diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 09534a6..08c9439 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index 1eb7a78..0660fd8 100644
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -64,7 +64,7 @@
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 7 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE ((size_t)30000)
+#define configTOTAL_HEAP_SIZE ((size_t)50000)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1
diff --git a/Intelligent_winding_robot_main_board.ioc b/Intelligent_winding_robot_main_board.ioc
index d8afeb7..77cb4ad 100644
--- a/Intelligent_winding_robot_main_board.ioc
+++ b/Intelligent_winding_robot_main_board.ioc
@@ -62,7 +62,7 @@ Dma.USART3_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphData
FREERTOS.FootprintOK=true
FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_RECURSIVE_MUTEXES,configUSE_NEWLIB_REENTRANT,configTOTAL_HEAP_SIZE
FREERTOS.Tasks01=defaultTask,0,512,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL
-FREERTOS.configTOTAL_HEAP_SIZE=30000
+FREERTOS.configTOTAL_HEAP_SIZE=50000
FREERTOS.configUSE_NEWLIB_REENTRANT=1
FREERTOS.configUSE_RECURSIVE_MUTEXES=1
File.Version=6
diff --git a/sdk b/sdk
index a796f5c..13227d8 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit a796f5c582eef8b06107d7558b3dfafe6be0f639
+Subproject commit 13227d849942f51f842cc22754b6a6a0afef13b2
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 39f39ba..7a61409 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -55,7 +55,7 @@ static chip_cfg_t chipcfg = {
static StepMotor45::cfg_t cfg1 = {
.max_pos = -1,
- .enable_zero_limit = false,
+ .enable_zero_limit = true,
.enable_max_pos_limit = false,
.mirror = true,
@@ -69,13 +69,13 @@ static StepMotor45::cfg_t cfg1 = {
static StepMotor45::cfg_t cfg2 = {
.max_pos = -1,
- .enable_zero_limit = false,
+ .enable_zero_limit = true,
.enable_max_pos_limit = false,
.mirror = true,
.zeroPin = PG1,
.ioPollType = ZGPIO::kMode_pullup,
- .zeroPinMirror = false,
+ .zeroPinMirror = true,
.driverPin = {PG2, PG3, PG4, PG5},
.driverPinMirror = true,
@@ -83,13 +83,13 @@ static StepMotor45::cfg_t cfg2 = {
static StepMotor45::cfg_t cfg3 = {
.max_pos = -1,
- .enable_zero_limit = false,
+ .enable_zero_limit = true,
.enable_max_pos_limit = false,
.mirror = true,
.zeroPin = PB12,
.ioPollType = ZGPIO::kMode_pullup,
- .zeroPinMirror = false,
+ .zeroPinMirror = true,
.driverPin = {PG6, PG7, PG8, PC6},
.driverPinMirror = true,
@@ -147,7 +147,7 @@ FeiTeServoMotor g_feiteservomotor_bus;
*******************************************************************************/
StepMotor45 g_step_motor45[7];
Eq20ServoMotor g_main_servo_motor;
-MiniRobotCtrlModule g_mini_servo[5];
+MiniRobotCtrlModule g_mini_servo[6];
/*******************************************************************************
* CANÉ豸 *
*******************************************************************************/
@@ -210,6 +210,7 @@ void Main::run() {
g_mini_servo[2].initialize(&g_feiteservomotor_bus, 3);
g_mini_servo[3].initialize(&g_feiteservomotor_bus, 4);
g_mini_servo[4].initialize(&g_feiteservomotor_bus, 5);
+ g_mini_servo[5].initialize(&g_feiteservomotor_bus, 6);
StepMotor45Scheduler step_motor45_scheduler;
step_motor45_scheduler.initialize(&htim10, 1000);
@@ -240,6 +241,7 @@ void Main::run() {
g_script_mini_servo_motor_ctrl_module.regmodule(3, &g_mini_servo[2]);
g_script_mini_servo_motor_ctrl_module.regmodule(4, &g_mini_servo[3]);
g_script_mini_servo_motor_ctrl_module.regmodule(5, &g_mini_servo[4]);
+ g_script_mini_servo_motor_ctrl_module.regmodule(6, &g_mini_servo[5]);
g_script_step_motor45.initialize(&g_cmdScheduler);
g_script_step_motor45.regmodule(1, &g_step_motor45[0]);