From 0abcf83926b4b584603b256c75bffab7a7d1fd41 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sat, 21 Oct 2023 15:37:24 +0800
Subject: [PATCH] update

---
 .cproject     |  1 +
 sdk           |  2 +-
 usrc/main.cpp | 37 ++++++++++---------------------------
 3 files changed, 12 insertions(+), 28 deletions(-)

diff --git a/.cproject b/.cproject
index 2c2b3f1..dbd73e0 100644
--- a/.cproject
+++ b/.cproject
@@ -90,6 +90,7 @@
 									<listOptionValue builtIn="false" value="-Wno-sign-compare"/>
 									<listOptionValue builtIn="false" value="-Wno-unused-variable"/>
 								</option>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti.782400078" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti" value="false" valueType="boolean"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.54112860" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.163881313" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker"/>
diff --git a/sdk b/sdk
index 6377ea5..998c09f 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 6377ea57353ab7b08f5c141378f346d8f9075805
+Subproject commit 998c09f13efa863031c2a01cd0ffb8e7964b3c05
diff --git a/usrc/main.cpp b/usrc/main.cpp
index ac14131..038612d 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -3,14 +3,13 @@
 
 #include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
 #include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.hpp"
-#include "sdk/components/step_motor_ctrl_module/zcan_master_step_motor_ctrl_module.hpp"
-#include "sdk/components/step_motor_ctrl_module/zcan_step_motor_ctrl_module.hpp"
 #include "sdk/os/zos.hpp"
 #include "sdk\components\flash\zsimple_flash.hpp"
 #include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
 #include "sdk\components\tmc\ic\ztmc5130.hpp"
 #include "sdk\components\zcancmder\zcanreceiver.hpp"
 #include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
+#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
 //
 #include "sdk\components\flash\znvs.hpp"
 //
@@ -24,10 +23,10 @@ extern "C" {
 void StartDefaultTask(void const* argument) { umain(); }
 }
 
-static TMC5130                 g_motor;
-static ZCanCmder               g_zcanCmder;
-static StepMotorCtrlModule     g_stepMotorCtrlModule;
-static ZCanStepMotorCtrlModule g_zcanStepMotorCtrlModule;
+static TMC5130             g_motor;
+static ZCanCmder           g_zcanCmder;
+static StepMotorCtrlModule g_stepMotorCtrlModule;
+static ZIProtocolParser    g_ziProtocolParser;
 
 uint8_t getId() {
   static bool  init = false;
@@ -61,13 +60,8 @@ void umain() {
   zos_init(&zoscfg);
 
   uint8_t deviceId = getId();
-  ZLOGI(TAG, "motorId:%d boardId", deviceId, deviceId + ZCAN_CMD_PUBLIC_DEVICE_ID_STEP_MOTOR_BOARD_OFFEST);
-  if (deviceId == 0) {
-    chip_set_error();
-    while (true) {
-      osDelay(1000);
-    }
-  }
+  ZLOGI(TAG, "motorId:%d",  deviceId + STEP_MOTOR_ID_OFF);
+
 
   /*******************************************************************************
    *                                   NVSINIT                                   *
@@ -100,24 +94,12 @@ void umain() {
 
   g_motor.rotate(0);
   // g_motor.enable(false);
-  auto zcanCmder_cfg = g_zcanCmder.createCFG(deviceId + ZCAN_CMD_PUBLIC_DEVICE_ID_STEP_MOTOR_BOARD_OFFEST);
+  auto zcanCmder_cfg = g_zcanCmder.createCFG( deviceId + STEP_MOTOR_ID_OFF);
   g_zcanCmder.init(zcanCmder_cfg);
 
   /*******************************************************************************
    *                            zcanBasicOrderModule                             *
    *******************************************************************************/
-#if 0
-  zcanBasicOrderModule.initialize(&zcanCmder);
-  zcanBasicOrderModule.reg_set_io(1, [](bool val) { ZLOGI(TAG, "write io 1:%d", val); });
-  zcanBasicOrderModule.reg_read_io(1, []() {
-    ZLOGI(TAG, "read io 1");
-    return 1;
-  });
-  zcanBasicOrderModule.reg_read_adc(1, []() {
-    ZLOGI(TAG, "read adc 1");
-    return 123;
-  });
-#endif
 
   /*******************************************************************************
    *                            zcanXYRobotCtrlModule                            *
@@ -153,7 +135,8 @@ void umain() {
       1000);
 
   g_stepMotorCtrlModule.initialize(deviceId, &g_motor, input, ZARRAY_SIZE(input), "MOTOR_CFG_FLASH_MARK");
-  g_zcanStepMotorCtrlModule.initialize(&g_zcanCmder, 1, &g_stepMotorCtrlModule);
+  g_ziProtocolParser.initialize(&g_zcanCmder);
+  g_ziProtocolParser.registerModule(&g_stepMotorCtrlModule);
 
   while (true) {
     OSDefaultSchduler::getInstance()->loop();