update

sdk

@@ -1 +1 @@
-Subproject commit f8c43b9647e909d71fe19e984986e6201b0a16b7
+Subproject commit 13e61a82c0d0fb787a749a1ff2aade21c50e4457

usrc/board.h

@@ -22,4 +22,4 @@
 
 #define MOTOR_CFG_FLASH_MARK "MOTOR_CFG_FLASH_MARK"
 
-#define BOARD_ID 4
+#define BOARD_ID 6

usrc/main.cpp

@@ -9,6 +9,7 @@
 #include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
 #include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
 #include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
+#include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
 #include "sdk\components\tmc\ic\ztmc5130.hpp"
 
 #define TAG "main"
@@ -30,6 +31,9 @@ static int32_t getDeviceId() { return BOARD_ID; }
  *******************************************************************************/
 void        nvs_init_cb() {}
 static void initsubmodule() {
+#define INLET_SPEED    300
+#define OUTET_SPEED    300
+#define TANSLATE_SPEED 300
   /**
    * @brief ÈëÁÏ
    */
@@ -53,12 +57,13 @@ static void initsubmodule() {
 
     I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
     StepMotorCtrlModule::create_default_cfg(smcm_cfg);
-    smcm_cfg.base_param.distance_scale             = 200;
+    smcm_cfg.base_param.distance_scale             = 100;
     smcm_cfg.base_param.distance_scale_denominator = 1;
     smcm_cfg.base_param.irun                       = 24;
     smcm_cfg.base_param.ihold                      = 1;
     smcm_cfg.base_param.x_shaft                    = false;
-    smcm_cfg.base_param.maxspeed                   = 150;
+    smcm_cfg.base_param.maxspeed                   = INLET_SPEED;
+    smcm_cfg.base_param.run_to_zero_speed          = 50;
 
     stepMotorCtrlModule.initialize(initer.get_module_id(1), &motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
     initer.register_module(&stepMotorCtrlModule);
@@ -86,12 +91,12 @@ static void initsubmodule() {
 
     I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
     StepMotorCtrlModule::create_default_cfg(smcm_cfg);
-    smcm_cfg.base_param.distance_scale             = 100;
+    smcm_cfg.base_param.distance_scale             = 80;
     smcm_cfg.base_param.distance_scale_denominator = 1;
-    smcm_cfg.base_param.irun                       = 24;
+    smcm_cfg.base_param.irun                       = 8;
     smcm_cfg.base_param.ihold                      = 1;
     smcm_cfg.base_param.x_shaft                    = true;
-    smcm_cfg.base_param.maxspeed                   = 50;
+    smcm_cfg.base_param.maxspeed                   = TANSLATE_SPEED;
     smcm_cfg.base_param.run_to_zero_speed          = 50;
 
     stepMotorCtrlModule.initialize(initer.get_module_id(2), &motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
@@ -126,13 +131,13 @@ static void initsubmodule() {
     smcm_cfg.base_param.irun                       = 24;
     smcm_cfg.base_param.ihold                      = 1;
     smcm_cfg.base_param.x_shaft                    = true;
-    smcm_cfg.base_param.maxspeed                   = 50;
+    smcm_cfg.base_param.maxspeed                   = OUTET_SPEED;
     smcm_cfg.base_param.run_to_zero_speed          = 50;
 
     stepMotorCtrlModule.initialize(initer.get_module_id(3), &motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
     initer.register_module(&stepMotorCtrlModule);
   }
-#if 0
+#if 1
   {
     static M3078CodeScanner                    codescanner;
     static M3078CodeScanner::hardware_config_t cfg = {
@@ -144,8 +149,8 @@ static void initsubmodule() {
         .rstPin        = PinNull,
         .triggerPin    = PE15,
     };
-    codescanner.initialize(BOARD_ID * 10 + 4, &cfg);
-    g_ziProtocolParser.registerModule(&codescanner);
+    codescanner.initialize(initer.get_module_id(4), &cfg);
+    initer.register_module(&codescanner);
   }
 #endif
 }