From 820c0989c6a6028e31c558a1edb833f949334ef9 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 5 Jun 2024 18:59:42 +0800
Subject: [PATCH] update

---
 a8000_protocol                                                     | 2 +-
 sdk                                                                | 2 +-
 usrc/project_configs.h                                             | 2 +-
 usrc/public_service/ext_board_impl.hpp                             | 2 +-
 usrc/subboards/subboard30_shake_module/pri_board.h                 | 4 ++--
 usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp | 2 +-
 usrc/subboards/subboard90_optical_module/optical_module.hpp        | 2 +-
 7 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/a8000_protocol b/a8000_protocol
index c3b66e0..7bfd98c 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit c3b66e0656239c61edc573842b420863a5cd3832
+Subproject commit 7bfd98cff4587d08a048aff876d8130bcb31d919
diff --git a/sdk b/sdk
index 49aa1c4..6b63559 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 49aa1c4693983ad6031f71b0c0b785c6721d9868
+Subproject commit 6b635598f15de93132671779819d8fc37933f7dd
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 12196ed..3bf67ef 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           101
+#define PC_VERSION           102
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1
diff --git a/usrc/public_service/ext_board_impl.hpp b/usrc/public_service/ext_board_impl.hpp
index 276db8e..7350426 100644
--- a/usrc/public_service/ext_board_impl.hpp
+++ b/usrc/public_service/ext_board_impl.hpp
@@ -12,7 +12,7 @@
 
 namespace iflytop {
 class ExtBoardImpl : public ZIBoard, public ZIModule {
-  ENABLE_MODULE(ExtBoardImpl, kboard, 1);
+  ENABLE_MODULE(ExtBoardImpl, kboard, PC_VERSION);
 
  protected:
   /* data */
diff --git a/usrc/subboards/subboard30_shake_module/pri_board.h b/usrc/subboards/subboard30_shake_module/pri_board.h
index 56f548f..17081b1 100644
--- a/usrc/subboards/subboard30_shake_module/pri_board.h
+++ b/usrc/subboards/subboard30_shake_module/pri_board.h
@@ -68,12 +68,12 @@
 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             200  // 20mm    单位0.1mm
 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
 #define MOTOR2_STEPMOTOR_IHOLD                    2
-#define MOTOR2_STEPMOTOR_IRUN                     8
+#define MOTOR2_STEPMOTOR_IRUN                     20
 #define MOTOR2_STEPMOTOR_IHOLDDELAY               100
 #define MOTOR2_STEPMOTOR_IGLOBALSCALER            1
 #define MOTOR2_MOTOR_DEFAULT_ACC                  300
 #define MOTOR2_MOTOR_DEFAULT_DEC                  300
-#define MOTOR2_MOTOR_DEFAULT_VELOCITY             150
+#define MOTOR2_MOTOR_DEFAULT_VELOCITY             350
 #define MOTOR2_MIN_D                              0
 #define MOTOR2_MAX_D                              0
 #define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED            100
diff --git a/usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp b/usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp
index 5ad8c52..bf0b979 100644
--- a/usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp
+++ b/usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp
@@ -12,7 +12,7 @@
 
 namespace iflytop {
 class Subboard30ShakeModule : public ExtBoardImpl {
-  ENABLE_MODULE(Subboard30ShakeModule, kboard, 1);
+  ENABLE_MODULE(Subboard30ShakeModule, kboard, PC_VERSION);
 
  public:
   static Subboard30ShakeModule *ins() {
diff --git a/usrc/subboards/subboard90_optical_module/optical_module.hpp b/usrc/subboards/subboard90_optical_module/optical_module.hpp
index 19943a7..58b8ffc 100644
--- a/usrc/subboards/subboard90_optical_module/optical_module.hpp
+++ b/usrc/subboards/subboard90_optical_module/optical_module.hpp
@@ -11,7 +11,7 @@ namespace iflytop {
 using namespace std;
 
 class OpticalModule : public ZIModule, public ZIA8000OpticalModule {
-  ENABLE_MODULE(OpticalModule, ka8000_optical_module, 1);
+  ENABLE_MODULE(OpticalModule, ka8000_optical_module, PC_VERSION);
 
  public:
   typedef struct {