update

sdk

@@ -1 +1 @@
-Subproject commit 43beaedd3e6c3b1b45cd8796e496902c03699a28
+Subproject commit 62f322c59d64e4d8ff4795173a885a320813cd6b

usrc/main.cpp

@@ -10,6 +10,7 @@
 // #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_modules\io_control_service.hpp"
 #include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
 #include "sdk\components\tmc\ic\ztmc4361A.hpp"
 #include "sdk\components\tmc\ic\ztmc5130.hpp"
@@ -46,6 +47,7 @@ ZGPIO io_fybjl_sensor1;
 ZGPIO io_fybjl_sensor0;
 
 DeviceBaseControlService       m_deviceBaseControlService;
+IOControlService               m_ioControlService;
 SingleAxisMotorControler       m_pyMotorControlService;  // 平移电机
 SingleAxisMotorControler       m_tjMotorControlService;  // 推进电机
 OneDimensionalCodeLaserScanner m_oneDimensionalCodeLaserScanner;
@@ -68,27 +70,7 @@ void input_sensors_init() {
   io_fybjl_sensor1.initAsInput(FYBJL_SENSOR1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
   io_fybjl_sensor0.initAsInput(FYBJL_SENSOR0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
 }
-uint32_t intput_sensors_get_table0() {
-  uint32_t val = 0;
-
-  val |= io_fybjl_sensor0.getStateUint32() << 0;
-  val |= io_fybjl_sensor1.getStateUint32() << 1;
-  val |= io_fybjl_sensor2.getStateUint32() << 2;
-  val |= io_fybjl_sensor3.getStateUint32() << 3;
-  val |= io_fybjl_sensor4.getStateUint32() << 4;
-  val |= io_fybjl_sensor5.getStateUint32() << 5;
-  val |= io_fybjl_sensor6.getStateUint32() << 6;
-  val |= io_fybjl_sensor7.getStateUint32() << 7;
-  val |= io_fybjl_sensor8.getStateUint32() << 8;
-
-  val |= io_fybh_read1.getStateUint32() << 9;
-  val |= io_fybh_read2.getStateUint32() << 10;
-  val |= io_fybh_read3.getStateUint32() << 11;
-  val |= io_fybh_read4.getStateUint32() << 12;
-  val |= io_fybh_read5.getStateUint32() << 13;
-  val |= io_fybh_read6.getStateUint32() << 14;
-  return val;
-}
+
 
 icps::error_t Main::onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser *processer, icps::WriteEvent *event) { return icps::kSuccess; }
 icps::error_t Main::onHostRegisterReadEvent(IflytopCanProtocolStackProcesser *processer, icps::ReadEvent *event) { return icps::kSuccess; }
@@ -111,7 +93,6 @@ void Main::run() {
    *                               GPIO输入初始化                                *
    *******************************************************************************/
   input_sensors_init();
-  intput_sensors_get_table0();
 
   /*******************************************************************************
    *                                 电机初始化                                  *
@@ -174,6 +155,27 @@ void Main::run() {
     });
   }
 
+  m_ioControlService.initialize(&m_protocolStack, GPIO_INPUT_ADD_BASE, nullptr, [this](int io_off) {
+    if (io_off == 0) return io_fybjl_sensor0.getState();
+    if (io_off == 1) return io_fybjl_sensor1.getState();
+    if (io_off == 2) return io_fybjl_sensor2.getState();
+    if (io_off == 3) return io_fybjl_sensor3.getState();
+    if (io_off == 4) return io_fybjl_sensor4.getState();
+    if (io_off == 5) return io_fybjl_sensor5.getState();
+    if (io_off == 6) return io_fybjl_sensor6.getState();
+
+    if (io_off == 7) return io_fybjl_sensor7.getState();
+    if (io_off == 8) return io_fybjl_sensor8.getState();
+    if (io_off == 9) return io_fybh_read1.getState();
+    if (io_off == 10) return io_fybh_read2.getState();
+    if (io_off == 11) return io_fybh_read3.getState();
+    if (io_off == 12) return io_fybh_read4.getState();
+    if (io_off == 13) return io_fybh_read5.getState();
+    if (io_off == 14) return io_fybh_read6.getState();
+
+    return false;
+  });
+
   /*******************************************************************************
    *                                  横移电机                                   *
    *******************************************************************************/
@@ -224,7 +226,6 @@ void Main::run() {
   m_tjMotorControlService.cfg_runtohome_max_distance->setVal(INT32_MAX);
   m_tjMotorControlService.cfg_runtohome_leave_zero_point_distance->setVal(256 * 200 * 1);
 
-
   {
 #if 0
 

usrc/project.hpp

@@ -45,7 +45,6 @@
 #define DEVICE_BASIC_CONTROLLER_ADD_BASE 0
 
 #define GPIO_INPUT_ADD_BASE 1000  // GPIO输入
-#define REG_GPIO_INPUT0     (GPIO_INPUT_ADD_BASE + 0)
 
 #define REG_PY_MOTOR_CTRL_ADD_BASE       10000  // 控制 入料电机控制
 #define REG_TJ_MOTOR_CTRL_ADD_BASE       10100  // 控制 转移电机控制