From 89e932fb391cb6043058f113db8512372416cdc4 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Fri, 20 Sep 2024 09:35:25 +0800
Subject: [PATCH] fix some bug

---
 .cproject                                          |   3 +-
 a8000_protocol                                     |   2 +-
 .../pipette_module/pipette_ctrl_module_v2.cpp      | 171 ++++++++++++---------
 .../pipette_module/pipette_ctrl_module_v2.hpp      |   6 +-
 sdk/components/tmc/ic/ztmc5130.cpp                 |   2 +-
 sdk/components/zcancmder/zcan_protocol_parser.cpp  |   2 +-
 6 files changed, 103 insertions(+), 83 deletions(-)

diff --git a/.cproject b/.cproject
index c89d1ed..2fb2360 100644
--- a/.cproject
+++ b/.cproject
@@ -29,7 +29,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.494792904" name="Convert to Intel Hex file (-O ihex)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.176411214" name="Use float with scanf from newlib-nano (-u _scanf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.164943344" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_cpp.667475581" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_cpp" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_cpp.value.standard_c_standard_cpp" valueType="enumerated"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_cpp.667475581" name="Runtime library" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_cpp" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_cpp.value.standard_c_standard_cpp" valueType="enumerated"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.553838709" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/a8000_subboard}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.764087106" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1243726437" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@@ -101,6 +101,7 @@
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.163881313" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.13625971" name="MCU G++ Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script.362679060" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script" value="${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld}" valueType="string"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.systemcalls.1895114880" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.systemcalls" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.systemcalls.value.none" valueType="enumerated"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.input.254649022" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.input">
 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
 									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
diff --git a/a8000_protocol b/a8000_protocol
index 48fe715..befb0cf 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit 48fe71561ae851deea3de371ef04276fa8d777f9
+Subproject commit befb0cfa58db25acb9e3a496e5e4414ac8797f88
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
index a71fa29..62c17ec 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
@@ -31,6 +31,8 @@
     }                                                                                             \
   }
 
+#define THREAD_START_WORK(...) thread_start_work(__FUNCTION__, __VA_ARGS__)
+
 #define PIPETTE_PREPARE_POS       800
 #define LLD_PREPARE_DISTRIBUT_POS 100
 #define LLF_DPOS                  1000
@@ -57,33 +59,34 @@ void PipetteModuleV2::initialize(int32_t id, config_t *config, hardward_config_t
 
   m_zm   = hardwaredcfg->zmotor;
   m_zm0p = hardwaredcfg->zmotor_0point;
+
+  m_zm->getGState();  // 读取状态，清空下复位标识
+  module_active_cfg();
 }
 
 void PipetteModuleV2::create_default_cfg(config_t *defaultcfg) {
-  static config_t cfg;
-
-  cfg.limit_ul                     = 200;
-  cfg.pump_acc                     = 14;
-  cfg.pump_dec                     = 14;
-  cfg.pump_vstart                  = 0;
-  cfg.pump_vstop                   = 900;
-  cfg.aspirate_pump_vel            = 500;  //
-  cfg.pump_vmax                    = 1000;
-  cfg.aspirate_zmotor_max_move_by  = 400;  // 50mm,tip头的长度
-  cfg.lld_pump_vel                 = 100;  // lld推荐使用速度为50->200,这里
-  cfg.lld_motor_vel_rpm            = 200;
-  cfg.lld_detect_period_ms         = 10;  // 100ms
-  cfg.lld_prepare_pos              = PIPETTE_PREPARE_POS;
-  cfg.lld_prepare_pre_distribut_ul = LLD_PREPARE_DISTRIBUT_POS;
-
-  cfg.zm_one_circle_pulse             = 10000;
-  cfg.zm_one_circle_pulse_denominator = 1;
-  cfg.zm_ihold                        = 1;
-  cfg.zm_irun                         = 3;
-  cfg.zm_iholddelay                   = 100;
-  cfg.zm_default_velocity             = 500;
-  cfg.zm_run_to_zero_speed            = 100;
-  cfg.zm_look_zero_edge_speed         = 100;
+  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->aspirate_zmotor_max_move_by  = 400;  // 50mm,tip头的长度
+  defaultcfg->lld_pump_vel                 = 100;  // lld推荐使用速度为50->200,这里
+  defaultcfg->lld_motor_vel_rpm            = 200;
+  defaultcfg->lld_detect_period_ms         = 10;  // 100ms
+  defaultcfg->lld_prepare_pos              = PIPETTE_PREPARE_POS;
+  defaultcfg->lld_prepare_pre_distribut_ul = LLD_PREPARE_DISTRIBUT_POS;
+
+  defaultcfg->zm_one_circle_pulse             = 10000;
+  defaultcfg->zm_one_circle_pulse_denominator = 1;
+  defaultcfg->zm_ihold                        = 1;
+  defaultcfg->zm_irun                         = 3;
+  defaultcfg->zm_iholddelay                   = 100;
+  defaultcfg->zm_default_velocity             = 500;
+  defaultcfg->zm_run_to_zero_speed            = 100;
+  defaultcfg->zm_look_zero_edge_speed         = 100;
 }
 int32_t PipetteModuleV2::getid(int32_t *id) {
   *id = m_id;
@@ -94,9 +97,9 @@ int32_t PipetteModuleV2::module_stop() {
   return 0;
 }
 int32_t PipetteModuleV2::module_active_cfg() {
-  DO(m_smtp2.pump_set_acc_and_dec(m_cfg.pump_acc, m_cfg.pump_dec));
-  DO(m_smtp2.pump_set_vstart(m_cfg.pump_vstart));
-  DO(m_smtp2.pump_set_vstop(m_cfg.pump_vstop));
+  m_smtp2.pump_set_acc_and_dec(m_cfg.pump_acc, m_cfg.pump_dec);
+  m_smtp2.pump_set_vstart(m_cfg.pump_vstart);
+  m_smtp2.pump_set_vstop(m_cfg.pump_vstop);
 
   m_zm->enable(false);
   m_zm->setIHOLD_IRUN(m_cfg.zm_ihold, m_cfg.zm_irun, m_cfg.zm_iholddelay);
@@ -133,7 +136,7 @@ int32_t PipetteModuleV2::module_active_cfg() {
   } break;
 
 #define XXX_STATE_REG(statekey, action) PROCESS_REG(statekey, action, ACTION_NONE)
-int32_t PipetteModuleV2::_module_xxx_reg(int32_t param_id, bool read, int32_t &val) {
+int32_t PipetteModuleV2::module_xxx_reg_impl(int32_t param_id, bool read, int32_t &val) {
   switch (param_id) {
     /***********************************************************************************************************************
      *                                                        STATE                                                        *
@@ -196,7 +199,7 @@ int32_t PipetteModuleV2::_module_xxx_reg(int32_t param_id, bool read, int32_t &v
 }
 
 int32_t PipetteModuleV2::module_xxx_reg(int32_t param_id, bool read, int32_t &val) {
-  int32_t retval = _module_xxx_reg(param_id, read, val);
+  int32_t retval = module_xxx_reg_impl(param_id, read, val);
   if (retval == 0 && m_config_update) {
     module_active_cfg();
   }
@@ -209,7 +212,7 @@ int32_t PipetteModuleV2::module_xxx_reg(int32_t param_id, bool read, int32_t &va
  ***********************************************************************************************************************/
 
 int32_t PipetteModuleV2::pipette_zmotor_enable(int32_t enable) {
-  ZLOGI(TAG, "m%d pipette_zmotor_enable %ld", m_id, enable);
+  // ZLOGI(TAG, "m%d pipette_zmotor_enable %ld", m_id, enable);
   m_thread.stop();
   m_zm->enable(enable);
   m_state.enable = enable;
@@ -225,12 +228,10 @@ int32_t PipetteModuleV2::pipette_zmotor_enable(int32_t enable) {
  * @return int32_t
  */
 int32_t PipetteModuleV2::pipette_zmotor_move_zero() {  //
-  thread_start_work([this]() {
-    do_zm_move_0p();                   // 移动到零点
-    if (creg.module_errorcode != 0) {  // 计算并更新零点坐标
-      zm_set_now_pos(0 + m_cfg.zm_dzero - m_cfg.zm_io_trigger_append_distance);
-      m_state.has_move_to_zero = 1;
-    }
+  THREAD_START_WORK([this]() {
+    do_zm_move_0p();  // 移动到零点
+    zm_set_now_pos(0 + m_cfg.zm_dzero - m_cfg.zm_io_trigger_append_distance);
+    m_state.has_move_to_zero = 1;
   });
   return 0;
 }
@@ -241,14 +242,14 @@ int32_t PipetteModuleV2::pipette_zmotor_move_zero() {  //
  * @return int32_t
  */
 int32_t PipetteModuleV2::pipette_zmotor_measure_distance() {
-  thread_start_work([this]() {
+  THREAD_START_WORK([this]() {
     int32_t startpos = zm_get_now_pos();
     do_zm_move_0p();  // 移动到零点
     int32_t dpos = zm_get_now_pos() - startpos;
-    if (creg.module_errorcode != 0) {  // 计算并更新零点坐标
-      zm_set_now_pos(0 + m_cfg.zm_dzero - m_cfg.zm_io_trigger_append_distance);
-      m_state.has_move_to_zero = 1;
-    }
+
+    zm_set_now_pos(0 + m_cfg.zm_dzero - m_cfg.zm_io_trigger_append_distance);
+    m_state.has_move_to_zero = 1;
+
     m_asynchronous_result.result0 = 0 + m_cfg.zm_dzero - m_cfg.zm_io_trigger_append_distance - dpos;
   });
   return 0;
@@ -271,7 +272,8 @@ int32_t PipetteModuleV2::pipette_zmotor_read_measure_distance_result(int32_t *re
  * @return int32_t
  */
 int32_t PipetteModuleV2::pipette_zmotor_move_by(int32_t distance) {
-  thread_start_work([this, distance]() {
+  THREAD_START_WORK([this, distance]() {
+    module_active_cfg();
     zm_move_by(distance, m_cfg.zm_default_velocity);
     zm_waitfor_stop();
   });
@@ -284,11 +286,10 @@ int32_t PipetteModuleV2::pipette_zmotor_move_by(int32_t distance) {
  * @return int32_t
  */
 int32_t PipetteModuleV2::pipette_zmotor_move_to(int32_t tox) {
-  if (m_state.has_move_to_zero == 0) return err::kstep_motor_not_move_to_zero;
   if (m_cfg.zm_min_d != 0 && tox < m_cfg.zm_min_d) tox = m_cfg.zm_min_d;
   if (m_cfg.zm_max_d != 0 && tox > m_cfg.zm_max_d) tox = m_cfg.zm_max_d;
 
-  thread_start_work([this, tox]() {
+  THREAD_START_WORK([this, tox]() {
     zm_move_to(tox, m_cfg.zm_default_velocity);
     zm_waitfor_stop();
   });
@@ -301,13 +302,12 @@ int32_t PipetteModuleV2::pipette_zmotor_move_to(int32_t tox) {
  * @return int32_t
  */
 int32_t PipetteModuleV2::pipette_zmotor_move_to_zero_point_quick() {
-  if (m_state.has_move_to_zero == 0) return err::kstep_motor_not_move_to_zero;
-  thread_start_work([this]() { do_pipette_zmotor_move_to_zero_point_quick(); });
+  THREAD_START_WORK([this]() { do_pipette_zmotor_move_to_zero_point_quick(); });
   return 0;
 }
 
 int32_t PipetteModuleV2::pipette_init_device() {
-  thread_start_work([this]() {
+  THREAD_START_WORK([this]() {
     DO_IN_THREAD(m_smtp2.pump_init(m_cfg.pump_vmax));
     pump_waitfor_stop();
     //
@@ -319,14 +319,14 @@ int32_t PipetteModuleV2::pipette_init_device() {
 }
 
 int32_t PipetteModuleV2::pipette_put_tip() {
-  thread_start_work([this]() { DO_IN_THREAD(m_smtp2.pump_put_tip()); });
+  THREAD_START_WORK([this]() { DO_IN_THREAD(m_smtp2.pump_put_tip()); });
   return 0;
 }
 
 int32_t PipetteModuleV2::pipette_lld_prepare() {
   if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
 
-  thread_start_work([this]() {
+  THREAD_START_WORK([this]() {
     DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, m_cfg.lld_prepare_pos));  // 移动到中点
     pump_waitfor_stop();
     m_state.lld_prepared = 1;
@@ -342,7 +342,7 @@ int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t zdpos, int32_t c_t
   DO(m_smtp2.pump_get_tip_state(&tipstate));
   if (tipstate != 0) return err::kpipette_error_tipisload_when_lld_prepare;
 
-  thread_start_work([this, lldtype, zdpos, c_threshold, p_threshold]() {  //
+  THREAD_START_WORK([this, lldtype, zdpos, c_threshold, p_threshold]() {  //
     m_state.lld_prepared = 0;                                             // 失效m_state.lld_prepared
 
     int32_t start_capacitance = 0;  // 启动时电容数值
@@ -434,7 +434,7 @@ int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t zdpos, int32_t c_t
 int32_t PipetteModuleV2::pipette_aspirate_prepare() {
   if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
 
-  thread_start_work([this]() {  //
+  THREAD_START_WORK([this]() {  //
     ZLOGI(TAG, "pipette_aspirate_prepare");
     m_state.aspirate_cfg_eigen_time = 0;
     m_state.aspirate_cfg_p_thre     = 0;
@@ -471,7 +471,7 @@ int32_t PipetteModuleV2::pipette_aspirate_set_operation_verifi_tolerance(int32_t
 int32_t PipetteModuleV2::pipette_aspirate(int32_t ul) {
   if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
 
-  thread_start_work([this, ul]() {
+  THREAD_START_WORK([this, ul]() {
     m_state.lld_prepared = 0;
 
     DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, ASPIRATE_POS));
@@ -499,7 +499,7 @@ int32_t PipetteModuleV2::pipette_aspirate(int32_t ul) {
 int32_t PipetteModuleV2::pipette_aspirate_and_verify(int32_t ul) {
   if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
 
-  thread_start_work([this, ul]() {
+  THREAD_START_WORK([this, ul]() {
     m_state.lld_prepared = 0;
 
     // zmotor and pump  move
@@ -523,7 +523,7 @@ int32_t PipetteModuleV2::pipette_aspirate_and_verify(int32_t ul) {
 int32_t PipetteModuleV2::pipette_shake_up(int32_t ul, int32_t times) {
   if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
 
-  thread_start_work([this, ul, times]() {
+  THREAD_START_WORK([this, ul, times]() {
     //
     int32_t dpos = 0;
 
@@ -564,7 +564,7 @@ int32_t PipetteModuleV2::pipette_shake_up(int32_t ul, int32_t times) {
 int32_t PipetteModuleV2::pipette_aspirate_infer_pressure(int32_t ul) {
   if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
 
-  thread_start_work([this, ul]() {
+  THREAD_START_WORK([this, ul]() {
     //
     ZLOGI(TAG, "pipette_aspirate_infer_pressure %d", ul);
     m_asynchronous_result.result0 = 0;
@@ -583,7 +583,7 @@ int32_t PipetteModuleV2::pipette_aspirate_infer_eigen_time(int32_t ul) {
   if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
 
   //
-  thread_start_work([this, ul]() {
+  THREAD_START_WORK([this, ul]() {
     //
     ZLOGI(TAG, "pipette_aspirate_infer_eigen_time %d", ul);
     m_asynchronous_result.result0 = 0;
@@ -684,12 +684,14 @@ void PipetteModuleV2::zm_set_now_pos(int32_t x) {
   m_zm->set_enc_val(x);
 }
 void PipetteModuleV2::zm_move_to(int32_t x, int32_t v) {
+  ZLOGI(TAG, "zm_move_to %d %d", x, v);
   if (m_cfg.zm_enable_enc != 0) {
     m_zm->setXACTUAL(m_zm->read_enc_val());
   }
   m_zm->moveTo(x, v);
 }
 void PipetteModuleV2::zm_move_by(int32_t dx, int32_t v) {
+  ZLOGI(TAG, "zm_move_by %d %d", dx, v);
   if (m_cfg.zm_enable_enc != 0) {
     m_zm->setXACTUAL(m_zm->read_enc_val());
   }
@@ -787,14 +789,22 @@ int32_t PipetteModuleV2::pipette_get_sensor_sample_data_num(int32_t *num) {
  * @brief 参数检查
  */
 int32_t PipetteModuleV2::bfcall(int32_t cmdid, uint8_t *param, int32_t len) {
-  ZLOGI(TAG, "bfcall %s", cmdid2str(cmdid));
+  if (cmdid == kmodule_get_status) return 0;
+
+  ZLOGI(TAG, "m%d bfcall %s ->", m_id, cmdid2str(cmdid));
 
   if (cmdid == kpipette_zmotor_move_zero) goto check;
-  if (cmdid == kpipette_zmotor_move_to_zero_point_quick) goto check;
+  if (cmdid == kpipette_zmotor_move_to_zero_point_quick) {
+    if (m_state.has_move_to_zero == 0) return err::kstep_motor_not_move_to_zero;
+    goto check;
+  }
   if (cmdid == kpipette_zmotor_measure_distance) goto check;
   if (cmdid == kpipette_zmotor_read_measure_distance_result) goto check;
   if (cmdid == kpipette_zmotor_move_by) goto check;
-  if (cmdid == kpipette_zmotor_move_to) goto check;
+  if (cmdid == kpipette_zmotor_move_to) {
+    if (m_state.has_move_to_zero == 0) return err::kstep_motor_not_move_to_zero;
+    goto check;
+  }
   if (cmdid == kpipette_init_device) goto check;
   if (cmdid == kpipette_put_tip) goto check;
   if (cmdid == kpipette_lld_prepare) goto check;
@@ -831,11 +841,13 @@ check:
 
   return 0;
 }
-void PipetteModuleV2::aftercall(int32_t val) {
-  if (val == 0) {
-    ZLOGI(TAG, "call success");
+void PipetteModuleV2::aftercall(int32_t cmdid, uint8_t *param, int32_t len, uint8_t *ack, int32_t acklen, int32_t ret) {
+  if (cmdid == kmodule_get_status) return;
+
+  if (ret == 0) {
+    ZLOGI(TAG, "<- call success", m_id);
   } else {
-    ZLOGI(TAG, "call fail,%s(%d)", err::error2str(val), val);
+    ZLOGI(TAG, "<- call fail,%s(%d)", err::error2str(ret), ret);
   }
 }
 void PipetteModuleV2::runingcheck() {
@@ -860,17 +872,17 @@ void PipetteModuleV2::runingcheck() {
 
   // 检查电机状态
   {
-    auto state = m_zm->getGState();
-    if (state.reset) {
-      ZLOGE(TAG, "motor reset when run");
-      throw zapp_exception(err::kstep_motor_subic_reset);
-    } else if (state.uv_cp) {
-      ZLOGE(TAG, "motor uv_cp when run");
-      throw zapp_exception(err::kstep_motor_uv_cp);
-    } else if (state.drv_err) {
-      ZLOGE(TAG, "motor drv_err when run");
-      throw zapp_exception(err::kstep_motor_drv_err);
-    }
+    // auto state = m_zm->getGState();
+    // if (state.reset) {
+    //   ZLOGE(TAG, "motor reset when run");
+    //   throw zapp_exception(err::kstep_motor_subic_reset);
+    // } else if (state.uv_cp) {
+    //   ZLOGE(TAG, "motor uv_cp when run");
+    //   throw zapp_exception(err::kstep_motor_uv_cp);
+    // } else if (state.drv_err) {
+    //   ZLOGE(TAG, "motor drv_err when run");
+    //   throw zapp_exception(err::kstep_motor_drv_err);
+    // }
   }
 }
 
@@ -881,12 +893,14 @@ void PipetteModuleV2::thread_delay(int32_t delayms) {  //
     throw zapp_thread_stoped_exception();
   }
 }
-void PipetteModuleV2::thread_start_work(function<void()> fn) {
+void PipetteModuleV2::thread_start_work(const char *fnname, function<void()> fn) {
   m_thread.stop();
   creg.module_status    = 1;
   creg.module_errorcode = 0;
 
-  m_thread.start([this, fn]() {
+  m_thread.start([this, fnname, fn]() {
+    osDelay(1);
+    ZLOGI(TAG, "start work -> %s", fnname);
     int32_t pump_before_pos_ul;
     int32_t pump_after_pos_ul;
 
@@ -908,12 +922,17 @@ void PipetteModuleV2::thread_start_work(function<void()> fn) {
       m_state.dul    = pump_after_pos_ul - pump_before_pos_ul;
       m_state.dpos   = endpos - startpos;
     } catch (const zapp_thread_stoped_exception &e) {  // break by usr
+      ZLOGI(TAG, "break by usr");
       m_zm->stop();
       m_smtp2.pump_stop();
     } catch (const zapp_exception &e) {
+      ZLOGI(TAG, "catch exception %d", e.ecode());
       m_zm->stop();
       m_smtp2.pump_stop();
       creg.module_errorcode = e.ecode();
     }
+
+    creg.module_status = 0;
+    ZLOGI(TAG, "<- end work");
   });
 }
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
index 25e1f7c..c8e320a 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
@@ -191,7 +191,7 @@ class PipetteModuleV2 : public ZIModule {
   virtual int32_t pipette_zmotor_read_dev_status_cache(int32_t *devStatus);
 
  private:
-  int32_t _module_xxx_reg(int32_t param_id, bool read, int32_t &val);
+  int32_t module_xxx_reg_impl(int32_t param_id, bool read, int32_t &val);
   void    beforecallfn(const char *fn);
   void    aftercallfn(const char *fn);
 
@@ -230,9 +230,9 @@ class PipetteModuleV2 : public ZIModule {
    *                                                        SLICE                                                        *
    ***********************************************************************************************************************/
   virtual int32_t bfcall(int32_t cmdid, uint8_t *param, int32_t len) override;
-  virtual void    aftercall(int32_t val);
+  virtual void    aftercall(int32_t cmdid, uint8_t *param, int32_t len, uint8_t *ack, int32_t acklen, int32_t ret);
   void            runingcheck();
   void            thread_delay(int32_t delayms);
-  void            thread_start_work(function<void()> fn);
+  void            thread_start_work(const char *fnname, function<void()> fn);
 };
 }  // namespace iflytop
diff --git a/sdk/components/tmc/ic/ztmc5130.cpp b/sdk/components/tmc/ic/ztmc5130.cpp
index b244f2b..9f3c646 100644
--- a/sdk/components/tmc/ic/ztmc5130.cpp
+++ b/sdk/components/tmc/ic/ztmc5130.cpp
@@ -203,7 +203,7 @@ void TMC51X0::moveTo(int32_t position, uint32_t velocityMax) {
 }
 void TMC51X0::moveToEnd(int32_t direction, uint32_t velocityMax) {
   ZLOGI("TMC5130", "moveToEnd %d %d", direction, velocityMax);
-  if (direction >= 0) {
+  if (direction > 0) {
     writeInt(TMC5130_RAMPMODE, TMC5130_MODE_POSITION);
     writeInt(TMC5130_VMAX, to_motor_vel(velocityMax));
     writeInt(TMC5130_XTARGET, INT32_MAX / 2 - 1000);
diff --git a/sdk/components/zcancmder/zcan_protocol_parser.cpp b/sdk/components/zcancmder/zcan_protocol_parser.cpp
index bac0970..045e738 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.cpp
+++ b/sdk/components/zcancmder/zcan_protocol_parser.cpp
@@ -237,7 +237,7 @@ void ZCanProtocolParser::_onRceivePacket(ZIModule* module, zcr_cmd_header_t* rxc
 
   int32_t ecode = module->bfcall(cmdid, param, len);
   if (ecode == 0) ecode = fn->cb(&cxt);
-  module->aftercall(ecode);
+  module->aftercall(cmdid, param, len, cxt.ackbuf, cxt.acklen, ecode);
 
   if (ecode != 0) {
     m_cancmder->sendErrorAck(rxcmd, ecode);