diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index f8ac9b4..72f1dcb 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/iflytop_canbus_protocol b/iflytop_canbus_protocol
index 0e47768..955c39e 160000
--- a/iflytop_canbus_protocol
+++ b/iflytop_canbus_protocol
@@ -1 +1 @@
-Subproject commit 0e47768d3761fa4926957ad385416dc9410861bc
+Subproject commit 955c39e8b8aa1480b0846a1ae26aaa6ba4e38ce0
diff --git a/usrc/base/hardware.cpp b/usrc/base/hardware.cpp
index 7bcce77..62145b2 100644
--- a/usrc/base/hardware.cpp
+++ b/usrc/base/hardware.cpp
@@ -14,13 +14,13 @@ void Hardware::init() {
m_sl_mini_ac_ctrl.initAsOutput(PD14, kxs_gpio_nopull, true, false); // m_sl_mini_ac_ctrl
m_atta_mini_air_compressor_ctrl.initAsOutput(PD15, kxs_gpio_nopull, true, false); // m_atta_mini_air_compressor_ctrl
- m_motor[0].initialize(&m_motor_spi, MOTOR1_ENN, MOTOR1_CSN);
+ m_motor[0].initialize(&m_motor_spi, MOTOR0_ENN, MOTOR0_CSN);
m_motor[0].setIHOLD_IRUN(1, 15, 0);
m_motor[0].setMotorShaft(true);
m_motor[0].setAcceleration(300000);
m_motor[0].setDeceleration(300000);
- m_motor[1].initialize(&m_motor_spi, MOTOR2_ENN, MOTOR2_CSN);
+ m_motor[1].initialize(&m_motor_spi, MOTOR1_ENN, MOTOR1_CSN);
m_motor[1].setIHOLD_IRUN(1, 15, 0);
m_motor[1].setMotorShaft(true);
m_motor[1].setAcceleration(300000);
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 9d7a819..a4db85f 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -22,11 +22,10 @@
*/
#define MOTOR_SPI hspi1
#define MOTOR_CH(n) (n)
-#define MOTOR2_CSN PA4 //
-#define MOTOR2_ENN PE11
-#define MOTOR1_CSN PC4 //
-#define MOTOR1_ENN PE12
-
+#define MOTOR0_CSN PC4 // 加液泵
+#define MOTOR0_ENN PE12 //
+#define MOTOR1_CSN PA4 // 喷液泵
+#define MOTOR1_ENN PE11 //
/***********************************************************************************************************************
* SDK_CONFIG *
***********************************************************************************************************************/
diff --git a/usrc/protocol_impl/protocol_impl_service.cpp b/usrc/protocol_impl/protocol_impl_service.cpp
index abb898b..6ead531 100644
--- a/usrc/protocol_impl/protocol_impl_service.cpp
+++ b/usrc/protocol_impl/protocol_impl_service.cpp
@@ -24,8 +24,8 @@ using namespace iflytop;
}
#define GET_PARAM(buff, off) ((((int32_t*)(buff))[off]))
-#define CLEAR_BIT(val, bit) (val &= ~(1 << bit))
-#define SET_BIT(val, bit) (val |= (1 << bit))
+#define ZCLEAR_BIT(val, bit) (val &= ~(1 << bit))
+#define ZSET_BIT(val, bit) (val |= (1 << bit))
/***********************************************************************************************************************
* VAR_LIST *
@@ -110,7 +110,7 @@ static void basic_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
}
else if (packet->function_id == kcmd_clear_reset_flag) {
- CLEAR_BIT(m_dflag, 0);
+ ZCLEAR_BIT(m_dflag, 0);
zcanbus_send_ack(packet, NULL, 0);
}
// 触发一次强制上报事件
@@ -256,7 +256,7 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
}
// ping
- else if (packet->function_id == kcmd_pump_get_subic_reg) {
+ else if (packet->function_id == kcmd_pump_ping) {
CHECK_PARAM_LEN(paramNum, 1);
int32_t subindex = GET_PARAM(packet->params, 0);
@@ -359,7 +359,7 @@ static void zcanbus_on_connected(bool connected) {
ZLOGI(TAG, "disconnected from host");
}
}
-#if 0
+#if 1
static void onPressureSensorDataReportTimer(void const* argument) {
// 压力传感器数据上报
static uint8_t reportcache[100];
@@ -433,16 +433,16 @@ void protocol_impl_service_init() { //
ForceReportFlagMgr::ins()->init();
motorErrorFlagCacheLock.init();
m_dflag = 0x00;
- SET_BIT(m_dflag, 0);
+ ZSET_BIT(m_dflag, 0);
zcanbus_init(deviceInfo_getBoardId());
zcanbus_reglistener(zcanbus_on_rx);
zcanbus_reg_on_connected_listener(zcanbus_on_connected);
-#if 0
+#if 1
osTimerDef(PressureSensorDataReportTimer, onPressureSensorDataReportTimer);
PressureSensorDataReportTimerId = osTimerCreate(osTimer(PressureSensorDataReportTimer), osTimerPeriodic, NULL);
- osTimerStart(PressureSensorDataReportTimerId, m_pressureSensorDataReportPeriodMs);
+ // osTimerStart(PressureSensorDataReportTimerId, m_pressureSensorDataReportPeriodMs);
#endif
osTimerDef(MotorMonitorTimer, onMotorMonitorTimer);
diff --git a/zsdk b/zsdk
index 7951cee..450a918 160000
--- a/zsdk
+++ b/zsdk
@@ -1 +1 @@
-Subproject commit 7951cee7dfc612be73f402914c12933ddffe37cc
+Subproject commit 450a91850484e1e575c352aaf63d393055db8238