From 0031a818d9573bd21d9cae5ad5a4d0913091c3db Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sat, 29 Mar 2025 17:20:05 +0800
Subject: [PATCH] =?UTF-8?q?v1004=20|=20=E4=BF=AE=E6=94=B9z=E8=BD=B4=20?=
 =?UTF-8?q?=E6=89=AB=E7=A0=81=E6=9E=AA=E6=B3=A2=E7=89=B9=E7=8E=87=20From?=
 =?UTF-8?q?=20115200=20To=209600?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 README.md                                                    | 2 ++
 sdk/components/sensors/m3078/m3078_code_scaner.cpp           | 5 +++--
 sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp | 2 +-
 sdk/components/zcancmder/zcanreceiver.cpp                    | 2 +-
 usrc/subboards/subboard80_cliptip/subboard80_cliptip_board.c | 2 +-
 usrc/version.h                                               | 2 +-
 6 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/README.md b/README.md
index 9f57124..88021cf 100644
--- a/README.md
+++ b/README.md
@@ -9,6 +9,8 @@ V602
 ```
 编译:
 
+./build.bat
+./flush.bat
 
 
 
diff --git a/sdk/components/sensors/m3078/m3078_code_scaner.cpp b/sdk/components/sensors/m3078/m3078_code_scaner.cpp
index 3c5c1d8..6c8102e 100644
--- a/sdk/components/sensors/m3078/m3078_code_scaner.cpp
+++ b/sdk/components/sensors/m3078/m3078_code_scaner.cpp
@@ -37,13 +37,13 @@ void M3078CodeScanner::trigger() {
   zos_delay(10);
   m_uart.clearRxData();
   m_triggerGpio.setState(1);
-  m_trigger            = true;
+  m_trigger          = true;
   creg.module_status = 1;
 }
 void M3078CodeScanner::stopTrigger() {
   ZLOGI(TAG, "stopTrigger");
   m_triggerGpio.setState(0);
-  m_trigger            = false;
+  m_trigger          = false;
   creg.module_status = 0;
 }
 bool  M3078CodeScanner::idInfoIsReady() { return m_codeisready; }
@@ -79,6 +79,7 @@ int32_t M3078CodeScanner::code_scaner_get_result_length(int32_t* length) {
 }
 int32_t M3078CodeScanner::code_scaner_read_scaner_result(uint8_t* result, int32_t* len) {
   if (codecachelen > *len) {
+    ZLOGE(TAG, "code_scaner_read_scaner_result: buffer not enough %d", codecachelen);
     return err::kbuffer_not_enough;
   }
   *len = codecachelen;
diff --git a/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp b/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
index f4ba869..86ab97e 100644
--- a/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
+++ b/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
@@ -13,7 +13,7 @@ class XYRobotCtrlModule :  public ZIModule {
   ENABLE_MODULE(XYRobotCtrlModule, khbot_module, PC_VERSION);
 
  public:
-  typedef enum { khbot, kcorexy } robot_type_t;
+  typedef enum { khbot, kcorexy/*交叉 */ } robot_type_t;
 
   typedef struct {
     int32_t robot_type;
diff --git a/sdk/components/zcancmder/zcanreceiver.cpp b/sdk/components/zcancmder/zcanreceiver.cpp
index dd3c26e..9e4ae37 100644
--- a/sdk/components/zcancmder/zcanreceiver.cpp
+++ b/sdk/components/zcancmder/zcanreceiver.cpp
@@ -133,7 +133,7 @@ static const char* hex2str(const char* hex, size_t len) {
 }
 
 void ZCanReceiver::sendPacket(uint8_t *packet, size_t len) {
-  ZLOGI(TAG, "sendPacket %s(%d)", hex2str((const char *)packet, len), len);
+  // ZLOGI(TAG, "tx %s(%d)", hex2str((const char *)packet, len), len);
   /**
    * @brief
    */
diff --git a/usrc/subboards/subboard80_cliptip/subboard80_cliptip_board.c b/usrc/subboards/subboard80_cliptip/subboard80_cliptip_board.c
index 058efe9..51c2705 100644
--- a/usrc/subboards/subboard80_cliptip/subboard80_cliptip_board.c
+++ b/usrc/subboards/subboard80_cliptip/subboard80_cliptip_board.c
@@ -138,7 +138,7 @@ static void UART4_Init() {
   __HAL_RCC_GPIOC_CLK_ENABLE();
 
   huart4.Instance          = UART4;
-  huart4.Init.BaudRate     = 115200;
+  huart4.Init.BaudRate     = 9600;
   huart4.Init.WordLength   = UART_WORDLENGTH_8B;
   huart4.Init.StopBits     = UART_STOPBITS_1;
   huart4.Init.Parity       = UART_PARITY_NONE;
diff --git a/usrc/version.h b/usrc/version.h
index 1cb0f84..468a526 100644
--- a/usrc/version.h
+++ b/usrc/version.h
@@ -1,2 +1,2 @@
 #pragma once
-#define PC_VERSION           1003
+#define PC_VERSION           1004