update

components/pipette_module/pipette_ctrl_module_v2.cpp

@@ -288,7 +288,7 @@ int32_t PipetteModule::pipette_write_cmd_direct(uint8_t *tx, int32_t len, uint8_
     return err::ksubdevice_overtime;
   }
   m_smtp2.getack((char *)rx, rxlen);
-  ZLOGI(TAG, "rxlen = %d", *rxlen);
+  // ZLOGI(TAG, "rxlen = %d", *rxlen);
   return 0;
 }
 
@@ -316,12 +316,13 @@ void PipetteModule::push_snesor_sample_data(int32_t motor_pos, int32_t cap_val,
     return;
   }
 
-  ZLOGI(TAG, "sample mpos:%d cap:%d pressure_val:%d", motor_pos, cap_val, pressure_val);
+  ZLOGI(TAG, "sample %2d mpos:%2d cap:%4d pressure_val:%4d", capturedata_num, motor_pos, cap_val, pressure_val);
   capturedata_buf[capturedata_num].motor_pos    = motor_pos;
   capturedata_buf[capturedata_num].cap_val      = cap_val;
   capturedata_buf[capturedata_num].pressure_val = pressure_val;
   capturedata_num++;
 }
+//高试管800
 
 /*******************************************************************************
  *                                   PRIVATE                                   *

components/pipette_module/pipette_ctrl_module_v2.hpp

@@ -14,7 +14,7 @@
  */
 namespace iflytop {
 
-#define PIPETTEMODULE_SAMPLE_BUF_SIZE 100
+#define PIPETTEMODULE_SAMPLE_BUF_SIZE 300
 
 class PipetteModule : public ZIModule, public ZIPipetteCtrlModule {
   ENABLE_MODULE(PipetteModule, kpipette_ctrl_module, PC_VERSION);

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 SEND_CMD(fmt, ...)      sendcmd(true, "/1" fmt "R\r", ##__VA_ARGS__);
 #define SEND_CMD_NLOG(fmt, ...) sendcmd(false, "/1" fmt "R\r", ##__VA_ARGS__);
@@ -42,7 +42,7 @@ int32_t SMTP2V2::pump_get_state(int32_t* isbusy) {
 }
 int32_t SMTP2V2::pump_get_state_as_int(int32_t state_index, int32_t* val) {
   size_t rxlen = 0;
-  int    ret   = SEND_CMD("/1?%d\r", state_index);
+  int    ret   = SEND_CMD("?%d\r", state_index);
   if (ret != 0) {
     return ret;
   }
@@ -164,7 +164,7 @@ bool SMTP2V2::sendcmd_auto_retry(bool dump, const char* cmd) {
 bool SMTP2V2::_sendcmd(bool dump, const char* cmd) {
   m_rxNum = 0;
 
-#ifdef DUMP_HEX
+#if DUMP_HEX
   if (dump) {
     ZLOGI(TAG, "tx:%s", cmd);
   }
@@ -172,7 +172,7 @@ bool SMTP2V2::_sendcmd(bool dump, const char* cmd) {
 
   bool ret = _sendcmd_dma(cmd);
 
-#ifdef DUMP_HEX
+#if DUMP_HEX
   if (dump) {
     ZLOGI(TAG, "rx:%s", m_rxbuf);
   }

components/tmc/ic/ztmc5130.cpp

@@ -212,8 +212,10 @@ void TMC51X0::moveToEnd(int32_t direction, uint32_t velocityMax) {
 }
 
 void TMC51X0::moveBy(int32_t relativePosition, uint32_t velocityMax) {  // determine actual position and add numbers of ticks to move
-  relativePosition += readInt(TMC5130_XACTUAL);
-  moveTo(relativePosition, velocityMax);
+
+  int32_t pos    = getXACTUAL();
+  int32_t target = pos + relativePosition;
+  moveTo(target, velocityMax);
 }
 uint32_t TMC51X0::readXTARGET() { return readInt(TMC5130_XTARGET); }
 uint32_t TMC51X0::haspassedms(uint32_t now, uint32_t last) {