From 6799ea8ca3831954bb94c79fc1d895229b9386e4 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sun, 27 Apr 2025 11:30:57 +0800 Subject: [PATCH] =?UTF-8?q?v1204=20|=20=E6=B7=BB=E5=8A=A0=E6=96=B0?= =?UTF-8?q?=E7=9A=84=E5=85=89=E5=AD=A6=E9=85=8D=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- a8000_protocol | 2 +- .../optical_module_v2.cpp | 193 ++++++++++++++++----- .../optical_module_v2.hpp | 57 ++++-- usrc/version.h | 2 +- 4 files changed, 187 insertions(+), 67 deletions(-) diff --git a/a8000_protocol b/a8000_protocol index 59632e0..85ab216 160000 --- a/a8000_protocol +++ b/a8000_protocol @@ -1 +1 @@ -Subproject commit 59632e0e01796d9328625c95a1800158861a5ce6 +Subproject commit 85ab216086dce229549939703b98a05802081c90 diff --git a/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp b/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp index fd4815d..97e8a67 100644 --- a/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp +++ b/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp @@ -70,15 +70,38 @@ void OpticalModuleV2::initialize(int32_t moduleid, hardware_config_t* hardwarecf m_reg.scan_step_interval = 1; m_reg.scan_pointnum = 1200; - m_reg.scan_vstart = 400; - m_reg.scan_vstop = 400; - m_reg.scan_v1 = 550; - m_reg.scan_a1 = 300; - m_reg.scan_d1 = 300; - m_reg.scan_amax = 1000; - m_reg.scan_dmax = 1000; - m_reg.scan_vdefault = 1200; - m_reg.scan_tzerowait = 0; + m_reg.f_scan_vdefault = 300; + m_reg.f_scan_vstart = 300; + m_reg.f_scan_a1 = 300; + m_reg.f_scan_amax = 300; + m_reg.f_scan_v1 = 300; + m_reg.f_scan_dmax = 300; + m_reg.f_scan_d1 = 300; + m_reg.f_scan_vstop = 300; + m_reg.f_scan_tzerowait = 0; + m_reg.f_scan_irun = 12; + + m_reg.t_scan_vdefault = 300; + m_reg.t_scan_vstart = 300; + m_reg.t_scan_a1 = 300; + m_reg.t_scan_amax = 300; + m_reg.t_scan_v1 = 300; + m_reg.t_scan_dmax = 300; + m_reg.t_scan_d1 = 300; + m_reg.t_scan_vstop = 300; + m_reg.t_scan_tzerowait = 0; + m_reg.t_scan_irun = 12; + + m_reg.barcode_scan_vdefault = 300; + m_reg.barcode_scan_vstart = 300; + m_reg.barcode_scan_a1 = 300; + m_reg.barcode_scan_amax = 300; + m_reg.barcode_scan_v1 = 300; + m_reg.barcode_scan_dmax = 300; + m_reg.barcode_scan_d1 = 300; + m_reg.barcode_scan_vstop = 300; + m_reg.barcode_scan_tzerowait = 0; + m_reg.barcode_scan_irun = 12; m_default_reg = m_reg; @@ -157,15 +180,36 @@ int32_t OpticalModuleV2::module_set_reg(int32_t regindex, int32_t val) { MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_t_reverse_scan_pos_offset, (m_reg.t_reverse_scan_pos_offset)); MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_f_reverse_scan_pos_offset, (m_reg.f_reverse_scan_pos_offset)); - MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_scan_vdefault, (m_reg.scan_vdefault)); - MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_scan_vstart, (m_reg.scan_vstart)); - MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_scan_a1, (m_reg.scan_a1)); - MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_scan_amax, (m_reg.scan_amax)); - MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_scan_v1, (m_reg.scan_v1)); - MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_scan_dmax, (m_reg.scan_dmax)); - MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_scan_d1, (m_reg.scan_d1)); - MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_scan_vstop, (m_reg.scan_vstop)); - MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_scan_tzerowait, (m_reg.scan_tzerowait)); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_f_scan_vdefault, m_reg.f_scan_vdefault); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_f_scan_vstart, m_reg.f_scan_vstart); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_f_scan_a1, m_reg.f_scan_a1); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_f_scan_amax, m_reg.f_scan_amax); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_f_scan_v1, m_reg.f_scan_v1); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_f_scan_dmax, m_reg.f_scan_dmax); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_f_scan_d1, m_reg.f_scan_d1); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_f_scan_vstop, m_reg.f_scan_vstop); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_f_scan_tzerowait, m_reg.f_scan_tzerowait); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_f_scan_irun, m_reg.f_scan_irun); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_t_scan_vdefault, m_reg.t_scan_vdefault); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_t_scan_vstart, m_reg.t_scan_vstart); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_t_scan_a1, m_reg.t_scan_a1); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_t_scan_amax, m_reg.t_scan_amax); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_t_scan_v1, m_reg.t_scan_v1); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_t_scan_dmax, m_reg.t_scan_dmax); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_t_scan_d1, m_reg.t_scan_d1); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_t_scan_vstop, m_reg.t_scan_vstop); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_t_scan_tzerowait, m_reg.t_scan_tzerowait); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_t_scan_irun, m_reg.t_scan_irun); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_barcode_scan_vdefault, m_reg.barcode_scan_vdefault); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_barcode_scan_vstart, m_reg.barcode_scan_vstart); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_barcode_scan_a1, m_reg.barcode_scan_a1); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_barcode_scan_amax, m_reg.barcode_scan_amax); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_barcode_scan_v1, m_reg.barcode_scan_v1); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_barcode_scan_dmax, m_reg.barcode_scan_dmax); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_barcode_scan_d1, m_reg.barcode_scan_d1); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_barcode_scan_vstop, m_reg.barcode_scan_vstop); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_barcode_scan_tzerowait, m_reg.barcode_scan_tzerowait); + MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_barcode_scan_irun, m_reg.barcode_scan_irun); MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_scan_step_interval, (m_reg.scan_step_interval)); MODULE_REG_CASE__SET_REG_TO(kreg_a8k_opt_scan_pointnum, (m_reg.scan_pointnum)); @@ -184,15 +228,36 @@ int32_t OpticalModuleV2::module_get_reg(int32_t regindex, int32_t* val) { MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_t_reverse_scan_pos_offset, (m_reg.t_reverse_scan_pos_offset)); MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_f_reverse_scan_pos_offset, (m_reg.f_reverse_scan_pos_offset)); - MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_scan_vdefault, (m_reg.scan_vdefault)); - MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_scan_vstart, (m_reg.scan_vstart)); - MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_scan_a1, (m_reg.scan_a1)); - MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_scan_amax, (m_reg.scan_amax)); - MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_scan_v1, (m_reg.scan_v1)); - MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_scan_dmax, (m_reg.scan_dmax)); - MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_scan_d1, (m_reg.scan_d1)); - MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_scan_vstop, (m_reg.scan_vstop)); - MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_scan_tzerowait, (m_reg.scan_tzerowait)); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_f_scan_vdefault, m_reg.f_scan_vdefault); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_f_scan_vstart, m_reg.f_scan_vstart); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_f_scan_a1, m_reg.f_scan_a1); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_f_scan_amax, m_reg.f_scan_amax); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_f_scan_v1, m_reg.f_scan_v1); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_f_scan_dmax, m_reg.f_scan_dmax); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_f_scan_d1, m_reg.f_scan_d1); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_f_scan_vstop, m_reg.f_scan_vstop); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_f_scan_tzerowait, m_reg.f_scan_tzerowait); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_f_scan_irun, m_reg.f_scan_irun); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_t_scan_vdefault, m_reg.t_scan_vdefault); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_t_scan_vstart, m_reg.t_scan_vstart); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_t_scan_a1, m_reg.t_scan_a1); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_t_scan_amax, m_reg.t_scan_amax); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_t_scan_v1, m_reg.t_scan_v1); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_t_scan_dmax, m_reg.t_scan_dmax); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_t_scan_d1, m_reg.t_scan_d1); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_t_scan_vstop, m_reg.t_scan_vstop); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_t_scan_tzerowait, m_reg.t_scan_tzerowait); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_t_scan_irun, m_reg.t_scan_irun); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_barcode_scan_vdefault, m_reg.barcode_scan_vdefault); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_barcode_scan_vstart, m_reg.barcode_scan_vstart); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_barcode_scan_a1, m_reg.barcode_scan_a1); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_barcode_scan_amax, m_reg.barcode_scan_amax); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_barcode_scan_v1, m_reg.barcode_scan_v1); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_barcode_scan_dmax, m_reg.barcode_scan_dmax); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_barcode_scan_d1, m_reg.barcode_scan_d1); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_barcode_scan_vstop, m_reg.barcode_scan_vstop); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_barcode_scan_tzerowait, m_reg.barcode_scan_tzerowait); + MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_barcode_scan_irun, m_reg.barcode_scan_irun); MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_scan_step_interval, (m_reg.scan_step_interval)); MODULE_CFG_CASE__GET_REG_FROM(kreg_a8k_opt_scan_pointnum, (m_reg.scan_pointnum)); @@ -204,7 +269,6 @@ int32_t OpticalModuleV2::module_get_reg(int32_t regindex, int32_t* val) { return 0; } - int32_t OpticalModuleV2::module_stop() { m_thread.stop(); return 0; @@ -228,7 +292,7 @@ int32_t OpticalModuleV2::start_t_optical_scan(int32_t scanDirection, int32_t las scanStartPos = m_reg.t_reverse_scan_pos_offset; } active_motor_default_cfg(); - move_to_block(scanStartPos); + move_to_block(knormal_run, scanStartPos); // 设置激光亮度增益 a8000_optical_set_laster_gain(kt_optical, lasterGain); @@ -245,10 +309,10 @@ int32_t OpticalModuleV2::start_t_optical_scan(int32_t scanDirection, int32_t las adc_capture_point_num = 0; int32_t startTicket = HAL_GetTick(); - active_motor_opt_cfg(); + active_motor_opt_cfg(kt_optical); while (true) { // 移动到第一个点 - move_to_block(scanStartPos + step); + move_to_block(kt_optical, scanStartPos + step); // osDelay(1); t_read_one_point(adcval); @@ -299,7 +363,7 @@ int32_t OpticalModuleV2::start_f_optical_scan(int32_t scanDirection, int32_t las scanStartPos = m_reg.f_reverse_scan_pos_offset; } active_motor_default_cfg(); - move_to_block(scanStartPos); + move_to_block(knormal_run, scanStartPos); // 设置激光亮度增益 a8000_optical_set_laster_gain(kf_optical, lasterGain); @@ -318,11 +382,11 @@ int32_t OpticalModuleV2::start_f_optical_scan(int32_t scanDirection, int32_t las int pointnum = 0; int32_t adcval = 0; adc_capture_point_num = 0; - active_motor_opt_cfg(); + active_motor_opt_cfg(kf_optical); int32_t startTicket = HAL_GetTick(); while (true) { // 移动到第一个点 - move_to_block(scanStartPos + step); + move_to_block(kf_optical, scanStartPos + step); f_read_one_point(lasterGain, scanGain, adcval); step += intervalStep; @@ -373,7 +437,7 @@ int32_t OpticalModuleV2::start_barcode_scan(int32_t lasterGain, int32_t scanGain osDelay(10); active_motor_default_cfg(); - move_to_block(startpos); + move_to_block(knormal_run, startpos); // 设置激光亮度增益 a8000_optical_set_laster_gain(kf_optical, lasterGain); @@ -394,11 +458,11 @@ int32_t OpticalModuleV2::start_barcode_scan(int32_t lasterGain, int32_t scanGain adc_capture_point_num = 0; int32_t scanDirection = intervalstep < 0 ? 1 : 0; // 与电机运行相反的方向为正 - active_motor_opt_cfg(); + active_motor_opt_cfg(kbarcode_optical); int32_t startTicket = HAL_GetTick(); while (true) { // 移动到第一个点 - move_to_block(startpos + step); + move_to_block(kbarcode_optical, startpos + step); f_read_one_point(lasterGain, scanGain, adcval); step += intervalstep; @@ -639,21 +703,54 @@ int32_t OpticalModuleV2::_close_t_amp_n5v() { void OpticalModuleV2::active_motor_default_cfg() { motor->step_motor_active_cfg(); } void OpticalModuleV2::recover_motor_default_cfg() { active_motor_default_cfg(); } -void OpticalModuleV2::active_motor_opt_cfg() { +void OpticalModuleV2::active_motor_opt_cfg(optical_type_t optType) { auto _motor = motor->getMotor(); - _motor->set_vstart(m_reg.scan_vstart); - _motor->set_vstop(m_reg.scan_vstop); - _motor->set_a1(m_reg.scan_a1); - _motor->set_d1(m_reg.scan_d1); - _motor->set_v1(m_reg.scan_v1); - _motor->set_amax(m_reg.scan_amax); - _motor->set_dmax(m_reg.scan_dmax); - _motor->set_tzerowait(m_reg.scan_tzerowait); + if (optType == kf_optical) { + _motor->set_vstart(m_reg.f_scan_vstart); + _motor->set_vstop(m_reg.f_scan_vstop); + _motor->set_a1(m_reg.f_scan_a1); + _motor->set_d1(m_reg.f_scan_d1); + _motor->set_v1(m_reg.f_scan_v1); + _motor->set_amax(m_reg.f_scan_amax); + _motor->set_dmax(m_reg.f_scan_dmax); + _motor->set_tzerowait(m_reg.f_scan_tzerowait); + _motor->setIHOLD_IRUN(m_reg.f_scan_irun, m_reg.f_scan_irun, 1000); + } else if (optType == kt_optical) { + _motor->set_vstart(m_reg.t_scan_vstart); + _motor->set_vstop(m_reg.t_scan_vstop); + _motor->set_a1(m_reg.t_scan_a1); + _motor->set_d1(m_reg.t_scan_d1); + _motor->set_v1(m_reg.t_scan_v1); + _motor->set_amax(m_reg.t_scan_amax); + _motor->set_dmax(m_reg.t_scan_dmax); + _motor->set_tzerowait(m_reg.t_scan_tzerowait); + _motor->setIHOLD_IRUN(m_reg.t_scan_irun, m_reg.t_scan_irun, 1000); + } else if (optType == kbarcode_optical) { + _motor->set_vstart(m_reg.barcode_scan_vstart); + _motor->set_vstop(m_reg.barcode_scan_vstop); + _motor->set_a1(m_reg.barcode_scan_a1); + _motor->set_d1(m_reg.barcode_scan_d1); + _motor->set_v1(m_reg.barcode_scan_v1); + _motor->set_amax(m_reg.barcode_scan_amax); + _motor->set_dmax(m_reg.barcode_scan_dmax); + _motor->set_tzerowait(m_reg.barcode_scan_tzerowait); + _motor->setIHOLD_IRUN(m_reg.barcode_scan_irun, m_reg.barcode_scan_irun, 1000); + } else { + active_motor_default_cfg(); + } } -int32_t OpticalModuleV2::move_to_block(int32_t pos) { +int32_t OpticalModuleV2::move_to_block(optical_type_t optType, int32_t pos) { auto _motor = motor->getMotor(); - _motor->moveTo(pos, m_reg.scan_vdefault); + if (optType == kf_optical) { + _motor->moveTo(pos, m_reg.f_scan_vdefault); + } else if (optType == kt_optical) { + _motor->moveTo(pos, m_reg.t_scan_vdefault); + } else if (optType == kbarcode_optical) { + _motor->moveTo(pos, m_reg.barcode_scan_vdefault); + } else { + _motor->moveTo(pos, motor->getCfg()->motor_default_velocity); + } while (!_motor->isReachTarget()) { } return 0; diff --git a/usrc/subboards/subboard90_optical_module/optical_module_v2.hpp b/usrc/subboards/subboard90_optical_module/optical_module_v2.hpp index a7a5515..5aad6ba 100644 --- a/usrc/subboards/subboard90_optical_module/optical_module_v2.hpp +++ b/usrc/subboards/subboard90_optical_module/optical_module_v2.hpp @@ -15,12 +15,13 @@ using namespace std; class OpticalModuleV2 : public ZIModule { public: - OpticalModuleV2() : ZIModule(ka8000_optical_module, APP_VERSION) {} + OpticalModuleV2() : ZIModule(ka8000_optical_module, APP_VERSION) {} typedef enum { - kf_optical = 0, - kt_optical = 1, - ktest_optical = 2, + knormal_run = 0, + kf_optical = 1, + kt_optical = 2, + kbarcode_optical = 3, } optical_type_t; public: @@ -57,16 +58,38 @@ class OpticalModuleV2 : public ZIModule { int32_t scan_step_interval; int32_t scan_pointnum; - int32_t scan_vdefault; - int32_t scan_vstart; - int32_t scan_a1; - int32_t scan_amax; - int32_t scan_v1; - int32_t scan_dmax; - int32_t scan_d1; - int32_t scan_vstop; - int32_t scan_tzerowait; - + int32_t f_scan_vdefault; + int32_t f_scan_vstart; + int32_t f_scan_a1; + int32_t f_scan_amax; + int32_t f_scan_v1; + int32_t f_scan_dmax; + int32_t f_scan_d1; + int32_t f_scan_vstop; + int32_t f_scan_tzerowait; + int32_t f_scan_irun; + + int32_t t_scan_vdefault; + int32_t t_scan_vstart; + int32_t t_scan_a1; + int32_t t_scan_amax; + int32_t t_scan_v1; + int32_t t_scan_dmax; + int32_t t_scan_d1; + int32_t t_scan_vstop; + int32_t t_scan_tzerowait; + int32_t t_scan_irun; + + int32_t barcode_scan_vdefault; + int32_t barcode_scan_vstart; + int32_t barcode_scan_a1; + int32_t barcode_scan_amax; + int32_t barcode_scan_v1; + int32_t barcode_scan_dmax; + int32_t barcode_scan_d1; + int32_t barcode_scan_vstop; + int32_t barcode_scan_tzerowait; + int32_t barcode_scan_irun; } reg_table_t; private: @@ -167,7 +190,7 @@ class OpticalModuleV2 : public ZIModule { int32_t dumpresult(); // virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val) override; - void opt_module_power_ctrl(bool on); + void opt_module_power_ctrl(bool on); int32_t select_f_channel(int32_t channel); @@ -186,8 +209,8 @@ class OpticalModuleV2 : public ZIModule { private: void active_motor_default_cfg(); void recover_motor_default_cfg(); - void active_motor_opt_cfg(); - int32_t move_to_block(int32_t pos); + void active_motor_opt_cfg(optical_type_t optType); + int32_t move_to_block(optical_type_t optType, int32_t pos); private: int32_t a8000_optical_open_laser(int32_t type); diff --git a/usrc/version.h b/usrc/version.h index 316860b..093d60d 100644 --- a/usrc/version.h +++ b/usrc/version.h @@ -1,2 +1,2 @@ #pragma once -#define APP_VERSION 1203 +#define APP_VERSION 1204