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  1. ```
  2. subboard20_plate_clamp_case OK
  3. subboard30_shake_module OK
  4. subboard60_inlet_and_outlet_module OK
  5. subboard70_incubation_turntable
  6. subboard80_cliptip
  7. subboard90_optical_module
  8. ```
  9. ```
  10. 关键文件:
  11. ```
  12. ```
  13. ID地址:
  14. 0x080E0000
  15. 10 :A
  16. 20 :14
  17. 30 :1E
  18. 40 :28
  19. 50 :32
  20. 60 :3C
  21. 70 :46
  22. 80 :50
  23. 90 :5A
  24. 100:64
  25. 110:6E
  26. 200:CB
  27. ```
  28. ```
  29. # 公板IO资源分配
  30. PA12 CAN1_TX
  31. PA11 CAN1_RX
  32. PA10 USART1_RX
  33. PA9 USART1_TX
  34. PC9 RCC_MCO_2 --> 16MHZ
  35. PA14 SYS_JTCK_SWCLK
  36. PA13 SYS_JTCK_SWDIO
  37. PE2 调试指示灯
  38. ```
  39. ```
  40. 修改
  41. 1. 去除掉input_reg,修改驱动读取gpio的寄存器为kreg_step_motor_io_state
  42. 2. 增加舵机专用寄存器和方法
  43. ```