v2.0

sdk

@@ -1 +1 @@
-Subproject commit a223c666e76044036e648ebcea3db8ec4aec59d3
+Subproject commit f6f7900b876e6a4a6b2c5ebe6bd26b5f1b1fbe0a

usrc/hardware.cpp

@@ -45,12 +45,6 @@ DP600PressureSensor m_dp600PressureSensor4;
 ZGPIO IO_PD13_IN;
 ZGPIO IO_PC7_IN;
 
-#define PROCESS_CMD(cmd, _subcmdid, id)                                                                        \
-  if ((cmdheader->cmdid == (uint16_t)cmd) && (cmdheader->subcmdid == _subcmdid) && cmdheader->data[0] == id) { \
-    matching = true;                                                                                           \
-  }                                                                                                            \
-  if ((cmdheader->cmdid == (uint16_t)cmd) && (cmdheader->subcmdid == _subcmdid) && cmdheader->data[0] == id)
-
 void setmotor(TMC5130 *motor, int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) {
   int32_t ppm = rpm / 60.0 * 51200;
   int32_t acc = acc_rpm2 / 60.0 * 51200;
@@ -135,7 +129,7 @@ void packet_kcmd_read_huacheng_pressure_sensor_data(int id, DP600PressureSensor:
 
 int32_t Hardware::process_rx_packet(from_where_t fromwhere, uint8_t *packet, int32_t len, uint8_t *receipt, int32_t &receiptsize, bool &matching) {
   Cmdheader_t *cmdheader = (Cmdheader_t *)packet;
-  printf("rx: cmdid:%d subcmdid:%d id:%d\n", cmdheader->cmdid, cmdheader->subcmdid, cmdheader->data[0]);
+  if (fromwhere == kuart) printf("rx: cmdid:%d subcmdid:%d id:%d\n", cmdheader->cmdid, cmdheader->subcmdid, cmdheader->data[0]);
 
   /**
    * @brief Ping
@@ -167,7 +161,7 @@ int32_t Hardware::process_rx_packet(from_where_t fromwhere, uint8_t *packet, int
   /**
    * @brief 控制加液泵
    */
-  PROCESS_CMD(kcmd_peristaltic_pump_ctl, 0, 1) {
+  PROCESS_CMD(kcmd_peristaltic_pump_ctl, 1, 1) {
     int16_t acc       = *(int16_t *)(&cmdheader->data[2]);
     int16_t rpm       = *(int16_t *)(&cmdheader->data[4]);
     int16_t idlepower = cmdheader->data[6];
@@ -184,7 +178,7 @@ int32_t Hardware::process_rx_packet(from_where_t fromwhere, uint8_t *packet, int
   /**
    * @brief 控制-喷液泵
    */
-  PROCESS_CMD(kcmd_peristaltic_pump_ctl, 0, 2) {
+  PROCESS_CMD(kcmd_peristaltic_pump_ctl, 1, 2) {
     int16_t acc       = *(int16_t *)(&cmdheader->data[2]);
     int16_t rpm       = *(int16_t *)(&cmdheader->data[4]);
     int16_t idlepower = cmdheader->data[6];