update

sdk/components/pipette_module/pipette_ctrl_module.cpp

@@ -438,7 +438,7 @@ void PipetteModule::_do_lld(int32_t container_pos, platinfo_t *platform_info, co
 
   // 移动到转移位置
   ZLOGI(TAG, "-->zm move to transform pos");
-  zm_move_to_block(0, kpm_v_max, 0);
+  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);

sdk/components/pipette_module/pipette_ctrl_module_pm_ctrl.cpp

@@ -75,6 +75,7 @@ void PipetteModule::_pump_move_to_x100nl_block(bool accurate, double x100nl, int
     int32_t pressure_uuid               = 0;
     int32_t pressure_uuid_is_change     = 0;
     int32_t pressure_uuid_is_change_cnt = 0;
+    int32_t pressure_lost_packet_num    = 0;
     int32_t isbusy;
     while (true) {
       if (!smtpPressureStreamProcesser.isReady()) {
@@ -82,12 +83,13 @@ void PipetteModule::_pump_move_to_x100nl_block(bool accurate, double x100nl, int
         continue;
       }
 
-      smtpPressureStreamProcesser.getPressure(&pressure, &pressure_uuid, &pressure_uuid_is_change);
+      smtpPressureStreamProcesser.getPressure(&pressure, &pressure_uuid, &pressure_lost_packet_num, &pressure_uuid_is_change);
       if (pressure_uuid_is_change) {
         pressure_uuid_is_change_cnt = 0;
         ZLOGI(TAG, "pressure:%d (%d)", pressure, pressure_uuid);
         if (accurate && i == 0) {
           push_aspiration_pressure_sample_data(pressure);
+          for (int j = 0; j < pressure_lost_packet_num; j++) push_aspiration_pressure_sample_data(pressure);
         }
       } else {
         pressure_uuid_is_change_cnt++;
@@ -102,7 +104,6 @@ void PipetteModule::_pump_move_to_x100nl_block(bool accurate, double x100nl, int
       m_thread.sleep(5);
       if (m_thread.getExitFlag()) throw zapp_thread_stoped_exception();
     }
-    push_aspiration_pressure_sample_data(-1);  // 结束标志
 
     int32_t targetpos              = x100nl * 100;
     int32_t after_pos              = pump_read_pos_nl();

sdk/components/pipette_module/pipette_ctrl_module_test.cpp

@@ -23,7 +23,7 @@ int32_t PipetteModule::pipette_test_pump_move_to_x100nl(int32_t x100nl, int32_t
     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
 
-    pump_move_by_x100nl_accurate_block(x100nl, vcfgcpyid);  //
+    pump_move_to_x100nl_accurate_block(x100nl, vcfgcpyid);  //
     m_state.asynchronous_result0 = m_last_pump_operation_diff_val;
   });
   return 0;

sdk/components/pipette_module/pipette_ctrl_module_utils.cpp

@@ -120,6 +120,7 @@ void PipetteModule::push_aspiration_pressure_sample_data(int32_t pressure_val) {
     return;
   }
   // ZLOGI(TAG, "sample %2d pressure_val:%4d", aspiration_pressure_record_buf_num, pressure_val);
+
   asp_pressure_cache[asp_pressure_cache_num] = pressure_val;
   asp_pressure_cache_num++;
 }

sdk/components/sensors/smtp2_v2/smtp2_v2.cpp

@@ -260,9 +260,11 @@ int32_t SMTP2V2::pump_aspirate_plld(int32_t pressure_threshold, VelCfg* vcfg) {
     return ret;
   }
 
-  return runaction(true, "/1N2L%d,%dv%dc%dV%df1t%d,1f0R\r",                                           //
+  // return runaction(true, "/1N2L%d,%dv%dc%dV%df1t%d,1f0R\r",                                           //
+  //                  vcfg->acc, vcfg->dec, vcfg->vstart * 1000, vcfg->vstop * 1000, vcfg->vmax * 1000,  //
+  //                  pressure_threshold);
+  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) {

sdk/components/sensors/smtp2_v2/smtp_pressure_stream_processer.hpp

@@ -37,15 +37,16 @@ class SmtpPressureStreamProcesser {
       m_is_ready_flag = true;
     }
   }
-  void getPressure(int32_t *pressure, int32_t *pressureuuid, int32_t *uuidIsChange) const {
+  void getPressure(int32_t *pressure, int32_t *pressureuuid, int32_t *lostpacket, int32_t *uuidIsChange) const {
     __disable_irq();
     if (pressure) *pressure = m_pressure;
     if (pressureuuid) {
       if (*pressureuuid != m_pressure_uuid) {
-        if (uuidIsChange) *uuidIsChange = 1;
+        *uuidIsChange = 1;
+        *lostpacket   = m_pressure_uuid - *pressureuuid - 1;
         *pressureuuid = m_pressure_uuid;
       } else {
-        if (uuidIsChange) *uuidIsChange = 0;
+        *uuidIsChange = 0;
       }
     }
     __enable_irq();