update

usrc/main.cpp

@@ -7,6 +7,8 @@
 #include "sdk/os/zos.hpp"
 #include "sysmgr/sys_mgr.hpp"
 //
+#include "subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case.hpp"
+#include "subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case_board.h"
 #include "subboards/subboard30_shake_module/subboard30_shake_module.hpp"
 #include "subboards/subboard30_shake_module/subboard30_shake_module_board.h"
 #include "subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module.hpp"
@@ -15,6 +17,8 @@
 #include "subboards/subboard70_incubation_turntable/subboard70_incubation_turntable_board.h"
 #include "subboards/subboard80_cliptip/subboard80_cliptip.hpp"
 #include "subboards/subboard80_cliptip/subboard80_cliptip_board.h"
+#include "subboards/subboard90_optical_module/subboard90_optical_module.hpp"
+#include "subboards/subboard90_optical_module/subboard90_optical_module_board.h"
 
 //
 
@@ -31,22 +35,24 @@ int32_t deviceId = 0;
 
 static void board_init() {
   switch (deviceId) {
+    case 20:  // 板夹仓
+      subboard20_plate_clamp_case_board_init();
+      break;
     case 30:  // 摇匀模组
       subboard30_shake_module_board_init();
       break;
-
     case 60:  // 进出料模组
       subboard60_inlet_and_outlet_module_board_init();
       break;
-
     case 70:  // 孵化转盘
       subboard70_incubation_turntable_board_init();
       break;
-
     case 80:
       subboard80_cliptip_board_init();
       break;
-
+    case 90:
+      subboard90_optical_module_board_init();
+      break;
     default:
       common_hardware_init();
       break;
@@ -56,6 +62,9 @@ static void board_init() {
 static void board_post_init() {
   GService::inst()->initialize();
   switch (deviceId) {
+    case 20:
+      Subboard20PlateClampCase::ins()->initialize();
+      break;
     case 30:  // 摇匀模组
       Subboard30ShakeModule::ins()->initialize();
       break;
@@ -68,7 +77,9 @@ static void board_post_init() {
     case 80:
       Subboard80Cliptip::ins()->initialize();
       break;
-
+    // case 90:
+    //   Subboard90OpticalModule::ins()->initialize();
+    //   break;
     default:
       break;
   }
@@ -79,12 +90,17 @@ void umain() {
 
   board_init();
 
+  Pin_t debugLight = PC_DEBUG_LIGHT_GPIO;
+  if (deviceId == 20) {
+    debugLight = PC_SUBBOARD20_LIGHT_GPIO;
+  }
+
   zos_cfg_t  zoscfg             = {0};
   chip_cfg_t chipcfg            = {};
   chipcfg.us_dleay_tim          = &PC_SYS_DELAY_US_TIMER;
   chipcfg.tim_irq_scheduler_tim = &PC_SYS_TIM_IRQ_SCHEDULER_TIMER;
   chipcfg.huart                 = &PC_DEBUG_UART;
-  chipcfg.debuglight            = PC_DEBUG_LIGHT_GPIO;
+  chipcfg.debuglight            = debugLight;
 
   chip_init(&chipcfg);
   zos_init(&zoscfg);

usrc/project_configs.h

@@ -7,6 +7,8 @@
 #define PC_DEBUG_UART             huart1
 #define PC_DEBUG_UART_RX_BUF_SIZE 1024
 #define PC_DEBUG_LIGHT_GPIO       PE2
+#define PC_SUBBOARD20_LIGHT_GPIO  PE8
+//
 
 #define PC_SYS_DELAY_US_TIMER          htim6  // US延时定时器
 #define PC_SYS_ZTICKET_TIMER           TIM11  // 系统ticket定时器

usrc/subboards/subboard20_plate_clamp_case/pri_board.h

@@ -30,18 +30,18 @@
 #define TMC_MOTOR_SPI hspi1
 
 /***********************************************************************************************************************
- *                                                    推杆电机                                                          *
+ *                                                    左右移动                                                          *
  ***********************************************************************************************************************/
 
 #define MOTOR1_CSN             PA4
-#define MOTOR1_ENN             PE3
+#define MOTOR1_ENN             PD5
 #define MOTOR1_SPI_MODE_SELECT PinNull
-#define MOTOR1_nFREEZE_IO      PE12
+#define MOTOR1_nFREEZE_IO      PinNull
 #define MOTOR1_nRESET_IO       PinNull
-#define MOTOR1_SUB_IC_ENN_IO   PE11
+#define MOTOR1_SUB_IC_ENN_IO   PinNull
 
-#define MOTOR1_REFL        PD2
-#define MOTOR1_REFR        PD1
+#define MOTOR1_REFL        PD0
+#define MOTOR1_REFR        PD8
 #define MOTOR1_REFL_MIRROR true
 #define MOTOR1_REFR_MIRROR true
 
@@ -63,18 +63,18 @@
 #define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC           600
 
 /***********************************************************************************************************************
- *                                                      平移电机                                                       *
+ *                                                      推杆电机                                                       *
  ***********************************************************************************************************************/
 
-#define MOTOR2_CSN             PA4
-#define MOTOR2_ENN             PE3
+#define MOTOR2_CSN             PB1
+#define MOTOR2_ENN             PD4
 #define MOTOR2_SPI_MODE_SELECT PinNull
-#define MOTOR2_nFREEZE_IO      PE12
+#define MOTOR2_nFREEZE_IO      PinNull
 #define MOTOR2_nRESET_IO       PinNull
-#define MOTOR2_SUB_IC_ENN_IO   PE11
+#define MOTOR2_SUB_IC_ENN_IO   PinNull
 
 #define MOTOR2_REFL        PD2
-#define MOTOR2_REFR        PD1
+#define MOTOR2_REFR        PD9
 #define MOTOR2_REFL_MIRROR true
 #define MOTOR2_REFR_MIRROR true