From 04e23bac5f5b662b857e33917cc732e8b2fb7899 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Fri, 29 Dec 2023 13:09:50 +0800
Subject: [PATCH] update

---
 README.md       | 110 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 sdk             |   2 +-
 usrc/device.cpp |   5 +++
 3 files changed, 116 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 6484f07..14e6f46 100644
--- a/README.md
+++ b/README.md
@@ -7,3 +7,113 @@
 git submodule update --init --recursive
 ```
 
+```
+# 测试指令
+a8000_optical_close_laser (mid,type)
+a8000_optical_module_power_ctrl (mid,state)
+a8000_optical_open_laser (mid,type)
+a8000_optical_read_laster_adc_val (type,mid)
+a8000_optical_read_scanner_adc_val (type,mid)
+a8000_optical_scan_current_point_amp_adc_val (type,mid,lastergain,ampgain)
+a8000_optical_set_laster_gain (type,mid,gain)
+a8000_optical_set_scan_amp_gain (type,mid,gain)
+app_dump_reg (mid,regindex)
+app_dump_regs (mid)
+app_module_read_raw_str (mid,size)
+app_scanmodule ()
+app_wait_for_module (mid,timeout)
+blower_set_val (bool on)
+dumpreg (mid)
+line_locking_solenoid_valve (bool on)
+module_active_cfg (mid)
+module_break (mid)
+module_clear_error (mid)
+module_enable (mid, enable)
+module_factory_reset (mid)
+module_flush_cfg (mid)
+module_get_error (mid)
+module_get_inited_flag (mid)
+module_get_last_exec_status (mid)
+module_get_reg (mid, param_id)
+module_get_status (mid)
+module_ping (mid)
+module_read_adc (mid,adc_id, adcindex)
+module_read_raw (mid, startindex)
+module_readio (mid)
+module_set_inited_flag (mid, flag)
+module_set_reg (mid, param_id, param_value)
+module_start (mid)
+module_stop (mid)
+module_writeio (mid,ioindex,io)
+motor_calculated_pos_by_move_to_zero (mid)
+motor_easy_move_by (mid, distance)
+motor_easy_move_to (mid, position)
+motor_easy_move_to_io (mid, ioindex, direction)
+motor_easy_move_to_zero (mid, direction)
+motor_easy_rotate (mid, direction)
+motor_easy_set_current_pos (mid, pos)
+motor_enable (mid, enable)
+motor_move_by (mid, distance, motor_velocity, acc)
+motor_move_by_acctime (mid, distance, motor_velocity, acctime)
+motor_move_to (mid, position, motor_velocity, acc)
+motor_move_to_acctime (mid, position, motor_velocity, acctime)
+motor_move_to_torque (mid, pos, torque, overtime)
+motor_move_to_zero_backward (mid, findzerospeed, findzeroedge_speed, acc, overtime)
+motor_move_to_zero_backward_and_calculated_shift (mid, findzerospeed, findzeroedge_speed, acc, overtime)
+motor_move_to_zero_forward (mid, findzerospeed, findzeroedge_speed, acc, overtime)
+motor_move_to_zero_forward_and_calculated_shift (mid, findzerospeed, findzeroedge_speed, acc, overtime)
+motor_read_pos (mid)
+motor_rotate (mid, direction, motor_velocity, acc)
+motor_rotate_acctime (mid, direction, motor_velocity, acctime)
+motor_rotate_with_torque (mid, pos, torque)
+motor_set_current_pos_by_change_shift (mid, pos)
+pipette_ctrl_init_device (mid)
+pipette_ctrl_move_to_ul (mid, ul)
+pipette_ctrl_put_tip (mid)
+scanmodule ()
+sleep_ms (ms)
+xymotor_calculated_pos_by_move_to_zero (mid)
+xymotor_enable (mid, enable)
+xymotor_move_by (mid, dx, dy, motor_velocity)
+xymotor_move_to (mid, x, y, motor_velocity)
+xymotor_move_to_zero (mid)
+xymotor_move_to_zero_and_calculated_shift (mid)
+xymotor_read_pos (mid)
+
+
+# 舵机控制
+电机移动:  motor_easy_move_to(id,pos)
+电机使能:  motor_enable(id,enable)
+读取位置:  module_get_reg(id,1001)
+设置扭矩:  module_set_reg(id,1077)
+读取扭矩:  module_get_reg(id,1077)
+
+# 电机控制
+电机归零:  motor_easy_move_to_zero(id,-1);
+电机移动:  motor_easy_move_to(id,pos)
+电机使能:  motor_enable(id,enable)
+读取位置:  module_get_reg(id,1001)
+
+# XY控制
+使能: xymotor_enable(id,enable)
+归零: xymotor_move_to_zero(id)
+移动: xymotor_move_to(id,x,y,velocity)
+通过归零获取当前位置: xymotor_calculated_pos_by_move_to_zero(mid)
+
+# 主轴控制
+电机使能:  motor_enable(id,enable)
+电机正转:  motor_easy_rotate (id, 1)
+电机反转:  motor_easy_rotate (id, -1)
+电机停止:  module_stop(id,pos)
+
+# 继电器控制
+    blower_set_val (bool on)
+    line_locking_solenoid_valve (bool on)
+
+# 延时
+    sleep_ms (ms)
+
+# 等待动作完成
+    app_wait_for_module (mid,timeout)
+
+```
\ No newline at end of file
diff --git a/sdk b/sdk
index c754d77..e0f845b 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit c754d770814e82b81340d943a3383fb81719a6fa
+Subproject commit e0f845bbbd3c31562357b7423a58682ab373c406
diff --git a/usrc/device.cpp b/usrc/device.cpp
index 972669a..561261c 100644
--- a/usrc/device.cpp
+++ b/usrc/device.cpp
@@ -34,6 +34,10 @@ void Device::init() {
   init_dm();
   init_bus();
   sub_module_init();
+
+  blower_init();
+  line_locking_solenoid_valve_init();
+  
   ZLOGI(TAG, "init end...");
 }
 
@@ -109,6 +113,7 @@ void Device::sub_module_init() {
     int idnum = 10 + i;
     ZLOGI(TAG, "init servo:%d", idnum);
     mini_servo[i].initialize(idnum, &m_feitebus, idnum, &servo_cfg);
+    mini_servo[i].enable(false);
     m_device_manager.registerModule(&mini_servo[i]);
   }
   /**