v1004 | 修改z轴 扫码枪波特率 From 115200 To 9600

README.md

@@ -9,6 +9,8 @@ V602
 ```
 编译:
 
+./build.bat
+./flush.bat
 
 
 

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;

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;

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
    */

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;

usrc/version.h

@@ -1,2 +1,2 @@
 #pragma once
-#define PC_VERSION           1003
+#define PC_VERSION           1004