diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 02e817d..89dd226 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/usrc/app/dmapp.cpp b/usrc/app/dmapp.cpp
index a1f8d50..e73bc71 100644
--- a/usrc/app/dmapp.cpp
+++ b/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
diff --git a/usrc/base/utils/formula.hpp b/usrc/base/utils/formula.hpp
index 1489e1c..9bd2ec1 100644
--- a/usrc/base/utils/formula.hpp
+++ b/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
-}
\ No newline at end of file
+}
diff --git a/usrc/module/heater_controller.hpp b/usrc/module/heater_controller.hpp
index 673237e..192d6ba 100644
--- a/usrc/module/heater_controller.hpp
+++ b/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
\ No newline at end of file
+} // namespace iflytop
diff --git a/usrc/module/tmc_motor_group.cpp b/usrc/module/tmc_motor_group.cpp
index 45625fd..c4bcbc3 100644
--- a/usrc/module/tmc_motor_group.cpp
+++ b/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