update

README.md

@@ -2,24 +2,12 @@
 
 
 
-->main
-    最小硬件初始化
-        ->时钟
-            对外暴露的时钟
-        ->看门狗
-        ->UART
-
-    最小软件初始化
-        FLASH配置
-
-    启动软件
-        检查ID
-            ID == 0，灯光调试指示灯快闪
-        
-            ID == 1,
-                初始化相应的硬件
-
-
+subboard20_plate_clamp_case                OK
+subboard30_shake_module                    OK
+subboard60_inlet_and_outlet_module         OK
+subboard70_incubation_turntable            
+subboard80_cliptip
+subboard90_optical_module
 
 
 ```

sdk

@@ -1 +1 @@
-Subproject commit 563e4ca7f479b028da851852ebec4fdfad95482e
+Subproject commit cae0c02a77a7fde8ab474dd888fd2d56e796c3e4

usrc/main.cpp

@@ -91,8 +91,8 @@ void umain() {
   board_init();
 
   Pin_t debugLight = PC_DEBUG_LIGHT_GPIO;
-  if (deviceId == 20) {
-    debugLight = PC_SUBBOARD20_LIGHT_GPIO;
+  if (deviceId == 20 || deviceId == 80) {
+    debugLight = PC_SUBBOARD_20_80_LIGHT_GPIO;
   }
 
   zos_cfg_t  zoscfg             = {0};

usrc/project_configs.h

@@ -4,10 +4,10 @@
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1
 
-#define PC_DEBUG_UART             huart1
-#define PC_DEBUG_UART_RX_BUF_SIZE 1024
-#define PC_DEBUG_LIGHT_GPIO       PE2
-#define PC_SUBBOARD20_LIGHT_GPIO  PE8
+#define PC_DEBUG_UART                huart1
+#define PC_DEBUG_UART_RX_BUF_SIZE    1024
+#define PC_DEBUG_LIGHT_GPIO          PE2
+#define PC_SUBBOARD_20_80_LIGHT_GPIO PE8
 //
 
 #define PC_SYS_DELAY_US_TIMER          htim6  // US延时定时器

usrc/public_service/instance_init.hpp

@@ -1,10 +1,10 @@
 #define TMC5130_MOTOR_INITER(MOTOR_INDEX, _id)                                                                                          \
   {                                                                                                                                     \
-    static TMC5130             motor;                                                                                                   \
+    static TMC51X0             motor;                                                                                                   \
     static StepMotorCtrlModule module;                                                                                                  \
     int                        subid = _id;                                                                                             \
                                                                                                                                         \
-    TMC5130::cfg_t tmc5130cfg = {                                                                                                       \
+    TMC51X0::cfg_t tmc5130cfg = {                                                                                                       \
         .spi             = &TMC_MOTOR_SPI,                                                                                              \
         .csgpio          = MOTOR##MOTOR_INDEX##_CSN,                                                                                    \
         .ennPin          = MOTOR##MOTOR_INDEX##_ENN,                                                                                    \

usrc/subboards/subboard20_plate_clamp_case/pri_board.h

@@ -51,7 +51,7 @@
 #define MOTOR1_STEPMOTOR_IHOLD                    3
 #define MOTOR1_STEPMOTOR_IRUN                     16
 #define MOTOR1_STEPMOTOR_IHOLDDELAY               100
-#define MOTOR1_STEPMOTOR_IGLOBALSCALER            1
+#define MOTOR1_STEPMOTOR_IGLOBALSCALER            0
 #define MOTOR1_MOTOR_DEFAULT_ACC                  300
 #define MOTOR1_MOTOR_DEFAULT_DEC                  300
 #define MOTOR1_MOTOR_DEFAULT_VELOCITY             500

usrc/subboards/subboard30_shake_module/pri_board.h

@@ -42,7 +42,7 @@
 #define MOTOR1_STEPMOTOR_IHOLD                    2
 #define MOTOR1_STEPMOTOR_IRUN                     8
 #define MOTOR1_STEPMOTOR_IHOLDDELAY               100
-#define MOTOR1_STEPMOTOR_IGLOBALSCALER            1
+#define MOTOR1_STEPMOTOR_IGLOBALSCALER            0
 #define MOTOR1_MOTOR_DEFAULT_ACC                  300
 #define MOTOR1_MOTOR_DEFAULT_DEC                  300
 #define MOTOR1_MOTOR_DEFAULT_VELOCITY             150

usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h

@@ -47,7 +47,7 @@
 #define MOTOR1_STEPMOTOR_IHOLD                    2
 #define MOTOR1_STEPMOTOR_IRUN                     24
 #define MOTOR1_STEPMOTOR_IHOLDDELAY               100
-#define MOTOR1_STEPMOTOR_IGLOBALSCALER            1
+#define MOTOR1_STEPMOTOR_IGLOBALSCALER            0
 #define MOTOR1_MOTOR_DEFAULT_ACC                  300
 #define MOTOR1_MOTOR_DEFAULT_DEC                  300
 #define MOTOR1_MOTOR_DEFAULT_VELOCITY             300

usrc/subboards/subboard70_incubation_turntable/pri_board.h

@@ -45,16 +45,16 @@
 #define TMC_MOTOR_SPI hspi1
 
 #define MOTOR1_CSN             PA4
-#define MOTOR1_ENN             PE3
+#define MOTOR1_ENN             PinNull
 #define MOTOR1_SPI_MODE_SELECT PinNull
 #define MOTOR1_nFREEZE_IO      PE12
 #define MOTOR1_nRESET_IO       PinNull
 #define MOTOR1_SUB_IC_ENN_IO   PE11
 
-#define MOTOR1_REFL        PinNull
-#define MOTOR1_REFR        PinNull
-#define MOTOR1_REFL_MIRROR false
-#define MOTOR1_REFR_MIRROR false
+#define MOTOR1_REFL        PD3
+#define MOTOR1_REFR        PD2
+#define MOTOR1_REFL_MIRROR true
+#define MOTOR1_REFR_MIRROR true
 
 #define MOTOR1_MOTOR_SHAFT                        false   //
 #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             387096  // 3600 = 93圈, 3600/93 = 38.70967741935484
@@ -62,7 +62,7 @@
 #define MOTOR1_STEPMOTOR_IHOLD                    1
 #define MOTOR1_STEPMOTOR_IRUN                     5
 #define MOTOR1_STEPMOTOR_IHOLDDELAY               100
-#define MOTOR1_STEPMOTOR_IGLOBALSCALER            1
+#define MOTOR1_STEPMOTOR_IGLOBALSCALER            0
 #define MOTOR1_MOTOR_DEFAULT_ACC                  900
 #define MOTOR1_MOTOR_DEFAULT_DEC                  900
 #define MOTOR1_MOTOR_DEFAULT_VELOCITY             300

usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp

@@ -13,7 +13,9 @@ extern "C" {
 #define TAG "ShakeModule"
 
 using namespace iflytop;
+#define TAG "Subboard70IncubationTurntable"
 void Subboard70IncubationTurntable::initialize() {
+  ZLOGI(TAG, "suboard 70 initialize");
   IO_INIT();
   GService::inst()->getZCanProtocolParser()->registerModule(this);
 

usrc/subboards/subboard80_cliptip/pri_board.h

@@ -49,7 +49,7 @@
 #define MOTOR1_STEPMOTOR_IHOLD                    1
 #define MOTOR1_STEPMOTOR_IRUN                     8
 #define MOTOR1_STEPMOTOR_IHOLDDELAY               100
-#define MOTOR1_STEPMOTOR_IGLOBALSCALER            1
+#define MOTOR1_STEPMOTOR_IGLOBALSCALER            0
 #define MOTOR1_MOTOR_DEFAULT_ACC                  300
 #define MOTOR1_MOTOR_DEFAULT_DEC                  300
 #define MOTOR1_MOTOR_DEFAULT_VELOCITY             500

usrc/subboards/subboard80_cliptip/subboard80_cliptip_board.c

@@ -175,13 +175,9 @@ static void UART4_Init() {
   huart4_enable = true;
 }
 
-/**
- * @brief 移液体枪串口
- */
-
 void subboard80_cliptip_board_init() {
   common_hardware_init();
   MX_SPI1_Init();
-  UART2_Init();  // 移动液枪串口初始化
+  UART2_Init();  
   UART4_Init();
 }

usrc/subboards/subboard90_optical_module/pri_board.h

@@ -50,7 +50,7 @@
 #define MOTOR1_STEPMOTOR_IHOLD                    1
 #define MOTOR1_STEPMOTOR_IRUN                     8
 #define MOTOR1_STEPMOTOR_IHOLDDELAY               100
-#define MOTOR1_STEPMOTOR_IGLOBALSCALER            1
+#define MOTOR1_STEPMOTOR_IGLOBALSCALER            0
 #define MOTOR1_MOTOR_DEFAULT_ACC                  300
 #define MOTOR1_MOTOR_DEFAULT_DEC                  300
 #define MOTOR1_MOTOR_DEFAULT_VELOCITY             500