fix some bug

.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1128069368129573915" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-950162685226061977" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1235536402791664684" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1003371568090109608" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

usrc/app/dmapp.cpp

@@ -2,11 +2,7 @@
 
 /**
  * @brief
- *
- *
  *  小空间和大空间硬件一样
- *
- *
  * 管道式-----
  *    液路控制板
  *      相比于大空间消毒机，不同的点:
@@ -15,12 +11,9 @@
  *    功率板
  *      相比于大空间消毒机，不同的点:
  *        1. 风机改成鼓风机(可控风速)
- *
  *  拉杆箱------
  *    液路控制板
- *
  *    功率板
- *
  */
 
 using namespace iflytop;
@@ -41,7 +34,7 @@ void DisinfectionApp::initialize() {
   // 加热片
   if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard)) {
     LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
-    heaterCtrler.initialize(PC7, &hadc1, ADC_CHANNEL_2, &hadc1, ADC_CHANNEL_8);
+    heaterCtrler.initialize(PC7, &hadc1, ADC_CHANNEL_2, &hadc1, ADC_CHANNEL_4);
   } else if (isBoardType(kDrawBarDMPowerCtrlBoard)) {
     LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
     heaterCtrler.initialize(PC7, NULL, 0, &hadc1, ADC_CHANNEL_1);
@@ -91,6 +84,7 @@ void DisinfectionApp::initialize() {
   if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard, kDrawBarDMPowerCtrlBoard)) {
     LargeSpaceDmPowerCtrlBoardHal::HUART3_INIT(19200, UART_STOPBITS_2);
     LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
+    osDelay(3000);
     h2o2Sensor.initialize(&huart3, &hadc1, ADC_CHANNEL_3);
   }
 
@@ -108,7 +102,7 @@ void DisinfectionApp::initialize() {
     // TMC电机初始化
     ZLOGI(TAG, "TMCMotorGroup init");
     LargeSpaceDMLiquidCtrlBoardHal::HSPI1_INIT();
-    tmcPowerGroup.initialize(PB2, {&hspi1, PC4 /*cs*/, PB13 /*en*/}, {&hspi1, PA4 /*cs*/, PB12 /*en*/});
+    tmcPowerGroup.initialize(PB2, {&hspi1, PA4 /*cs*/, PB12 /*en*/}, {&hspi1, PC4 /*cs*/, PB13 /*en*/});
   }
 
   // 三色指示灯

usrc/base/utils/formula.hpp

@@ -27,7 +27,8 @@ static inline int32_t airCompressorAdcToCurrent(int32_t adcv) {
 }
 
 static inline int32_t heaterAdc2Temp(int32_t adcv) {
-  int32_t ma   = (adcv / 4095.0 * 3.3 * 1000) / 150.0;
-  int32_t temp = (ma - 4) / (20 - 4) * (4000 - 0) + 0;  // 4000:是量程
+  double ma   = (adcv / 4095.0 * 3.3 * 1000) / 150.0;
+  int32_t temp = (ma - 4)*1.0 / (20.0 - 4.0) * (4000 - 0) + 0;  // 4000:是量程
+
   return temp;  // C*10
-}
+}

usrc/module/heater_controller.hpp

@@ -51,6 +51,7 @@ class HeaterController {
   }
   void fn_heater_read_temperature_data(ProcessContext* cxt) {  //
     auto val = heater_read_temperature_data();
+  
     zcanbus_send_ack(cxt->packet, (uint8_t*)&val, sizeof(val));
   }
 
@@ -73,4 +74,4 @@ class HeaterController {
     m_tempAdc.updateAdcValToCache();
   }
 };
-}  // namespace iflytop
+}  // namespace iflytop

usrc/module/tmc_motor_group.cpp

@@ -95,11 +95,11 @@ void TmcMotorGroup::initialize(Pin_t tmcPowerPin, TMC51X0Cfg cfg0, TMC51X0Cfg cf
   // PB2
 
   m_motor[0].initialize(cfg0);
-  m_motor[0].setIHOLD_IRUN(1, 28, 0);
+  m_motor[0].setIHOLD_IRUN(1, 20, 0);
   m_motor[0].setMotorShaft(true);
 
   m_motor[1].initialize(cfg1);
-  m_motor[1].setIHOLD_IRUN(1, 28, 0);
+  m_motor[1].setIHOLD_IRUN(1, 20, 0);
   m_motor[1].setMotorShaft(true);
 
   int32_t chipv0 = m_motor[0].readICVersion();  // 5130:0x11