From d308aa6ebd209a941b4acba404bdcac0e10c2510 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Thu, 12 Oct 2023 11:15:06 +0800
Subject: [PATCH] update

---
 sdk                    |  2 +-
 usrc/main.cpp          | 21 +++++++++++++--------
 usrc/project_configs.h |  6 +++---
 3 files changed, 17 insertions(+), 12 deletions(-)

diff --git a/sdk b/sdk
index 40d6da4..61021e0 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 40d6da40267dc39bcff6b282dd6ed6e7da4408df
+Subproject commit 61021e00a94a56c52f49a82ca5bbedf3f17349d1
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 2eba0ac..4710ba4 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -36,6 +36,8 @@ static ZCanStepMotorCtrlModule zcanStepMotorCtrlModule;
 static XYRobotCtrlModule     xyRobotCtrlModule;
 static ZCANXYRobotCtrlModule zcanXYRobotCtrlModule;
 
+#define XYRobotCtrlModule_1_FLASH_MARK "XYRobotCtrlModule_1"
+
 void umain() {
   chip_cfg_t chipcfg;
   chipcfg.us_dleay_tim          = &DELAY_US_TIMER;
@@ -48,12 +50,18 @@ void umain() {
   zos_cfg_t zoscfg;
   zos_init(&zoscfg);
 
+  /*******************************************************************************
+   *                                   NVSINIT                                   *
+   *******************************************************************************/
   ZNVS::ins().initialize();
-  // ZNVS::ins().set_config_int32("test", 1234);
-  ZNVS::ins().dumpcfg();
+  {
+    static I_XYRobotCtrlModule::flash_config_t cfg;
+    XYRobotCtrlModule::create_default_cfg(cfg);
+    ZNVS::ins().alloc_config(XYRobotCtrlModule_1_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg));
+  }
+  ZNVS::ins().init_config();
 
   osDelay(1000);
-
   {
     TMC4361A::cfg_t cfg = {
         .spi               = &TMC_MOTOR_SPI,             //
@@ -126,11 +134,8 @@ void umain() {
   input[6].initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
   input[7].initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
 
-  xyRobotCtrlModule.initialize(&motora, &motorb, &input[6], &input[7]);
-  I_XYRobotCtrlModule::base_param_t base_param;
-  xyRobotCtrlModule.create_default_cfg(base_param);
-  xyRobotCtrlModule.set_base_param(base_param);
-
+  xyRobotCtrlModule.initialize(&motora, &motorb, &input[6], &input[7], XYRobotCtrlModule_1_FLASH_MARK);
+  xyRobotCtrlModule.dumpcfg();
   zcanXYRobotCtrlModule.initialize(&zcanCmder, 1, &xyRobotCtrlModule);
 
   while (true) {
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 49f1bbf..cd711fa 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,5 +1,6 @@
 #pragma once
 
+
 #define VERSION          "v1.0.0"
 #define MANUFACTURER     "http://www.iflytop.com/"
 #define PROJECT_NAME     "filarobot_arm"
@@ -13,12 +14,11 @@
 #define IFLYTOP_ENABLE_OS               1
 #define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
 
-#define IFLYTOP_NVS_CONFIG_MAX_ITEM_NUM 100
-#define IFLYTOP_NVS_CONFIG_FLASH_SECTOR 8
-
 
 #define DEVICE_ID (2)
 
+/****************************************FLASH***************************************/
+#define IFLYTOP_NVS_CONFIG_FLASH_SECTOR 8
 /*********************************************************************************/
 
 // MOTOR1