From 3e6920ecb8fef9f93dfb0d459af8a0dab1a73ee3 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Thu, 31 Oct 2024 09:43:03 +0800
Subject: [PATCH] update

---
 .../pipette_module/pipette_ctrl_module_v2.cpp      | 36 ++++++++++++++--------
 usrc/project_configs.h                             |  2 +-
 2 files changed, 24 insertions(+), 14 deletions(-)

diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
index 59b475f..c715acc 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
@@ -33,8 +33,8 @@
 
 #define THREAD_START_WORK(...) thread_start_work(__FUNCTION__, __VA_ARGS__)
 
-#define PIPETTE_PREPARE_POS       550
-#define LLD_PREPARE_DISTRIBUT_POS 100
+#define PIPETTE_PREPARE_POS       250
+#define LLD_PREPARE_DISTRIBUT_POS 50
 // #define LLF_DPOS                  1000
 #define ASPIRATE_POS 150
 
@@ -70,13 +70,13 @@ void PipetteModuleV2::initialize(int32_t id, config_t *config, hardward_config_t
 
 void PipetteModuleV2::create_default_cfg(config_t *defaultcfg) {
   defaultcfg->limit_ul                     = 200;
-  defaultcfg->pump_acc                     = 14;
-  defaultcfg->pump_dec                     = 14;
-  defaultcfg->pump_vstart                  = 0;
-  defaultcfg->pump_vstop                   = 900;
-  defaultcfg->aspirate_pump_vel            = 500;  //
-  defaultcfg->pump_vmax                    = 1000;
-  defaultcfg->lld_pump_vel                 = 80;  // lld推荐使用速度为50->200,这里
+  defaultcfg->pump_acc                     = 18;
+  defaultcfg->pump_dec                     = 18;
+  defaultcfg->pump_vstart                  = 200;
+  defaultcfg->pump_vstop                   = 300;
+  defaultcfg->aspirate_pump_vel            = 500;   //
+  defaultcfg->pump_vmax                    = 1000;  // 1000已经是最大速度
+  defaultcfg->lld_pump_vel                 = 80;    // lld推荐使用速度为50->200,这里
   defaultcfg->lld_motor_vel_rpm            = 80;
   defaultcfg->lld_detect_period_ms         = 1;  // 100ms
   defaultcfg->lld_prepare_pos              = PIPETTE_PREPARE_POS;
@@ -331,12 +331,22 @@ int32_t PipetteModuleV2::pipette_put_tip() {
 
 int32_t PipetteModuleV2::pipette_lld_prepare() {
   THREAD_START_WORK([this]() {
+    if (m_state.lld_prepared == 1) {
+      ZLOGI(TAG, "has already prepared");
+      return;
+    }
+
     ZLOGI(TAG, "zmotor move to zero");
     zm_move_to(0, m_cfg.zm_default_velocity);
     zm_waitfor_stop();
-    ZLOGI(TAG, "pump move to 0 pos");
-    DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0));  // 移动到零点
-    pump_waitfor_stop();
+
+    int32_t tipstate = 0;
+    pump_read_tip_state(&tipstate);
+    if (tipstate != 0) {
+      ZLOGI(TAG, "pump move to 0 pos");
+      DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0));  // 移动到零点
+      pump_waitfor_stop();
+    }
 
     ZLOGI(TAG, "pump move to lld_prepare_pos %d", m_cfg.lld_prepare_pos);
     DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, m_cfg.lld_prepare_pos));  // 移动到中点
@@ -548,7 +558,7 @@ int32_t PipetteModuleV2::pipette_shake_up(int32_t ul, int32_t times) {
     // first aspirate
     // if (m_state.aspirate_cfg_llf_zm_rpm) zm_move_by(LLF_DPOS, m_state.aspirate_cfg_llf_zm_rpm);
     if (m_state.aspirate_cfg_llf_zm_rpm != 0) {
-        zm_move_to(m_state.llf_endz, m_state.aspirate_cfg_llf_zm_rpm);
+      zm_move_to(m_state.llf_endz, m_state.aspirate_cfg_llf_zm_rpm);
     }
 
     DO_IN_THREAD(m_smtp2.pump_aspirate(m_cfg.aspirate_pump_vel, ul));
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 61f8985..9f75fbb 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           602
+#define PC_VERSION           603
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1