From 88db532cfa62de8026d195d5f70f639175ee61c6 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sat, 6 Jul 2024 17:51:05 +0800
Subject: [PATCH] update

---
 .settings/language.settings.xml                    |  4 ++--
 .../optical_module_v2.cpp                          |  7 ++++--
 .../optical_module_v2.hpp                          | 26 ++++++++++++++++++++++
 3 files changed, 33 insertions(+), 4 deletions(-)

diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 68ccc9d..0c68457 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1459951324797802641" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-210824180916356061" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1472687181758918146" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-198088323955240556" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp b/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp
index f11529a..96fad38 100644
--- a/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp
+++ b/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp
@@ -62,8 +62,8 @@ void OpticalModuleV2::initialize(int32_t moduleid, hardware_config_t* hardwarecf
   m_t_amp_sw_io.setState(true);
   m_f_amp_sw_io.setState(true);
 
-  m_reg.t_pos_offset       = 4005;
-  m_reg.f_pos_offset       = 2860;
+  m_reg.t_pos_offset       = (4005 - 331);
+  m_reg.f_pos_offset       = (2860 - 331);
   m_reg.scan_step_interval = 1;
   m_reg.scan_pointnum      = 1200;
 
@@ -533,6 +533,7 @@ int32_t OpticalModuleV2::a8k_opt_v2_t_readVal(int32_t* lasteradc, int32_t* scana
 }
 
 int32_t OpticalModuleV2::a8k_opt_v2_f_open_laster(int32_t lasterGain, int32_t scanGain) {
+  ZLOGI(TAG, "a8k_opt_v2_f_open_laster %d %d", lasterGain, scanGain);
   a8000_optical_set_laster_gain(kf_optical, lasterGain);
   a8000_optical_set_scan_amp_gain(kf_optical, scanGain);
   // 选通ADC反馈通道
@@ -544,6 +545,7 @@ int32_t OpticalModuleV2::a8k_opt_v2_f_open_laster(int32_t lasterGain, int32_t sc
   return 0;
 }
 int32_t OpticalModuleV2::a8k_opt_v2_f_close_laster() {
+  ZLOGI(TAG, "a8k_opt_v2_f_close_laster");
   a8000_optical_close_laser(kf_optical);
   select_f_channel(0);
   return 0;
@@ -554,5 +556,6 @@ int32_t OpticalModuleV2::a8k_opt_v2_f_readVal(int32_t* lasteradc, int32_t* scana
   *scanadc = adcval;
   a8000_optical_read_laster_adc_val(kf_optical, &adcval);
   *lasteradc = adcval;
+  ZLOGI(TAG, "a8k_opt_v2_f_readVal %d %d", *lasteradc, *scanadc);
   return 0;
 }
\ No newline at end of file
diff --git a/usrc/subboards/subboard90_optical_module/optical_module_v2.hpp b/usrc/subboards/subboard90_optical_module/optical_module_v2.hpp
index 37610d3..583542f 100644
--- a/usrc/subboards/subboard90_optical_module/optical_module_v2.hpp
+++ b/usrc/subboards/subboard90_optical_module/optical_module_v2.hpp
@@ -161,3 +161,29 @@ class OpticalModuleV2 : public ZIModule, public ZIA8000OpticalModule {
   int32_t a8000_optical_read_scanner_adc_val(int32_t type, int32_t* adcval);
 };
 }  // namespace iflytop
+
+/**
+ * @brief 
+ * 
+ * 
+ * 
+ * 
+ * F光学:
+ *    发射管增益0最大，255最小，最大和最小大概2倍关系
+ *    接收管数值越大，放大倍数越大
+ * 
+ * T光学:
+ *    
+ * 
+ * 
+ * 光学步长:
+ *  0.0127mm
+ * 总扫描区长度
+ *  15.24->1200步  (PS:板卡反应区长度15.90,但如果去掉底部纸板的黑色块，刚好15.24)
+ * 
+ * 
+ * 1. 推杆电机将板夹推到49位置为板夹扫描位
+ *        此时T光学电机起始步:4005 - 331
+ *        此时F光学电机起始步:2860 - 331
+ * 
+ */
\ No newline at end of file