update

sdk

@@ -1 +1 @@
-Subproject commit 40531be4a6a1d8479adeaaa83fee988224d4f393
+Subproject commit 74ab9d32d67b4c0b8d1afb63b0421e0c11a924e5

usrc/main.cpp

@@ -112,9 +112,9 @@ static void board_post_init() {
     case 200:
       Subboard200ExtTmc5160::ins()->initialize();
       break;
-    // case 90:
-    //   Subboard90OpticalModule::ins()->initialize();
-    //   break;
+    case 90:
+      Subboard90OpticalModule::ins()->initialize();
+      break;
     default:
       break;
   }

usrc/public_service/gins.c

@@ -36,6 +36,11 @@ DEFINE_GLOBAL(SPI_HandleTypeDef, hspi1);
 DEFINE_GLOBAL(SPI_HandleTypeDef, hspi2);
 DEFINE_GLOBAL(SPI_HandleTypeDef, hspi3);
 
+DEFINE_GLOBAL(ADC_HandleTypeDef, hadc1);
+
+
+
+
 /***********************************************************************************************************************
  *                                                         PTR                                                         *
  ***********************************************************************************************************************/

usrc/public_service/gins.h

@@ -58,6 +58,9 @@ EXTERN_GLOBAL(SPI_HandleTypeDef, hspi1);
 EXTERN_GLOBAL(SPI_HandleTypeDef, hspi2);
 EXTERN_GLOBAL(SPI_HandleTypeDef, hspi3);
 
+EXTERN_GLOBAL(ADC_HandleTypeDef, hadc1);
+
+
 /***********************************************************************************************************************
  *                                                         PTR                                                         *
  ***********************************************************************************************************************/

usrc/subboards/subboard10_hbot/subboard10_hbot.cpp

@@ -42,7 +42,7 @@ void Subboard10Hbot::initialize() {
     };
     motora.initialize(&cfg);
     motora.setMotorShaft(false);
-    motora.setGlobalScale(32);
+    motora.setGlobalScale(31);
     ZLOGI(TAG, "motora initialize TMC4361A:%x DriverIC:%x", motora.readICVersion(), motora.driverIC_readICVersion());
   }
 
@@ -58,7 +58,7 @@ void Subboard10Hbot::initialize() {
     };
     motorb.initialize(&cfg);
     motorb.setMotorShaft(false);
-    motorb.setGlobalScale(32);
+    motorb.setGlobalScale(31);
     ZLOGI(TAG, "motorb initialize TMC4361A:%x DriverIC:%x", motorb.readICVersion(), motorb.driverIC_readICVersion());
   }
 
@@ -91,7 +91,7 @@ void Subboard10Hbot::initialize() {
   xy_defaultcfg.x_shaft        = 0;
   xy_defaultcfg.y_shaft        = 1;
   xy_defaultcfg.ihold          = 3;
-  xy_defaultcfg.irun           = 20;
+  xy_defaultcfg.irun           = 31;
   xy_defaultcfg.iholddelay     = 100;
   xy_defaultcfg.distance_scale = 7344;
   xy_defaultcfg.shift_x        = 0;
@@ -106,7 +106,7 @@ void Subboard10Hbot::initialize() {
   xy_defaultcfg.max_y            = 0;
   xy_defaultcfg.default_velocity = 300;
 
-  xy_defaultcfg.run_to_zero_speed    = 80;
+  xy_defaultcfg.run_to_zero_speed    = 40;
   xy_defaultcfg.look_zero_edge_speed = 10;
 
   xyRobotCtrlModule.initialize(getmoduleId(1), &motora, &motorb, &input[0], 4, xy_defaultcfg);

usrc/subboards/subboard90_optical_module/subboard90_optical_module_board.c

@@ -98,6 +98,61 @@ void MX_SPI3_Init(void) {
   hspi3_enable = true;
 }
 
+/* ADC1 init function */
+static void ADC1_Init(void) {
+  __HAL_RCC_ADC1_CLK_ENABLE();
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
+   */
+  hadc1.Instance                   = ADC1;
+  hadc1.Init.ClockPrescaler        = ADC_CLOCK_SYNC_PCLK_DIV2;
+  hadc1.Init.Resolution            = ADC_RESOLUTION_12B;
+  hadc1.Init.ScanConvMode          = DISABLE;
+  hadc1.Init.ContinuousConvMode    = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConvEdge  = ADC_EXTERNALTRIGCONVEDGE_NONE;
+  hadc1.Init.ExternalTrigConv      = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign             = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion       = 1;
+  hadc1.Init.DMAContinuousRequests = DISABLE;
+  hadc1.Init.EOCSelection          = ADC_EOC_SINGLE_CONV;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK) {
+    Error_Handler();
+  }
+
+  /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
+   */
+  sConfig.Channel      = ADC_CHANNEL_10;
+  sConfig.Rank         = 1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) {
+    Error_Handler();
+  }
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+  /**ADC1 GPIO Configuration
+  PC0     ------> ADC1_IN10
+  PC1     ------> ADC1_IN11
+  PC2     ------> ADC1_IN12
+  PC3     ------> ADC1_IN13
+  */
+  GPIO_InitStruct.Pin  = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3;
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+  hadc1_enable = true;
+}
+
 /**
  * @brief 板夹仓初始化
  */
@@ -107,4 +162,5 @@ void subboard90_optical_module_board_init() {
   MX_SPI1_Init();
   MX_SPI2_Init();
   MX_SPI3_Init();
+  ADC1_Init();
 }