From 085c356a1e6a926070b702174696c9b6657c5f3a Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Tue, 4 Jun 2024 11:55:46 +0800
Subject: [PATCH] update

---
 README.md                                          | 34 +++++++++++-----------
 a8000_protocol                                     |  2 +-
 sdk                                                |  2 +-
 .../subboard30_shake_module.cpp                    | 11 ++++++-
 .../subboard30_shake_module_board.c                |  2 +-
 5 files changed, 30 insertions(+), 21 deletions(-)

diff --git a/README.md b/README.md
index 719608b..f0ab5f7 100644
--- a/README.md
+++ b/README.md
@@ -3,42 +3,42 @@
 
 
 ->main
-    最小硬件初始化
-        ->时钟
-            对外暴露的时钟
-        ->看门狗
+    鏈�灏忕‖浠跺垵濮嬪寲
+        ->鏃堕挓
+            瀵瑰鏆撮湶鐨勬椂閽�
+        ->鐪嬮棬鐙�
         ->UART
 
-    最小软件初始化
-        FLASH配置
+    鏈�灏忚蒋浠跺垵濮嬪寲
+        FLASH閰嶇疆
 
-    启动软件
-        检查ID
-            ID == 0，灯光调试指示灯快闪
+    鍚姩杞欢
+        妫�鏌D
+            ID == 0锛岀伅鍏夎皟璇曟寚绀虹伅蹇棯
         
             ID == 1,
-                初始化相应的硬件
+                鍒濆鍖栫浉搴旂殑纭欢
 
 
 
 
 ```
 ```
-关键文件:
+鍏抽敭鏂囦欢:
 
 
 
 ```
 
 ```
-ID地址:
+ID鍦板潃:
 0x080E0000
 
 ```
 
 
 ```
-# 公板IO资源分配
+# 鍏澘IO璧勬簮鍒嗛厤
     PA12 CAN1_TX
     PA11 CAN1_RX
     PA10 USART1_RX
@@ -48,7 +48,7 @@ ID
     PA14 SYS_JTCK_SWCLK
     PA13 SYS_JTCK_SWDIO
 
-    PE2  调试指示灯
+    PE2  璋冭瘯鎸囩ず鐏�
 
     
 
@@ -59,8 +59,8 @@ ID
 ```
 
 ```
-修改
-1. 去除掉input_reg，修改驱动读取gpio的寄存器为kreg_step_motor_io_state
-2. 增加舵机专用寄存器和方法
+淇敼
+1. 鍘婚櫎鎺塱nput_reg锛屼慨鏀归┍鍔ㄨ鍙杇pio鐨勫瘎瀛樺櫒涓簁reg_step_motor_io_state
+2. 澧炲姞鑸垫満涓撶敤瀵勫瓨鍣ㄥ拰鏂规硶
 
 ```
\ No newline at end of file
diff --git a/a8000_protocol b/a8000_protocol
index 0a7af6c..edf363e 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit 0a7af6c62c6ea848655a6969450bf554fa644198
+Subproject commit edf363ed2226ac4d8d672525b5a8ed4503d7a820
diff --git a/sdk b/sdk
index 30ac682..b1c3dd5 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 30ac68256d6d37f945271fe7a1f3efff2082837b
+Subproject commit b1c3dd52b955b8f327659f6b2e313f891a472b83
diff --git a/usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp b/usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
index 9738c1f..7332ebd 100644
--- a/usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
+++ b/usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
@@ -142,7 +142,7 @@ void Subboard30ShakeModule::initialize() {
 
   {
     // 椋炵壒鑸垫満鎬荤嚎
-    ZASSERT(huart3.Init.BaudRate == 1000000);
+    ZASSERT(huart3.Init.BaudRate == 115200);
     feiteservomotor_bus.initialize(&huart3, hdma_usart3_rx, hdma_usart3_tx);
   }
 
@@ -152,6 +152,8 @@ void Subboard30ShakeModule::initialize() {
     int                                  subid      = 4;
     int                                  subidInBus = 1;
 
+    feiteservomotor_bus.regServo(subidInBus, feite::ksts5420m_c001);
+
     module.create_default_config(cfg);
     module.initialize(getmoduleId(subid), &feiteservomotor_bus, subidInBus, &cfg);
     GService::inst()->getZCanProtocolParser()->registerModule(&module);
@@ -163,6 +165,9 @@ void Subboard30ShakeModule::initialize() {
     int                                  subid      = 5;
     int                                  subidInBus = 2;
 
+    feiteservomotor_bus.regServo(subidInBus, feite::ksts5420m_c001);
+
+
     module.create_default_config(cfg);
     module.initialize(getmoduleId(subid), &feiteservomotor_bus, subidInBus, &cfg);
     GService::inst()->getZCanProtocolParser()->registerModule(&module);
@@ -174,6 +179,8 @@ void Subboard30ShakeModule::initialize() {
     int                                  subid      = 6;
     int                                  subidInBus = 3;
 
+    feiteservomotor_bus.regServo(subidInBus, feite::ksts5420m_c001);
+
     module.create_default_config(cfg);
     module.initialize(getmoduleId(subid), &feiteservomotor_bus, subidInBus, &cfg);
     GService::inst()->getZCanProtocolParser()->registerModule(&module);
@@ -185,6 +192,8 @@ void Subboard30ShakeModule::initialize() {
     int                                  subid      = 7;
     int                                  subidInBus = 4;
 
+    feiteservomotor_bus.regServo(subidInBus, feite::kscs009);
+
     module.create_default_config(cfg);
     module.initialize(getmoduleId(subid), &feiteservomotor_bus, subidInBus, &cfg);
     GService::inst()->getZCanProtocolParser()->registerModule(&module);
diff --git a/usrc/subboards/subboard30_shake_module/subboard30_shake_module_board.c b/usrc/subboards/subboard30_shake_module/subboard30_shake_module_board.c
index d8c9185..b30ec15 100644
--- a/usrc/subboards/subboard30_shake_module/subboard30_shake_module_board.c
+++ b/usrc/subboards/subboard30_shake_module/subboard30_shake_module_board.c
@@ -40,7 +40,7 @@ static void UART3_Init() {
   __HAL_RCC_DMA1_CLK_ENABLE();
 
   huart3.Instance          = USART3;
-  huart3.Init.BaudRate     = 1000000;
+  huart3.Init.BaudRate     = 115200;
   huart3.Init.WordLength   = UART_WORDLENGTH_8B;
   huart3.Init.StopBits     = UART_STOPBITS_1;
   huart3.Init.Parity       = UART_PARITY_NONE;