v1214| 更新移液枪归零逻辑

.vscode/settings.json

@@ -55,5 +55,5 @@
     },
     "files.autoGuessEncoding": false,
     "files.encoding": "utf8",
-    "autoGitCopilot.enabled": true
+    "autoGitCopilot.enabled": false
 }

sdk/components/pipette_module/pipette_ctrl_module.cpp

@@ -778,7 +778,7 @@ int32_t PipetteModule::pipette_pump_distribu_all() {
  *                                                    EXT_API_UTILS                                                    *
  ***********************************************************************************************************************/
 int32_t PipetteModule::pipette_zmotor_read_zero_point_state(int32_t *state) {
-  *state = zm0p_is_trigger();
+  *state = m_zm0p->getState();
   return 0;
 }
 int32_t PipetteModule::pipette_zmotor_read_dev_status_cache(int32_t *devStatus) {  //

sdk/components/pipette_module/pipette_ctrl_module.hpp

@@ -204,6 +204,7 @@ class PipetteModule : public ZIModule {
   int32_t zm_get_now_pos();
   void    zm_set_now_pos(int32_t x);
   bool    zm0p_is_trigger();
+  bool    zm0p_is_release();
 
   void zm_apply_vcfg(int32_t vbasecfgindex, int32_t vel);
   void zm_sync_base_cfg();

sdk/components/pipette_module/pipette_ctrl_module_zm_ctrl.cpp

@@ -56,12 +56,9 @@ void PipetteModule::zm_move_to_lld_end_pos_block(int32_t container_pos, containe
   zm_move_to_block(container_pos + containInfo->container_depth - containInfo->lld_end_pos_margin, vbcpyid, vel);
 }
 
-
-
-
 void PipetteModule::do_zm_move_0p() {
   bool is_trigger = false;
-  if (!zm0p_is_trigger()) {
+  if (zm0p_is_release()) {
     ZLOGI(TAG, "move to zero");
     zm_move_to_end(-1, kzm_v_move_to_zero);
     zm_waitfor_zm0p_trigger_and_stop_motor(&is_trigger);
@@ -76,7 +73,7 @@ void PipetteModule::do_zm_move_0p() {
     if (!is_trigger) throw zapp_exception(err::kstep_motor_not_found_point_edge);
   }
 
-  if (!zm0p_is_trigger()) {
+  if (zm0p_is_release()) {
     ZLOGI(TAG, "move to zero edge again");
     zm_move_by(-100 /*10mm */, kzm_v_look_zero_edge, 0);
     zm_waitfor_zm0p_trigger_and_stop_motor(&is_trigger);
@@ -99,7 +96,7 @@ void PipetteModule::zm_move_to_zero_quick_block() {
   // 期望偏差
   int32_t expectation_dpos = -zmbcfg.io_trigger_append_distance + 0 + zmbcfg.dzero - zm_get_now_pos();
   int32_t startpos         = zm_get_now_pos();
-  if (!zm0p_is_trigger()) {
+  if (zm0p_is_release()) {
     // 快速移动到零点
     // moveTo(0 + zmbcfg.dzero, zmbcfg.default_velocity);
     zm_move_to(0 + zmbcfg.dzero, kzm_v_default, 0);
@@ -165,7 +162,23 @@ void PipetteModule::zm_update_dzero(int32_t dzero) {
   zmbcfg.dzero   = dzero;
   zm_set_now_pos(nowabs + zmbcfg.dzero);
 }
-bool PipetteModule::zm0p_is_trigger() { return m_zm0p->getState(); }
+bool PipetteModule::zm0p_is_trigger() {
+  for (size_t i = 0; i < 10; i++) {
+    if (!m_zm0p->getState()) return false;
+    zos_early_delayus(100);
+  }
+
+  return true;
+}
+
+bool PipetteModule::zm0p_is_release() {
+  for (size_t i = 0; i < 10; i++) {
+    if (m_zm0p->getState()) return false;
+    zos_early_delayus(100);
+  }
+
+  return true;
+}
 
 void PipetteModule::zm_apply_vcfg(int32_t vbasecfgindex, int32_t vel) {
   ZLOGI(TAG, "zm_apply_vcfg %s", get_zm_vcpyid_name((zm_vcpyid_t)vbasecfgindex));
@@ -211,7 +224,7 @@ void PipetteModule::zm_sync_base_cfg() {
 
 void PipetteModule::zm_waitfor_zm0p_trigger_and_stop_motor(bool *triggerEdge) {
   if (triggerEdge) *triggerEdge = true;
-  while (!zm0p_is_trigger()) {
+  while (zm0p_is_release()) {
     if (m_zm->isStoped()) {
       ZLOGI(TAG, "motor stop first.....");
       if (triggerEdge) *triggerEdge = false;

usrc/version.h

@@ -1,2 +1,2 @@
 #pragma once
-#define APP_VERSION           1213
+#define APP_VERSION           1214