update

sdk

@@ -1 +1 @@
-Subproject commit 74516c3308422c3a73853b6aa925d0d38a526eef
+Subproject commit 5d816689f151633f924c959945fd87ca7d26a259

usrc/main.cpp

@@ -7,7 +7,8 @@
 #include "project.hpp"
 //
 #include "one_dimensional_code_laser_scanner.hpp"
-#include "sdk/components/single_axis_motor_control_v2/single_axis_motor_control_v2.hpp"
+// #include "sdk/components/single_axis_motor_control_v2/single_axis_motor_control_v2.hpp"
+#include "sdk/components/single_axis_motor_control/single_axis_motor_control.hpp"
 #include "sdk/hal/zhal.hpp"
 #include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
 #include "sdk\components\tmc\ic\ztmc4361A.hpp"
@@ -45,8 +46,8 @@ ZGPIO io_fybjl_sensor1;
 ZGPIO io_fybjl_sensor0;
 
 DeviceBaseControlService       m_deviceBaseControlService;
-SingleAxisMotorControlerV2     m_pyMotorControlService;  // 平移电机
-SingleAxisMotorControlerV2     m_tjMotorControlService;  // 推进电机
+SingleAxisMotorControler       m_pyMotorControlService;  // 平移电机
+SingleAxisMotorControler       m_tjMotorControlService;  // 推进电机
 OneDimensionalCodeLaserScanner m_oneDimensionalCodeLaserScanner;
 
 void input_sensors_init() {
@@ -161,15 +162,15 @@ void Main::run() {
     auto *cfg = IflytopCanProtocolStackProcesser::createDefaultConfig(DEVICE_ID, 128);
     m_protocolStack.initialize(cfg);
     m_protocolStack.setDumpPacketFlag(false);
-    m_protocolStack.registerListener(this);
-    m_protocolStack.activeReg(REG_GPIO_INPUT0, icps::kwr, 0);
+    // m_protocolStack.registerListener(this);
+    // m_protocolStack.activeReg(REG_GPIO_INPUT0, icps::kwr, 0);
   }
 
   {  //
     m_deviceBaseControlService.initialize(&m_protocolStack, DEVICE_ID);
     m_deviceBaseControlService.setListener([](int32_t engineer_mode) {
-      m_pyMotorControlService.setEngineerMode(engineer_mode);
-      m_tjMotorControlService.setEngineerMode(engineer_mode);
+      // m_pyMotorControlService.setEngineerMode(engineer_mode);
+      // m_tjMotorControlService.setEngineerMode(engineer_mode);
     });
   }
 

usrc/main.hpp

@@ -9,7 +9,7 @@
 
 namespace iflytop {
 using namespace std;
-class Main : public IflytopCanProtocolStackProcesserListener{
+class Main {
  private:
   /* data */
  public:
@@ -28,4 +28,4 @@ extern Main gmain;
 
 extern "C" {
 void umain(void) { iflytop::gmain.run(); }
-}
+}

usrc/one_dimensional_code_laser_scanner.cpp

@@ -17,15 +17,15 @@ void OneDimensionalCodeLaserScanner::initialize(IflytopCanProtocolStackProcesser
   m_protocolProcesser = protocolProcesser;
   m_regStartOff       = regStartOff;
 
-  m_protocolProcesser->activeReg(m_regStartOff + REG_CODE_SCANER_ACT_CTRL, icps::kw, 0);
-  m_protocolProcesser->activeReg(m_regStartOff + REG_CODE_SCANER_ACT_CLEAR_EXCEPTION, icps::kw, 0);
-  m_protocolProcesser->activeReg(m_regStartOff + REG_CODE_SCANER_STAT_STATUS, icps::kr, 0);
-  m_protocolProcesser->activeReg(m_regStartOff + REG_CODE_SCANER_STAT_EXCEPTION, icps::kr, 0);
-  m_protocolProcesser->activeReg(m_regStartOff + REG_CODE_SCANER_CODE, icps::kr, 0);
+  // m_protocolProcesser->activeReg(m_regStartOff + REG_CODE_SCANER_ACT_CTRL, icps::kw, 0);
+  // m_protocolProcesser->activeReg(m_regStartOff + REG_CODE_SCANER_ACT_CLEAR_EXCEPTION, icps::kw, 0);
+  // m_protocolProcesser->activeReg(m_regStartOff + REG_CODE_SCANER_STAT_STATUS, icps::kr, 0);
+  // m_protocolProcesser->activeReg(m_regStartOff + REG_CODE_SCANER_STAT_EXCEPTION, icps::kr, 0);
+  // m_protocolProcesser->activeReg(m_regStartOff + REG_CODE_SCANER_CODE, icps::kr, 0);
 
   m_triggerGpio.initAsInput(triggerPin, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, false /*mirror*/);
   m_triggerGpio.regListener([this](ZGPIO* GPIO_Pin, ZGPIO::IrqTypeEvent_t irqevent) { onGpioIrq(GPIO_Pin, irqevent); });
-  m_protocolProcesser->registerListener(this);
+  // m_protocolProcesser->registerListener(this);
   m_readder = readder;
 }
 

usrc/one_dimensional_code_laser_scanner.hpp

@@ -17,7 +17,7 @@ using namespace std;
 
 #define POS_CACHE_SIZE 28
 
-class OneDimensionalCodeLaserScanner : public IflytopCanProtocolStackProcesserListener {
+class OneDimensionalCodeLaserScanner {
  public:
   typedef enum {
     kidle,