel(int32_t pm_vindex, container_info_t *container_info) {
   pm_vcfg_t pmv = {0};
   get_cfg_smart(pm_vindex, &pmv);
-  int32_t zmval = pmv.vmax * container_info->llf_vconvert_coneff * 0.0001;
-  return zmval * 80 / zmbcfg.one_circle_pulse;
+  int32_t zmval = pmv.vmax * container_info->llf_vconvert_coneff * 0.001;
+  if (zmval == 0) zmval = 1;
+  return zmval;
 }
 
 /***********************************************************************************************************************
@@ -708,9 +730,9 @@ int32_t PipetteModule::pipette_pump_take_tip() {
     platinfo_t *platform_info = get_platinfo_smart(m_state.platinfo_cpyid, &m_now_platinfo);
     zm_move_to_block(platform_info->tip_picking_pos, kzm_v_default, 0);
     zm_move_by(platform_info->tip_picking_search_range, kzm_v_picking_tip, 0);
-    bool takeTip = false;
+    bool    takeTip  = false;
+    int32_t tipstate = 0;
     while (true) {
-      int32_t tipstate = 0;
       DO_IN_THREAD(m_smtp2.pump_get_tip_state(&tipstate));
       if (tipstate == 1) {
         takeTip = true;
@@ -723,6 +745,19 @@ int32_t PipetteModule::pipette_pump_take_tip() {
     if (takeTip && platform_info->tip_picking_append_distance > 0)  //
       zm_move_by_block(platform_info->tip_picking_append_distance, kzm_v_picking_tip, 0);
 
+    // 移动到tip搜索位置，检查tip是否存在，如果不存在，则强制退tip一次
+    if (takeTip) {
+      zm_move_to_block(platform_info->tip_picking_pos, kzm_v_default, 0);
+      for (int i = 0; i < 3; i++) {
+        DO_IN_THREAD(m_smtp2.pump_get_tip_state(&tipstate));
+        if (tipstate == 0) {
+          DO_IN_THREAD(m_smtp2.pump_init());  // 强制退tip
+          takeTip = false;
+          break;
+        }
+      }
+    }
+
     zm_move_to_zero_quick_block();
     ZLOGI(TAG, "pipette_pump_take_tip takeTip %s", takeTip ? "suc" : "fail");
   });
@@ -866,8 +901,8 @@ int32_t PipetteModule::pipette_pump_aspirate() {
     // DO_IN_THREAD(m_smtp2.pump_set_io2_mode(0));              // 通用输入
 
     platinfo_t       *platform_info = get_platinfo_smart(m_state.platinfo_cpyid, &m_now_platinfo);
-    liquid_info_t    *liquidinfo    = get_liquid_info_smart(acfg->liquid_cfg_index, &aspirate_run_cxt.liquid_info);
-    container_info_t *container_cfg = get_container_info_smart(acfg->container_info_index, &aspirate_run_cxt.container_info);
+    liquid_info_t    *liquidinfo    = get_liquid_info_smart(acfg->liquid_cfg_index, &m_now_aspirate_liquid_info);
+    container_info_t *container_cfg = get_container_info_smart(acfg->container_info_index, &m_now_container_info);
 
     ZLOGI(TAG, "-------------------------- aspiration param --------------------------");
     ZLOGI(TAG, "- x100nl               :%d", acfg->volumeX100nl);
@@ -920,7 +955,7 @@ int32_t PipetteModule::pipette_pump_aspirate() {
     ZLOGI(TAG, "- leaving_height                     :%d", container_cfg->leaving_height);
     ZLOGI(TAG, "- jet_height                         :%d", container_cfg->jet_height);
     ZLOGI(TAG, "- lld_start_search_depth             :%d", container_cfg->lld_start_search_depth);
-    ZLOGI(TAG, "- fix_aspiration_depth               :%d", container_cfg->fix_aspiration_depth);
+    ZLOGI(TAG, "- fix_water_level_depth               :%d", container_cfg->fix_water_level_depth);
     ZLOGI(TAG, "- llf_vconvert_coneff                :%d", container_cfg->llf_vconvert_coneff);
     ZLOGI(TAG, "- pierce_depth                       :%d", container_cfg->pierce_depth);
     ZLOGI(TAG, "- mark                               :%d", container_cfg->mark);
@@ -929,29 +964,14 @@ int32_t PipetteModule::pipette_pump_aspirate() {
     /***********************************************************************************************************************
      *                                                         LLD                                                         *
      ***********************************************************************************************************************/
-    DO_IN_THREAD(m_smtp2.pump_set_tip_size((smtp2::TipSize_t)platform_info->tip_type));  // 250ul,
-
     if (acfg->lld_enable) {
-      // 液面探测
-      _do_lld(platform_info, container_cfg, liquidinfo, acfg);
-      // 这里需要低速离开液面，防止携带液滴
-      ZLOGI(TAG, "move to swap position in v_swap");
-      zm_move_to_block(m_state.water_level - container_cfg->leaving_height, kzm_v_swap, 0);  //
-      // 清空tip
-      ZLOGI(TAG, "clean tip.");
-      pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vcpyid);
+      _do_lld(acfg->container_pos, platform_info, container_cfg, liquidinfo);  // 液面探测
     } else {
-      // 没有使用lld，使用固定深度
-      m_state.water_level = acfg->container_pos + container_cfg->fix_aspiration_depth;
-      ZLOGI(TAG, "lld isn't enable,use fix depth %d", m_state.water_level);
-      // 由于tip原本在液面之上，这里快速移动到swap位置，
-      ZLOGI(TAG, "move to swap position in v_default");
-      zm_move_to_block(m_state.water_level - container_cfg->leaving_height, kzm_v_default, 0);  //
-      ZLOGI(TAG, "clean tip.");
-      pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vcpyid);  //
+      m_state.water_level = acfg->container_pos + container_cfg->fix_water_level_depth;  // 没有使用lld，使用固定深度
     }
 
     if (acfg->volumeX100nl != 0) {
+      DO_IN_THREAD(m_smtp2.pump_set_tip_type((smtp2::TipSize_t)platform_info->tip_type));
       _do_sapirate(platform_info, container_cfg, liquidinfo, acfg);
     } else {
       ZLOGI(TAG, "aspiration volume == 0,skip aspirate", acfg->volumeX100nl);
@@ -963,32 +983,34 @@ int32_t PipetteModule::pipette_pump_aspirate() {
   return 0;
 }
 
-void PipetteModule::_do_lld(platinfo_t *platform_info, container_info_t *container_cfg, liquid_info_t *liquidinfo, aspiration_param_t *acfg) {
+void PipetteModule::_do_lld(int32_t container_pos, platinfo_t *platform_info, container_info_t *container_cfg, liquid_info_t *liquidinfo) {
   int32_t ecode = 0;
 
-  ZLOGI(TAG, "start lld, lld_type %d lld_pm_vindex %d plld_threshold %d", acfg->lld_type, liquidinfo->plld_pm_vcpyid, liquidinfo->plld_threshold);
-
   // 移动到转移位置
+  ZLOGI(TAG, "-->zm move to transform pos");
   zm_move_to_block(0, kzm_v_default, 0);
   // 清空tip
+  ZLOGI(TAG, "-->empty tip before lld");
   pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vcpyid);
+  pump_move_to_x100nl_block(10, kpm_v_default);  // 回转一下，消除齿轮间隙
 
   // 移动到瓶口
-  zm_move_to_block(acfg->container_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
+  ZLOGI(TAG, "-->zm move to container neck pos");
+  zm_move_to_block(container_pos - 50 /*5mm*/, kzm_v_default, 0);
 
   // 启动lld
-  pump_apply_vcfg(liquidinfo->plld_pm_vcpyid);              // 设备lld时，泵的速率
-  DO_IN_THREAD(m_smtp2.pump_set_tip_size(smtp2::TS200UL));  // 250ul,保护lld不超限
-  DO_IN_THREAD(m_smtp2.pump_set_io1_mode(1));               // lld输入高
-  DO_IN_THREAD(m_smtp2.pump_aspirate_plld(liquidinfo->plld_threshold));
+  ZLOGI(TAG, "-->start lld, lld_pm_vindex %d plld_threshold %d", liquidinfo->plld_pm_vcpyid, liquidinfo->plld_threshold);
+  DO_IN_THREAD(m_smtp2.pump_set_io1_mode(1));                                          // lld输入高
+  DO_IN_THREAD(m_smtp2.pump_set_tip_type((smtp2::TipSize_t)platform_info->tip_type));  // 设置tip大小
+  pump_do_lld(liquidinfo->plld_threshold, 200, liquidinfo->plld_pm_vcpyid);            // lld延时200ms，速度为plld_zm_vel
 
   // 快速移动到瓶口
-  zm_move_to_block(acfg->container_pos + container_cfg->lld_start_search_depth,  //
+  ZLOGI(TAG, "-->zm move quick to lld search start pos");
+  zm_move_to_block(container_pos + container_cfg->lld_start_search_depth,  //
                    kzm_v_default, 0);
   // lld,zm移动到瓶底
-  zm_move_to(acfg->container_pos + container_cfg->container_depth, kzm_v_lld, liquidinfo->plld_zm_vel);
+  ZLOGI(TAG, "-->zm move slow to container bottom pos");
+  zm_move_to(container_pos + container_cfg->container_depth, kzm_v_lld, liquidinfo->plld_zm_vel);
 
   /**
    * @brief 等待压力大于阈值
@@ -998,7 +1020,7 @@ void PipetteModule::_do_lld(platinfo_t *platform_info, container_info_t *contain
   while (true) {
     if (m_zm->isStoped()) {
       detect_liquid = false;
-      ZLOGI(TAG, "zm is stoped");
+      ZLOGI(TAG, "-->zm is stoped");
       break;
     }
 
@@ -1006,14 +1028,19 @@ void PipetteModule::_do_lld(platinfo_t *platform_info, container_info_t *contain
     if (m_piette_gun_io1.getState()) {
       int32_t water_level = zm_get_now_pos();
       detect_liquid       = true;
-      ZLOGI(TAG, "detect liquid, water_level %d", water_level);
+      m_zm->stop();
+      ZLOGI(TAG, "-->detect liquid, water_level %d", water_level);
       break;
     }
+    ZLOGI(TAG, "...wait for lld trigger, now zm pos %d", zm_get_now_pos());
     thread_delay(1);
   }
+  ecode = m_smtp2.pump_get_state(nullptr);  // 获取泵状态，在此之前不能执行任何泵机指令，否则会丢失错误状态
+
+  int32_t now_pm_pos = pump_read_pos_nl();
+  ZLOGI(TAG, "pump now pos %d nl", now_pm_pos);
 
   // 检查是否是LLD错误
-  ecode = m_smtp2.pump_get_state(nullptr);
   if (ecode != 0) {
     if (ecode == err::kpipette_error_LLDError) {
       // LLD错误。在cLLD、pLLD、hLLD模式下均未检测到液体。在超过指定的压力阈值之前，泵已达到行程终点。
@@ -1039,6 +1066,21 @@ void PipetteModule::_do_lld(platinfo_t *platform_info, container_info_t *contain
 }
 
 void PipetteModule::_do_sapirate(platinfo_t *platform_info, container_info_t *container_cfg, liquid_info_t *liquidinfo, aspiration_param_t *acfg) {
+  // 移动到液面之上
+  ZLOGI(TAG, "--> move to swap pos");
+  int32_t nowzpos = zm_get_now_pos();
+  if (nowzpos < m_state.water_level) {
+    ZLOGI(TAG, "move to swap position in v_swap");
+    zm_move_to_block(m_state.water_level - container_cfg->leaving_height, kzm_v_swap, 0);  //
+  } else {
+    ZLOGI(TAG, "move to swap position in v_default");
+    zm_move_to_block(m_state.water_level - container_cfg->leaving_height, kzm_v_default, 0);  //
+  }
+
+  // 清空tip
+  ZLOGI(TAG, "clean tip.");
+  pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vcpyid);
+
   // 吸入过量的空气
   if (liquidinfo->blowout_air_volume > 0) {
     ZLOGI(TAG, "--> aspirate blowout_air_volume volume=%d, pm_vcpyid=%d", liquidinfo->blowout_air_volume);
@@ -1118,7 +1160,60 @@ void PipetteModule::_do_sapirate(platinfo_t *platform_info, container_info_t *co
   }
 }
 
-int32_t PipetteModule::pipette_pump_distribu() { return 0; }
+int32_t PipetteModule::pipette_pump_distribu_all() {
+  thread_start_work(__FUNCTION__, [this]() {
+    ZLOGI(TAG, "pipette_pump_aspirate");
+    if (pump_read_tip_state() == 0) {
+      throw zapp_exception(err::kpipette_error_TipDrop);
+    }
+
+
+
+
+
+  });
+
+  return 0;
+}
+
+int32_t PipetteModule::pipette_test_pump_move_to_x100nl(int32_t x100nl, int32_t vcfgcpyid) {
+  thread_start_work(__FUNCTION__, [this, x100nl, vcfgcpyid]() {
+    ZLOGI(TAG, "pipette_pump_aspirate");
+    if (pump_read_tip_state() == 0) {
+      throw zapp_exception(err::kpipette_error_TipDrop);
+    }
+
+    // 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
+
+    int32_t diff = 0;
+    pump_move_to_x100nl_block(x100nl, vcfgcpyid, &diff);  //
+    m_state.asynchronous_result0 = diff;
+  });
+  return 0;
+}
+int32_t PipetteModule::pipette_test_lld(int32_t container_pos, int32_t container_cpyid, int32_t liquid_cpyid) {
+  thread_start_work(__FUNCTION__, [this, container_pos, container_cpyid, liquid_cpyid]() {
+    ZLOGI(TAG, "pipette_pump_aspirate");
+    if (pump_read_tip_state() == 0) {
+      throw zapp_exception(err::kpipette_error_TipDrop);
+    }
+
+    // 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
+
+    platinfo_t       *platform_info = get_platinfo_smart(m_state.platinfo_cpyid, &m_now_platinfo);
+    liquid_info_t    *liquidinfo    = get_liquid_info_smart(container_cpyid, &m_now_aspirate_liquid_info);
+    container_info_t *container_cfg = get_container_info_smart(liquid_cpyid, &m_now_container_info);
+
+    _do_lld(container_pos, platform_info, container_cfg, liquidinfo);
+  });
+  return 0;
+}
 
 /***********************************************************************************************************************
  *                                                    EXT_API_UTILS                                                    *
@@ -1262,32 +1357,22 @@ void PipetteModule::zm_apply_vcfg(int32_t vbasecfgindex, int32_t vel) {
    */
 
   zm_vcfg_t cfg = {0};
-
   get_cfg_smart(vbasecfgindex, &cfg);
   if (vel > 0) {
     cfg.vmax = vel;
   }
+  TMC51X0::VCfg_t tcmvcfg;
+  tcmvcfg.vstart = cfg.vstart;
+  tcmvcfg.a1     = cfg.a1;
+  tcmvcfg.amax   = cfg.amax;
+  tcmvcfg.v1     = cfg.v1;
+  tcmvcfg.dmax   = cfg.dmax;
+  tcmvcfg.d1     = cfg.d1;
+  tcmvcfg.vstop  = cfg.vstop;
+  tcmvcfg.vmax   = cfg.vmax;
+  m_zm->set_vcfg(&tcmvcfg);
 
-  if (cfg.vstop > cfg.vmax) {
-    cfg.vstop = cfg.vmax;
-  }
-  if (cfg.vstart > cfg.vmax) {
-    cfg.vstart = cfg.vmax;
-  }
-  if (cfg.v1 > cfg.vmax) {
-    cfg.v1 = cfg.vmax;
-  }
-
-  m_zm->set_vstart(cfg.vstart);
-  m_zm->set_a1(cfg.a1);
-  m_zm->set_amax(cfg.amax);
-  m_zm->set_v1(cfg.v1);
-  m_zm->set_dmax(cfg.dmax);
-  m_zm->set_d1(cfg.d1);
-  m_zm->set_vstop(cfg.vstop);
-  m_zm->set_vmax(cfg.vmax);
-
-  ZLOGI(TAG, "zm set vstart %d,a1 %d,amax %d,v1 %d,dmax %d,d1 %d,vstop %d,vmax %d", cfg.vstart, cfg.a1, cfg.amax, cfg.v1, cfg.dmax, cfg.d1, cfg.vstop, cfg.vmax);
+  ZLOGI(TAG, "zm set vstart %d,a1 %d,amax %d,v1 %d,dmax %d,d1 %d,vstop %d,vmax %d", tcmvcfg.vstart, tcmvcfg.a1, tcmvcfg.amax, tcmvcfg.v1, tcmvcfg.dmax, tcmvcfg.d1, tcmvcfg.vstop, tcmvcfg.vmax);
 }
 
 void PipetteModule::zm_sync_base_cfg() {
@@ -1301,6 +1386,7 @@ void PipetteModule::zm_sync_base_cfg() {
   m_zm->set_tzerowait(zmbcfg.tzerowait);
   m_zm->set_enc_resolution(zmbcfg.enc_resolution);
   zm_apply_vcfg(kzm_v_default, 0);
+  m_zm->stop();
   if (m_state.enable) {
     m_zm->enable(true);
   }
@@ -1366,9 +1452,9 @@ void PipetteModule::pump_waitfor_lld_is_ready(int32_t *zpos) {
   }
 }
 
-void PipetteModule::pump_get_vcfg(int32_t vcfgindex, smtp2::VelCfg *cfg) {
+void PipetteModule::pump_get_vcfg(int32_t vcfgcpyid, smtp2::VelCfg *cfg) {
   pm_vcfg_t cfg2 = {0};
-  get_cfg_smart(vcfgindex, &cfg2);
+  get_cfg_smart(vcfgcpyid, &cfg2);
   cfg->acc    = cfg2.acc;
   cfg->dec    = cfg2.dec;
   cfg->vstart = cfg2.vstart;
@@ -1376,41 +1462,69 @@ void PipetteModule::pump_get_vcfg(int32_t vcfgindex, smtp2::VelCfg *cfg) {
   cfg->vmax   = cfg2.vmax;
 }
 
-void PipetteModule::pump_apply_vcfg(int32_t vcfgindex, bool force) {
-  ZLOGI(TAG, "pump_apply_vcfg %s", get_pm_vcpyid_name((pm_vcpyid_t)vcfgindex));
-  if (!force && m_state.pm_now_vcfg_index == vcfgindex) {
+void PipetteModule::pump_apply_vcfg(int32_t vcfgcpyid, bool force) {
+  ZLOGI(TAG, "pump_apply_vcfg %s", get_pm_vcpyid_name((pm_vcpyid_t)vcfgcpyid));
+  if (!force && m_state.pm_now_vcfg_index == vcfgcpyid) {
     // 如果当前配置和目标配置相同，则不需要重新设置
     return;
   }
 
   smtp2::VelCfg vcfg;
-  pump_get_vcfg(vcfgindex, &vcfg);
+  pump_get_vcfg(vcfgcpyid, &vcfg);
 
   DO_IN_THREAD(m_smtp2.pump_set_vcfg(&vcfg));
-  m_state.pm_now_vcfg_index = vcfgindex;
+  m_state.pm_now_vcfg_index = vcfgcpyid;
 }
-void PipetteModule::pump_move_to_x100nl(int32_t x100nl, int32_t vcfgindex) {
+void PipetteModule::_pump_move_to_x100nl(int32_t x100nl, int32_t vcfgcpyid) {
+  ZLOGI(TAG, "pump_move_to_x100nl %d, in %s", x100nl, get_pm_vcpyid_name((pm_vcpyid_t)vcfgcpyid));
   smtp2::VelCfg vcfg;
-  pump_get_vcfg(vcfgindex, &vcfg);
+  pump_get_vcfg(vcfgcpyid, &vcfg);
+  m_state.pm_now_vcfg_index = vcfgcpyid;  // 更新当前配置索引
   DO_IN_THREAD(m_smtp2.pump_move_to_nl(&vcfg, x100nl * 100));
 }
-
-void PipetteModule::pump_move_by_x100nl(int32_t x100nl, int32_t vcfgindex) {
-  ZLOGI(TAG, "pump_move_by_x100nl %d, in %s", x100nl, get_pm_vcpyid_name((pm_vcpyid_t)vcfgindex));
+void PipetteModule::pump_do_lld(int32_t pressure_threshold, int32_t ___, int32_t vcfgidx) {
+  ZLOGI(TAG, "pump_do_lld pressure_threshold %d,  vcfgidx %d", pressure_threshold, vcfgidx);
   smtp2::VelCfg vcfg;
-  pump_get_vcfg(vcfgindex, &vcfg);
-  DO_IN_THREAD(m_smtp2.pump_move_by_nl(&vcfg, x100nl * 100));
+  pump_get_vcfg(vcfgidx, &vcfg);
+  m_state.pm_now_vcfg_index = vcfgidx;  // 更新当前配置索引
+  DO_IN_THREAD(m_smtp2.pump_aspirate_plld(pressure_threshold, &vcfg));
 }
 
-void PipetteModule::pump_move_to_x100nl_block(int32_t x100nl, int32_t vcfgindex) {
-  pump_move_to_x100nl(x100nl, vcfgindex);
-  pump_waitfor_stop();
-  ZLOGI(TAG, "pump now pos %d nl", pump_read_pos_nl());
+void PipetteModule::pump_move_to_x100nl_block(double x100nl, int32_t vcfgcpyid, int32_t *diff) {
+  int32_t diff_pos = 0;
+  for (size_t i = 0; i < 3; i++) {
+    int32_t vcpyid = vcfgcpyid;
+    if (i != 0) {
+      vcpyid = kpm_v_slow_lv1;
+    }
+
+    _pump_move_to_x100nl(x100nl, vcpyid);
+    pump_waitfor_stop();
+    int32_t targetpos = x100nl * 100;
+    int32_t after_pos = pump_read_pos_nl();
+    diff_pos          = targetpos - after_pos;
+    if (diff) *diff = diff_pos;
+    ZLOGI(TAG, "pump target %d nl, now pos %d nl diff %d", targetpos, after_pos, diff_pos);
+    if (abs(diff_pos) > 20) {
+      ZLOGW(TAG, "pump move to x100nl %d failed, diff is too large retrying...", x100nl);
+      continue;
+    }
+    break;
+  }
+  if (abs(diff_pos) > 30) {
+    module_detail_errorcode = diff_pos;
+    throw zapp_exception(err::kpipette_pm_positioning_abnormality);
+  }
 }
-void PipetteModule::pump_move_by_x100nl_block(int32_t x100nl, int32_t vcfgindex) {
-  pump_move_by_x100nl(x100nl, vcfgindex);
-  pump_waitfor_stop();
-  ZLOGI(TAG, "pump now pos %d nl", pump_read_pos_nl());
+void PipetteModule::pump_move_by_x100nl_block(double x100nl, int32_t vcfgcpyid) {
+  int32_t startpos = pump_read_pos_nl();
+  if (startpos > 1500000) {
+    // 参考 https://iflytop1.feishu.cn/wiki/IWn1waKCXiUvzfkOru5c0F3HnJf
+    ZLOGW(TAG, "pump position is too large maybe overflow, startpos=%d", startpos);
+    startpos = 0;
+  }
+  double targetpos = startpos + x100nl * 100;
+  pump_move_to_x100nl_block(targetpos / 100, vcfgcpyid);
 }
 
 void PipetteModule::pump_read_pos_nl(int32_t *val) {
@@ -1579,13 +1693,21 @@ void PipetteModule::thread_delay(int32_t delayms) {  //
 }
 void PipetteModule::thread_start_work(const char *fnname, function<void()> fn) {
   m_thread.stop();
-  module_status    = 1;
-  module_errorcode = 0;
+  module_status           = 1;
+  module_errorcode        = 0;
+  module_detail_errorcode = 0;
 
-  m_state.detected_liquid      = 0;
   m_state.asynchronous_result0 = 0;
   m_state.asynchronous_result1 = 0;
 
+  m_state.aspiration_ok        = 0;
+  m_state.pump_lld_reach_limit = 0;
+  m_state.detected_liquid      = 0;
+  m_state.water_level          = 0;
+  m_state.tipblock             = 0;
+  m_state.airsuction           = 0;
+  m_state.bubble               = 0;
+
   m_thread.start([this, fnname, fn]() {
     osDelay(1);
     ZLOGI(TAG, "start work -> %s", fnname);
diff --git a/sdk/components/pipette_module/pipette_ctrl_module.hpp b/sdk/components/pipette_module/pipette_ctrl_module.hpp
index 6de20c6..51b9b1e 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module.hpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module.hpp
@@ -56,17 +56,8 @@ class PipetteModule : public ZIModule {
   } hardward_config_t;
 
   typedef struct {
-    container_info_t container_info;
-    liquid_info_t    liquid_info;
   } aspirate_run_cxt_t;
 
-  typedef struct {
-    platinfo_t       platinfo;
-    container_info_t container_info;
-    liquid_info_t    transform_liquid_info;
-    liquid_info_t    destination_liquid_info;
-  } distribu_run_cxt_t;
-
  private:
   /***********************************************************************************************************************
    *                                                      Hardware                                                       *
@@ -84,9 +75,8 @@ class PipetteModule : public ZIModule {
   pipette_state_t  m_state = {0};
   platinfo_t       m_now_platinfo;
   container_info_t m_now_container_info;
+  liquid_info_t    m_now_aspirate_liquid_info;
 
-  aspirate_run_cxt_t aspirate_run_cxt;
-  distribu_run_cxt_t distribu_run_cxt;
   /***********************************************************************************************************************
    *                                                       Config                                                        *
    ***********************************************************************************************************************/
@@ -182,10 +172,10 @@ class PipetteModule : public ZIModule {
 
   virtual int32_t pipette_pump_aspirate_set_param(aspiration_paramid_t param, int32_t val);
   virtual int32_t pipette_pump_aspirate();
-  void            _do_lld(platinfo_t *platform_info, container_info_t *container_cfg, liquid_info_t *liquidinfo, aspiration_param_t *acfg);
+  void            _do_lld(int32_t container_pos, platinfo_t *platform_info, container_info_t *container_cfg, liquid_info_t *liquidinfo);
   void            _do_sapirate(platinfo_t *platform_info, container_info_t *container_cfg, liquid_info_t *liquidinfo, aspiration_param_t *acfg);
 
-  virtual int32_t pipette_pump_distribu();
+  virtual int32_t pipette_pump_distribu_all();
 
   virtual int32_t pipette_get_sensor_sample_data(int32_t index, int32_t *motor_pos, int32_t *pval);  //
   virtual int32_t pipette_get_sensor_sample_data_num(int32_t *num);
@@ -194,6 +184,10 @@ class PipetteModule : public ZIModule {
   virtual int32_t pipette_read_pressure(int32_t *pressure);
   virtual int32_t pipette_read_capacitance(int32_t *capacitance);
 
+  // TEST CMD
+  virtual int32_t pipette_test_pump_move_to_x100nl(int32_t x100nl, int32_t vcfgindex);
+  virtual int32_t pipette_test_lld(int32_t container_pos, int32_t container_cpyid, int32_t liquid_cpyid);
+
  private:
   /***********************************************************************************************************************
    *                                                        MOTOR                                                        *
@@ -242,10 +236,10 @@ class PipetteModule : public ZIModule {
   int32_t pump_read_tip_state();
   void    pump_waitfor_stop();
   void    pump_waitfor_lld_is_ready(int32_t *zpos);
-  void    pump_move_to_x100nl(int32_t x100nl, int32_t vcfgindex);
-  void    pump_move_by_x100nl(int32_t x100nl, int32_t vcfgindex);
-  void    pump_move_to_x100nl_block(int32_t x100nl, int32_t vcfgindex);
-  void    pump_move_by_x100nl_block(int32_t x100nl, int32_t vcfgindex);
+  void    _pump_move_to_x100nl(int32_t x100nl, int32_t vcfgindex);
+  void    pump_do_lld(int32_t pressure_threshold, int32_t ___, int32_t vcfgidx);
+  void    pump_move_to_x100nl_block(double x100nl, int32_t vcfgindex, int32_t *diff = nullptr);
+  void    pump_move_by_x100nl_block(double x100nl, int32_t vcfgindex);
 
  private:
   void push_pressure_sample_data(int32_t motor_pos, int32_t pressure_val);
diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
index 21c7d50..2bda0fe 100644
--- a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
+++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
@@ -11,7 +11,7 @@ using namespace smtp2;
 #define TAG "SMTP2"
 
 #define OVERTIME 100
-#define DUMP_HEX 1
+#define DUMP_HEX 0
 
 #define RE_SEND_TIMES 5
 #define RE_SEND_DELAY 400
@@ -74,10 +74,22 @@ int32_t SMTP2V2::pump_set_pressure_data_stream_port(int32_t val /*0:无 1:232 3:
   return setstate(true, "/1u%d,%dR\r", kcfg_pressure_data_port_channel, val);
 }
 
-int32_t SMTP2V2::pump_set_tip_size(TipSize_t size) {
-  ZLOGI(TAG, "pump_set_tip_size %d", size);
+int32_t SMTP2V2::pump_set_tip_type(TipSize_t size) {
+  ZLOGI(TAG, "pump_set_tip_type %d", size);
   return setstate(true, "/1u%d,%dR\r", kcfg_tip_size, size);
 }
+
+// 该方法调用会报参数错误，原因未知
+// int32_t SMTP2V2::pump_set_max_limit(int32_t nl) {
+//   ZLOGI(TAG, "pump_set_max_limit %d", nl);
+//   if (nl < 0) {
+//     ZLOGE(TAG, "pump_set_max_limit nl < 0");
+//     return -1;
+//   }
+//   return setstate(true, "/1u%d,%dR\r", kcfg_total_range, nl);
+// }
+int32_t SMTP2V2::pump_get_max_limit(int32_t* nl) { return pump_get_state_as_int(kstate_total_range, nl); }
+
 int32_t SMTP2V2::pump_enable_temp_compensation(int32_t enable) {
   ZLOGI(TAG, "pump_enable_temp_compensation %d", enable);
   return setstate(true, "/1u%d,%dR\r", kcfg_auto_temp_compensation, enable);
@@ -93,6 +105,7 @@ int32_t SMTP2V2::pump_set_plld_start_delay(int32_t delay_ms) {
 int32_t SMTP2V2::pump_set_vcfg(VelCfg* vcfg) {
   ZLOGI(TAG, "pump_set_vcfg %d,%d,%d,%d,%d", vcfg->acc, vcfg->dec, vcfg->vstart, vcfg->vstop, vcfg->vmax);
   // L<n1>,<n2>设置加速度，和减速度 (1..20) V%d 设置最大速度 v%d 设置起始速度 c%d 设置停止速度
+  fix_vcfg(vcfg);
   return setstate(true, "/1N2L%d,%dv%dc%dV%dR\r",  //
                   vcfg->acc, vcfg->dec, vcfg->vstart * 1000, vcfg->vstop * 1000, vcfg->vmax * 1000);
 }
@@ -105,10 +118,11 @@ int32_t SMTP2V2::pump_put_tip() {
   ZLOGI(TAG, "pump_put_tip");
   return runaction(true, "/1E0R\r");
 }
-int32_t SMTP2V2::pump_reset() {
-  ZLOGI(TAG, "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
-  _sendcmd(true, "/1!0R\r");  // 复位指令没有回执，所以这里只能使用方法_sendcmd
+int32_t SMTP2V2::pump_factory_reset() {
+  ZLOGI(TAG, "pump_factory_reset");
+  _sendcmd(true, "/1!22R\r");  // 
+  _sendcmd(true, "/1!0R\r");   // 复位指令没有回执，所以这里只能使用方法_sendcmd
+  _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;
 }
 
@@ -116,12 +130,18 @@ int32_t SMTP2V2::pump_reset() {
  *                                                       ACTION                                                        *
  ***********************************************************************************************************************/
 
-int32_t SMTP2V2::pump_move_to_nl(VelCfg* vcfg, int32_t nl) {
-  ZLOGI(TAG, "pump_move_to_nl %d", nl);
-  ZLOGI(TAG, "vcfg acc %d dec %d vstart %d vstop %d vmax %d", vcfg->acc, vcfg->dec, vcfg->vstart, vcfg->vstop, vcfg->vmax);
+int32_t SMTP2V2::_pump_move_to_nl(VelCfg* vcfg, int32_t nl) {
+  ZLOGI(TAG, " _pump_move_to_nl %d", nl);
+  ZLOGI(TAG, " vcfg acc %d dec %d vstart %d vstop %d vmax %d", vcfg->acc, vcfg->dec, vcfg->vstart, vcfg->vstop, vcfg->vmax);
+  fix_vcfg(vcfg);
+
   return runaction(true, "/1N2L%d,%dv%dc%dV%dA%dR\r",  //
                    vcfg->acc, vcfg->dec, vcfg->vstart * 1000, vcfg->vstop * 1000, vcfg->vmax * 1000, nl);
 }
+int32_t SMTP2V2::pump_move_to_nl(VelCfg* vcfg, int32_t nl) {
+  ZLOGI(TAG, " pump_move_to_nl %d", nl);
+  return _pump_move_to_nl(vcfg, nl);
+}
 int32_t SMTP2V2::pump_move_by_nl(VelCfg* vcfg, int32_t nl) {
   ZLOGI(TAG, "pump_move_by_nl %d", nl);
   int32_t nownl;
@@ -226,9 +246,13 @@ int32_t SMTP2V2::pump_aspirate_infer_eigen_time(int32_t v, int32_t ul) {
 
 int32_t SMTP2V2::pump_get_infer_eigen_time(int32_t* eigen_time) { return pump_get_state_as_int(kstate_q_time, eigen_time); }
 
-int32_t SMTP2V2::pump_aspirate_plld(int32_t pressure_threshold) {
+int32_t SMTP2V2::pump_aspirate_plld(int32_t pressure_threshold, VelCfg* vcfg) {
   ZLOGI(TAG, "pump_aspirate_plld %d", pressure_threshold);
-  return runaction(true, "/1t%d,1R\r", pressure_threshold);
+  fix_vcfg(vcfg);
+
+  return runaction(true, "/1N2L%d,%dv%dc%dV%dt%d,1R\r",                                               //
+                   vcfg->acc, vcfg->dec, vcfg->vstart * 1000, vcfg->vstop * 1000, vcfg->vmax * 1000,  //
+                   pressure_threshold);
 }
 int32_t SMTP2V2::pump_aspirate_plld_get_state(int32_t* detected) {
   int32_t isbusy = 0;
@@ -297,6 +321,11 @@ int32_t SMTP2V2::pump_get_state_as_int(int32_t state_index, int32_t* val) {
   *val = getAck0AsInt();
   return err::ksucc;
 }
+const char* SMTP2V2::pump_read_version() {
+  int ret = readstate(true, "/1?%d\r", kstate_firmware);
+  if (ret != 0) return "fail";
+  return getAckStr();
+}
 
 int32_t SMTP2V2::getAckEcode() {
   if (m_rxNum < 3) {
@@ -331,6 +360,21 @@ int32_t SMTP2V2::getAck0AsInt() {
   int intval = atoi(&m_rxprocessbuf[3]);
   return intval;
 }
+const char* SMTP2V2::getAckStr() {
+  if (m_rxNum < 3) {
+    return nullptr;
+  }
+  memset(m_rxprocessbuf, 0, sizeof(m_rxprocessbuf));
+  memcpy(m_rxprocessbuf, m_rxbuf, m_rxNum);
+  for (size_t i = 0; i < m_rxNum; i++) {
+    if (m_rxprocessbuf[i] == '\r' || m_rxprocessbuf[i] == '\n' || m_rxprocessbuf[i] == 0x03) {
+      m_rxprocessbuf[i] = 0;
+      break;
+    }
+  }
+  return &m_rxprocessbuf[3];
+}
+
 int32_t SMTP2V2::runaction(bool dump, const char* format, ...) {
   static char cmdbuf[256];
   va_list     args;
@@ -453,3 +497,33 @@ bool SMTP2V2::_sendcmd_dma(const char* cmd) {
   osDelay(10);
   return true;
 }
+
+void SMTP2V2::fix_vcfg(VelCfg* vcfg) {
+#if 1
+  // 启动速度[v] ≤ 停止速度[c] ≤ 最高速度[V]
+  bool fixed = false;
+  if (vcfg->vstop > vcfg->vmax) {
+    vcfg->vstop = vcfg->vmax;
+    fixed       = true;
+  }
+
+  if (vcfg->vstart > vcfg->vstop) {
+    vcfg->vstart = vcfg->vstop;
+    fixed        = true;
+  }
+  if (vcfg->acc < 1) {
+    vcfg->acc = 1;
+    fixed     = true;
+  }
+
+  if (vcfg->dec < 1) {
+    vcfg->dec = 1;
+    fixed     = true;
+  }
+
+  if (fixed) {
+    ZLOGI(TAG, "  fixed vcfg %d,%d,%d,%d,%d", vcfg->acc, vcfg->dec, vcfg->vstart, vcfg->vstop, vcfg->vmax);
+  }
+#endif
+  return;
+}
diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
index 529bdd6..8f2727e 100644
--- a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
+++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
@@ -61,9 +61,9 @@ typedef enum {
   kcfg_motor_hold_current         = 13,  // 电机保持电流（单位：0.01A）0...200 default:10
   kcfg_motor_run_current          = 14,  // 电机运行电流（单位：0.01A）0...200 default:25
   kcfg_pLLD_start_delay           = 15,  // pLLD启动延迟（毫秒）0...2000  default:100
-  kcfg_nL_increment               = 16,  // 纳升/增量。此值用于将[N2]模式的nL 输入和输出转换为增量。 （当前系统中不使用）
+  kcfg_nL_increment               = 16,  // 纳升/增量。此值用于将[N2]模式的nL 输入和输出转换为增量。
   kcfg_total_range                = 17,  // 用nL表示的总量程。当这个值被改变时，u1所设定的值也会按照这个公式自动变更：u1=u17/u16 同时，u1改变时，此值也会自动变更：u17=u1*u16 （当前系统中不使用）
-  kcfg_tip_size                   = 18,  // Tip大小。对此值进行设置之后，u1和u17的值将会自动进行变更。 （当前系统中不使用）
+  kcfg_tip_size                   = 18,  // Tip大小。对此值进行设置之后，u1和u17的值将会自动进行变更。
   kcfg_default_tolerance          = 21,  // [q] 命令默认容差
   kcfg_pressure_data_stream_time  = 22,  // 泵运动完成后保持压力数据流输出的时间（毫秒）。请参见[+]命令。
   kcfg_auto_temp_compensation     = 24,  // 自动使用温度补偿。
@@ -195,7 +195,9 @@ class SMTP2V2 {
   int32_t pump_set_io1_mode(int32_t mode);                // 0LLD输出高 1LLD输出低  2通用输出
   int32_t pump_set_io1_state(int32_t state);              //
   int32_t pump_set_io2_mode(int32_t mode);                // 0通用输入  1紧急制动 2Tip脱落输出高 3Tip脱落输出低
-  int32_t pump_set_tip_size(TipSize_t size);              // Tip大小 0:1ml 1:200ul(max:250ul) 2:50ul(max:62ul) 3=20ul(max:40ul)
+  int32_t pump_set_tip_type(TipSize_t size);              // Tip大小 0:1ml 1:200ul(max:250ul) 2:50ul(max:62ul) 3=20ul(max:40ul)
+  // int32_t pump_set_max_limit(int32_t nl);                 //
+  int32_t pump_get_max_limit(int32_t* nl);                // 获取最大行程
   int32_t pump_enable_temp_compensation(int32_t enable);  // 0:关闭 1:开启
   int32_t pump_set_back_clearance(int32_t val);
   int32_t pump_set_pressure_data_stream_port(int32_t val /*0:无 1:232 3:CAN*/);
@@ -203,23 +205,25 @@ class SMTP2V2 {
   /***********************************************************************************************************************
    *                                                        STATE                                                        *
    ***********************************************************************************************************************/
-  int32_t pump_get_state(int32_t* isbusy);
-  int32_t pump_get_capacitance(int32_t* capacitance);
-  int32_t pump_get_pressure(int32_t* pressure);
-  int32_t pump_get_tip_state(int32_t* tipison);
-  int32_t pump_get_nl(int32_t* nl);
-  int32_t pump_get_state_as_int(int32_t state_index, int32_t* val);
+  int32_t     pump_get_state(int32_t* isbusy);
+  int32_t     pump_get_capacitance(int32_t* capacitance);
+  int32_t     pump_get_pressure(int32_t* pressure);
+  int32_t     pump_get_tip_state(int32_t* tipison);
+  int32_t     pump_get_nl(int32_t* nl);
+  int32_t     pump_get_state_as_int(int32_t state_index, int32_t* val);
+  const char* pump_read_version();
 
   /***********************************************************************************************************************
    *                                                       ACTION                                                        *
    ***********************************************************************************************************************/
-  int32_t pump_init();                                     // 泵机初始化(归零)
-  int32_t pump_put_tip();                                  // 丢弃TIP
-  int32_t pump_reset();                                    // 泵机复位
-  int32_t pump_stop();                                     // 停止
-  int32_t pump_move_to_nl(VelCfg* vcfg, int32_t nl);                     //
-  int32_t pump_move_by_nl(VelCfg* vcfg, int32_t nl);                     //
-  int32_t pump_aspirate_plld(int32_t pressure_threshold);  // plld,分配探测
+  int32_t pump_init();     // 泵机初始化(归零)
+  int32_t pump_put_tip();  // 丢弃TIP
+  int32_t pump_factory_reset();    // 泵机复位
+  int32_t pump_stop();     // 停止
+  int32_t _pump_move_to_nl(VelCfg* vcfg, int32_t nl);
+  int32_t pump_move_to_nl(VelCfg* vcfg, int32_t nl);                                            //
+  int32_t pump_move_by_nl(VelCfg* vcfg, int32_t nl);                                            //
+  int32_t pump_aspirate_plld(int32_t pressure_threshold,  VelCfg* vcfg);  // plld,分配探测
   int32_t pump_aspirate_plld_get_state(int32_t* detected);
 
   int32_t pump_clld(int32_t c_threshold);  // clld 0...130
@@ -244,6 +248,7 @@ class SMTP2V2 {
 
   void dumpparam();
 
+
  private:
   int32_t runaction(bool dump, const char* format, ...);
   int32_t _runaction(bool dump, const char* cmd);
@@ -253,8 +258,11 @@ class SMTP2V2 {
   bool _sendcmd(bool dump, const char* cmd);
   bool _sendcmd_dma(const char* cmd);
 
-  int32_t getAckEcode();
-  int32_t getAck0AsInt();
+  int32_t     getAckEcode();
+  int32_t     getAck0AsInt();
+  const char* getAckStr();
+
+  void fix_vcfg(VelCfg* vcfg);
 };
 
 }  // namespace smtp2
diff --git a/sdk/components/tmc/ic/ztmc5130.cpp b/sdk/components/tmc/ic/ztmc5130.cpp
index 708604f..679815b 100644
--- a/sdk/components/tmc/ic/ztmc5130.cpp
+++ b/sdk/components/tmc/ic/ztmc5130.cpp
@@ -105,6 +105,26 @@ void TMC51X0::set_vstop(int32_t vel) {
 }
 void TMC51X0::set_tzerowait(int32_t val) { writeInt(TMC5130_TZEROWAIT, val); }
 void TMC51X0::set_vmax(int32_t vmax) { writeInt(TMC5130_VMAX, to_motor_vel(vmax)); }
+void TMC51X0::set_vcfg(VCfg_t *vcfg) {
+  //  VMAX>V1>VSTOP>VSTART
+  if (vcfg->v1 > vcfg->vmax) {
+    vcfg->v1 = vcfg->vmax;
+  }
+  if (vcfg->vstop > vcfg->v1) {
+    vcfg->vstop = vcfg->v1;
+  }
+  if (vcfg->vstart > vcfg->vstop) {
+    vcfg->vstart = vcfg->vstop;
+  }
+  set_a1(vcfg->a1);
+  set_amax(vcfg->amax);
+  set_v1(vcfg->v1);
+  set_dmax(vcfg->dmax);
+  set_d1(vcfg->d1);
+  set_vstart(vcfg->vstart);
+  set_vstop(vcfg->vstop);
+  set_vmax(vcfg->vmax);
+}
 
 void TMC51X0::enable(bool enable) {
   //  m_port->TMC5130Port_setENNPinState(m_channel, !enable);
diff --git a/sdk/components/tmc/ic/ztmc5130.hpp b/sdk/components/tmc/ic/ztmc5130.hpp
index 3618940..a30dd5c 100644
--- a/sdk/components/tmc/ic/ztmc5130.hpp
+++ b/sdk/components/tmc/ic/ztmc5130.hpp
@@ -87,6 +87,17 @@ class TMC51X0 : public IStepperMotor {
   } GState_t;
 
   typedef struct {
+    int32_t vstart;
+    int32_t a1;
+    int32_t amax;
+    int32_t v1;
+    int32_t dmax;
+    int32_t d1;
+    int32_t vstop;
+    int32_t vmax;
+  } VCfg_t;
+
+  typedef struct {
     SPI_HandleTypeDef *spi;
     Pin_t              csgpio = PinNull;  //
     Pin_t              ennPin = PinNull;  //
@@ -172,6 +183,8 @@ class TMC51X0 : public IStepperMotor {
   virtual void set_tzerowait(int32_t val);
   virtual void set_vmax(int32_t vmax);
 
+  virtual void set_vcfg(VCfg_t *vcfg);
+
  public:
   DevStatusReg_t getDevStatus() {  // R 读后不清
     static_assert(sizeof(DevStatusReg_t) == 4);
diff --git a/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp
index cfae2a8..a5f13b7 100644
--- a/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp
+++ b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp
@@ -196,6 +196,9 @@ void ZCanProtocolParser::initialize(ZCanReceiver* cancmder) {
   REGFN(pipette_read_tip_state);
   REGFN(pipette_read_pressure);
   REGFN(pipette_read_capacitance);
+
+  REGFN(pipette_test_pump_move_to_x100nl);
+  REGFN(pipette_test_lld);
 }
 void ZCanProtocolParser::_registerModule(uint16_t id, ZIModule* module) { m_modulers[id] = module; }
 void ZCanProtocolParser::registerModule(ZIModule* module) { _registerModule(module->getid(), module); }
@@ -1103,7 +1106,7 @@ int32_t ZCanProtocolParser::pipette_pump_aspirate(cmdcontxt_t* cxt) {
 
 int32_t ZCanProtocolParser::pipette_pump_distribu(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(0);
-  return module->pipette_pump_distribu();
+  return module->pipette_pump_distribu_all();
 }
 
 int32_t ZCanProtocolParser::pipette_get_sensor_sample_data(cmdcontxt_t* cxt) {
@@ -1166,4 +1169,17 @@ int32_t ZCanProtocolParser::pipette_read_capacitance(cmdcontxt_t* cxt) {
   return module->pipette_read_capacitance(&ack[0]);
 }
 
+// kpipette_test_pump_move_to_x100nl = 0x7600,  // int32_t x100nl, int32_t vcfgindex
+// kpipette_test_lld                 = 0x7601,  // int32_t container_pos, int32_t container_cpyid, int32_t liquid_cpyid
+
+int32_t ZCanProtocolParser::pipette_test_pump_move_to_x100nl(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->pipette_test_pump_move_to_x100nl(cxt->params[0], cxt->params[1]);
+}
+
+int32_t ZCanProtocolParser::pipette_test_lld(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(3);
+  return module->pipette_test_lld(cxt->params[0], cxt->params[1], cxt->params[2]);
+}
+
 #undef MODULE_CLASS
\ No newline at end of file
diff --git a/sdk/components/zcan_protocol_parser/zcan_protocol_parser.hpp b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.hpp
index fdc1790..906bfab 100644
--- a/sdk/components/zcan_protocol_parser/zcan_protocol_parser.hpp
+++ b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.hpp
@@ -217,6 +217,9 @@ class ZCanProtocolParser : public IZCanRxProcesser {
   CMDFN(pipette_read_tip_state);
   CMDFN(pipette_read_pressure);
   CMDFN(pipette_read_capacitance);
+
+  CMDFN(pipette_test_pump_move_to_x100nl);
+  CMDFN(pipette_test_lld);
 };
 
 }  // namespace iflytop
\ No newline at end of file
diff --git a/usrc/a8000_protocol/protocol/cmdid.cpp b/usrc/a8000_protocol/protocol/cmdid.cpp
index 8afe097..95b04f1 100644
--- a/usrc/a8000_protocol/protocol/cmdid.cpp
+++ b/usrc/a8000_protocol/protocol/cmdid.cpp
@@ -163,6 +163,9 @@ static cmdinfo_t table[] = {
     CMD_ITERM(kpipette_read_tip_state),
     CMD_ITERM(kpipette_read_pressure),
     CMD_ITERM(kpipette_read_capacitance),
+
+    CMD_ITERM(kpipette_test_pump_move_to_x100nl),
+    CMD_ITERM(kpipette_test_lld),
 };
 
 const char* cmdid2str(int32_t code) {
diff --git a/usrc/a8000_protocol/protocol/cmdid.hpp b/usrc/a8000_protocol/protocol/cmdid.hpp
index c3d3027..15e018d 100644
--- a/usrc/a8000_protocol/protocol/cmdid.hpp
+++ b/usrc/a8000_protocol/protocol/cmdid.hpp
@@ -158,8 +158,8 @@ typedef enum {
   kpipette_zmotor_move_to                      = 0x7506,
   kpipette_zmotor_read_zero_point_state        = 0x7507,
   kpipette_zmotor_read_dev_status_cache        = 0x7508,
-  kpipette_zmotor_read_pos                          = 0x7509,
-  kpipette_zmotor_read_enc_pos                      = 0x750A,
+  kpipette_zmotor_read_pos                     = 0x7509,
+  kpipette_zmotor_read_enc_pos                 = 0x750A,
 
   kpipette_pump_init_device           = 0x7580,
   kpipette_pump_take_tip              = 0x7581,
@@ -176,6 +176,9 @@ typedef enum {
   kpipette_read_pressure              = 0x758C,  //  ack:{state}
   kpipette_read_capacitance           = 0x758D,  //  ack:{state}
 
+  kpipette_test_pump_move_to_x100nl = 0x7600,  // int32_t x100nl, int32_t vcfgindex
+  kpipette_test_lld                 = 0x7601,  // int32_t container_pos, int32_t container_cpyid, int32_t liquid_cpyid
+
 } cmdid_t;
 
 typedef struct {
diff --git a/usrc/a8000_protocol/protocol/errorcode.cpp b/usrc/a8000_protocol/protocol/errorcode.cpp
index 4a03cc6..397e919 100644
--- a/usrc/a8000_protocol/protocol/errorcode.cpp
+++ b/usrc/a8000_protocol/protocol/errorcode.cpp
@@ -92,8 +92,7 @@ static ecode_table_item_t table[] = {
   ERR_ITERM(kwater_cooling_pelter_is_error),
   ERR_ITERM(kstep_motor_subic_init_fail),
   ERR_ITERM(kstep_motor_subic_offline),
-
-  
+  ERR_ITERM(kpipette_pm_positioning_abnormality),
 
 };
 
diff --git a/usrc/a8000_protocol/protocol/errorcode.hpp b/usrc/a8000_protocol/protocol/errorcode.hpp
index 58d2696..81ff19e 100644
--- a/usrc/a8000_protocol/protocol/errorcode.hpp
+++ b/usrc/a8000_protocol/protocol/errorcode.hpp
@@ -70,6 +70,7 @@ typedef enum {
   kpipette_error_pump_load_val_is_not_empty = 1503,
   kpipette_lld_error_no_liquid_detected     = 1504,
   kpipette_lld_error_pump_reach_max_pos     = 1505,
+  kpipette_pm_positioning_abnormality       = 1506,  // 电机定位异常
 
   kstep_motor_not_found_zero_point = 1600,
   kstep_motor_not_go_zero          = 1601,