update

usrc/public_service/instance_init.hpp

@@ -89,3 +89,15 @@
                                                                                                                                \
     ZLOGI(TAG, "motor%d readic version %x", subid, motor.readICVersion());                                                     \
   }
+
+#define EXT_READ_IO_NUM 10
+#define IO_INIT()                                                                                 \
+  IO[0].initAsInput(EXT_INPUT_IO0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO0_MIRROR); \
+  IO[1].initAsInput(EXT_INPUT_IO1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO1_MIRROR); \
+  IO[2].initAsInput(EXT_INPUT_IO2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO2_MIRROR); \
+  IO[3].initAsInput(EXT_INPUT_IO3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO3_MIRROR); \
+  IO[5].initAsInput(EXT_INPUT_IO5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO5_MIRROR); \
+  IO[6].initAsInput(EXT_INPUT_IO6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO6_MIRROR); \
+  IO[7].initAsInput(EXT_INPUT_IO7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO7_MIRROR); \
+  IO[8].initAsInput(EXT_INPUT_IO8, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO8_MIRROR); \
+  IO[9].initAsInput(EXT_INPUT_IO9, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO9_MIRROR);

usrc/subboards/subboard20_plate_clamp_case/pri_board.h

@@ -9,12 +9,23 @@
 #define EXT_INPUT_IO2 PinNull
 #define EXT_INPUT_IO3 PinNull
 #define EXT_INPUT_IO4 PinNull
+#define EXT_INPUT_IO5 PinNull
+#define EXT_INPUT_IO6 PinNull
+#define EXT_INPUT_IO7 PinNull
+#define EXT_INPUT_IO8 PinNull
+#define EXT_INPUT_IO9 PinNull
 
 #define EXT_INPUT_IO0_MIRROR true
 #define EXT_INPUT_IO1_MIRROR true
 #define EXT_INPUT_IO2_MIRROR true
 #define EXT_INPUT_IO3_MIRROR true
 #define EXT_INPUT_IO4_MIRROR true
+#define EXT_INPUT_IO5_MIRROR true
+#define EXT_INPUT_IO6_MIRROR true
+#define EXT_INPUT_IO7_MIRROR true
+#define EXT_INPUT_IO8_MIRROR true
+#define EXT_INPUT_IO9_MIRROR true
+
 
 #define TMC_MOTOR_SPI hspi1
 
@@ -34,11 +45,11 @@
 #define MOTOR1_REFL_MIRROR true
 #define MOTOR1_REFR_MIRROR true
 
-#define MOTOR1_MOTOR_SHAFT                        false  //
-#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             80     // 3600 = 93圈, 3600/93 = 38.70967741935484
+#define MOTOR1_MOTOR_SHAFT                        true  //
+#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             60     // 3600 = 93圈, 3600/93 = 38.70967741935484
 #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1      //
-#define MOTOR1_STEPMOTOR_IHOLD                    1
-#define MOTOR1_STEPMOTOR_IRUN                     8
+#define MOTOR1_STEPMOTOR_IHOLD                    3
+#define MOTOR1_STEPMOTOR_IRUN                     16
 #define MOTOR1_STEPMOTOR_IHOLDDELAY               100
 #define MOTOR1_STEPMOTOR_IGLOBALSCALER            1
 #define MOTOR1_MOTOR_DEFAULT_ACC                  300
@@ -47,7 +58,7 @@
 #define MOTOR1_MIN_D                              0
 #define MOTOR1_MAX_D                              0
 #define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED            100
-#define MOTOR1_MOTOR_RUN_TO_ZERO_DEC              300
+#define MOTOR1_MOTOR_RUN_TO_ZERO_DEC              400
 #define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED         50
 #define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC           600
 
@@ -67,7 +78,7 @@
 #define MOTOR2_REFL_MIRROR true
 #define MOTOR2_REFR_MIRROR true
 
-#define MOTOR2_MOTOR_SHAFT                        false  //
+#define MOTOR2_MOTOR_SHAFT                        true  //
 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             80     // 3600 = 93圈, 3600/93 = 38.70967741935484
 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1      //
 #define MOTOR2_STEPMOTOR_IHOLD                    1
@@ -80,6 +91,6 @@
 #define MOTOR2_MIN_D                              0
 #define MOTOR2_MAX_D                              0
 #define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED            100
-#define MOTOR2_MOTOR_RUN_TO_ZERO_DEC              300
+#define MOTOR2_MOTOR_RUN_TO_ZERO_DEC              400
 #define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED         50
 #define MOTOR2_MOTOR_LOOK_ZERO_EDGE_DEC           600

usrc/subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case.cpp

@@ -16,8 +16,7 @@ extern "C" {
 
 using namespace iflytop;
 
-static ZGPIO IO[5];
-
+static ZGPIO IO[EXT_READ_IO_NUM];
 Subboard20PlateClampCase::Subboard20PlateClampCase(/* args */) {}
 Subboard20PlateClampCase::~Subboard20PlateClampCase() {}
 int32_t                  Subboard20PlateClampCase::getmoduleId(int off) { return zdevice_id_mgr_get_device_id() + off; }
@@ -34,33 +33,23 @@ int32_t Subboard20PlateClampCase::getid(int32_t *id) {
 }
 int32_t Subboard20PlateClampCase::module_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::kmodule_not_find_reg; }
 int32_t Subboard20PlateClampCase::board_read_ext_io(int32_t ioindex, int32_t *val) {
-  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) {
-    return err::kparam_out_of_range;
-  }
+  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
   *val = IO[ioindex].getState();
-
   return 0;
 }
 int32_t Subboard20PlateClampCase::board_write_ext_io(int32_t ioindex, int32_t val) { return 0; }
-
 int32_t Subboard20PlateClampCase::board_read_muti_io(int32_t *val) {
   for (int i = 0; i < ZARRAY_SIZE(IO); i++) {
     *val |= IO[i].getState() << i;
   }
   return 0;
 }
-
 /***********************************************************************************************************************
  *                                                        IMPL                                                         *
  ***********************************************************************************************************************/
 void Subboard20PlateClampCase::initialize() {
-  IO[0].initAsInput(EXT_INPUT_IO0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO0_MIRROR);
-  IO[1].initAsInput(EXT_INPUT_IO1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO1_MIRROR);
-  IO[2].initAsInput(EXT_INPUT_IO2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO2_MIRROR);
-  IO[3].initAsInput(EXT_INPUT_IO3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO3_MIRROR);
-  IO[4].initAsInput(EXT_INPUT_IO4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO4_MIRROR);
+  IO_INIT();
   GService::inst()->getZCanProtocolParser()->registerModule(this);
-
 #if 1
 
   /***********************************************************************************************************************
@@ -68,39 +57,5 @@ void Subboard20PlateClampCase::initialize() {
    ***********************************************************************************************************************/
   { TMC5130_MOTOR_INITER(1, 1); }
   { TMC5130_MOTOR_INITER(2, 2); }
-
-  {
-    static PipetteModule    module;
-    int                     subid = 2;
-    PipetteModule::config_t cfg   = {
-          .limit_ul = 30,
-    };
-
-    PipetteModule::hardward_config_t hardwarecfg = {
-        .uart    = &huart2,
-        .hdma_rx = hdma_usart2_rx,
-        .hdma_tx = hdma_usart2_tx,
-    };
-    module.initialize(getmoduleId(subid), &cfg, &hardwarecfg);
-    GService::inst()->getZCanProtocolParser()->registerModule(&module);
-  }
-
-  {
-    static M3078CodeScanner codescanner;
-    int                     subid = 3;
-
-    static M3078CodeScanner::hardware_config_t cfg = {
-        .uart    = &huart4,
-        .hdma_rx = nullptr,
-        .hdma_tx = nullptr,
-
-        .codeReadOkPin = PinNull,
-        .rstPin        = PinNull,
-        .triggerPin    = PD15,
-    };
-    codescanner.initialize(getmoduleId(subid), &cfg);
-    GService::inst()->getZCanProtocolParser()->registerModule(&codescanner);
-  }
-
 #endif
 }

usrc/subboards/subboard30_shake_module/pri_board.h

@@ -1,5 +1,29 @@
 #pragma once
 
+#define EXT_INPUT_IO0 PinNull
+#define EXT_INPUT_IO1 PinNull
+#define EXT_INPUT_IO2 PinNull
+#define EXT_INPUT_IO3 PinNull
+#define EXT_INPUT_IO4 PinNull
+#define EXT_INPUT_IO5 PinNull
+#define EXT_INPUT_IO6 PinNull
+#define EXT_INPUT_IO7 PinNull
+#define EXT_INPUT_IO8 PinNull
+#define EXT_INPUT_IO9 PinNull
+
+#define EXT_INPUT_IO0_MIRROR true
+#define EXT_INPUT_IO1_MIRROR true
+#define EXT_INPUT_IO2_MIRROR true
+#define EXT_INPUT_IO3_MIRROR true
+#define EXT_INPUT_IO4_MIRROR true
+#define EXT_INPUT_IO5_MIRROR true
+#define EXT_INPUT_IO6_MIRROR true
+#define EXT_INPUT_IO7_MIRROR true
+#define EXT_INPUT_IO8_MIRROR true
+#define EXT_INPUT_IO9_MIRROR true
+
+
+
 #define TMC_MOTOR_SPI hspi1
 /***********************************************************************************************************************
  *                                                    试管夹爪电机                                                     *

usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp

@@ -12,6 +12,7 @@ extern "C" {
 
 using namespace iflytop;
 
+static ZGPIO IO[EXT_READ_IO_NUM];
 Subboard30ShakeModule::Subboard30ShakeModule(/* args */) {}
 Subboard30ShakeModule::~Subboard30ShakeModule() {}
 int32_t                  Subboard30ShakeModule::getmoduleId(int off) { return zdevice_id_mgr_get_device_id() + off; }
@@ -19,22 +20,16 @@ Subboard30ShakeModule *Subboard30ShakeModule::ins() {
   static Subboard30ShakeModule instance;
   return &instance;
 }
-
 /***********************************************************************************************************************
  *                                                         PRI                                                         *
  ***********************************************************************************************************************/
-
-static ZGPIO IO[4];
-
 int32_t Subboard30ShakeModule::getid(int32_t *id) {
   *id = getmoduleId(0);
   return 0;
 }
 int32_t Subboard30ShakeModule::module_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::kmodule_not_find_reg; }
 int32_t Subboard30ShakeModule::board_read_ext_io(int32_t ioindex, int32_t *val) {
-  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) {
-    return err::kparam_out_of_range;
-  }
+  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
   *val = IO[ioindex].getState();
   return 0;
 }
@@ -45,12 +40,11 @@ int32_t Subboard30ShakeModule::board_read_muti_io(int32_t *val) {
   }
   return 0;
 }
-
+/***********************************************************************************************************************
+ *                                                        IMPL                                                         *
+ ***********************************************************************************************************************/
 void Subboard30ShakeModule::initialize() {
-  IO[0].initAsInput(PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
-  IO[1].initAsInput(PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
-  IO[2].initAsInput(PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
-  IO[3].initAsInput(PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
+  IO_INIT();
   GService::inst()->getZCanProtocolParser()->registerModule(this);
 
 #if 1

usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h

@@ -1,4 +1,32 @@
 #pragma once
+#define EXT_INPUT_IO0 PD0
+#define EXT_INPUT_IO1 PD1
+#define EXT_INPUT_IO2 PD2
+#define EXT_INPUT_IO3 PD3
+#define EXT_INPUT_IO4 PD4
+#define EXT_INPUT_IO5 PinNull
+#define EXT_INPUT_IO6 PinNull
+#define EXT_INPUT_IO7 PinNull
+#define EXT_INPUT_IO8 PinNull
+#define EXT_INPUT_IO9 PinNull
+
+
+
+
+
+
+
+#define EXT_INPUT_IO0_MIRROR true
+#define EXT_INPUT_IO1_MIRROR true
+#define EXT_INPUT_IO2_MIRROR true
+#define EXT_INPUT_IO3_MIRROR true
+#define EXT_INPUT_IO4_MIRROR true
+#define EXT_INPUT_IO5_MIRROR true
+#define EXT_INPUT_IO6_MIRROR true
+#define EXT_INPUT_IO7_MIRROR true
+#define EXT_INPUT_IO8_MIRROR true
+#define EXT_INPUT_IO9_MIRROR true
+
 
 #define TMC_MOTOR_SPI hspi1
 /***********************************************************************************************************************

usrc/subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module.cpp

@@ -13,6 +13,7 @@ extern "C" {
 
 using namespace iflytop;
 
+static ZGPIO IO[EXT_READ_IO_NUM];
 Subboard60InjectAndOutletModule::Subboard60InjectAndOutletModule(/* args */) {}
 Subboard60InjectAndOutletModule::~Subboard60InjectAndOutletModule() {}
 int32_t                  Subboard60InjectAndOutletModule::getmoduleId(int off) { return zdevice_id_mgr_get_device_id() + off; }
@@ -20,43 +21,34 @@ Subboard60InjectAndOutletModule *Subboard60InjectAndOutletModule::ins() {
   static Subboard60InjectAndOutletModule instance;
   return &instance;
 }
-
 /***********************************************************************************************************************
  *                                                         PRI                                                         *
  ***********************************************************************************************************************/
-
-static ZGPIO IO[5];
-
 int32_t Subboard60InjectAndOutletModule::getid(int32_t *id) {
   *id = getmoduleId(0);
   return 0;
 }
 int32_t Subboard60InjectAndOutletModule::module_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::kmodule_not_find_reg; }
 int32_t Subboard60InjectAndOutletModule::board_read_ext_io(int32_t ioindex, int32_t *val) {
-  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) {
-    return err::kparam_out_of_range;
-  }
+  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
   *val = IO[ioindex].getState();
-
   return 0;
 }
 int32_t Subboard60InjectAndOutletModule::board_write_ext_io(int32_t ioindex, int32_t val) { return 0; }
-
 int32_t Subboard60InjectAndOutletModule::board_read_muti_io(int32_t *val) {
   for (int i = 0; i < ZARRAY_SIZE(IO); i++) {
     *val |= IO[i].getState() << i;
   }
   return 0;
 }
-
+/***********************************************************************************************************************
+ *                                                        IMPL                                                         *
+ ***********************************************************************************************************************/
 void Subboard60InjectAndOutletModule::initialize() {
-  IO[0].initAsInput(PD0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
-  IO[1].initAsInput(PD1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
-  IO[2].initAsInput(PD2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
-  IO[3].initAsInput(PD3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
-  IO[4].initAsInput(PD4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
+  IO_INIT();
   GService::inst()->getZCanProtocolParser()->registerModule(this);
 
+
 #if 1
   TMC5130_MOTOR_INITER(/*motorid:*/ 1, /*moduleid:*/ 1);
   TMC5130_MOTOR_INITER(/*motorid:*/ 2, /*moduleid:*/ 2);

usrc/subboards/subboard70_incubation_turntable/pri_board.h

@@ -1,5 +1,28 @@
 #pragma once
 
+#define EXT_INPUT_IO0 PinNull
+#define EXT_INPUT_IO1 PinNull
+#define EXT_INPUT_IO2 PinNull
+#define EXT_INPUT_IO3 PinNull
+#define EXT_INPUT_IO4 PinNull
+#define EXT_INPUT_IO5 PinNull
+#define EXT_INPUT_IO6 PinNull
+#define EXT_INPUT_IO7 PinNull
+#define EXT_INPUT_IO8 PinNull
+#define EXT_INPUT_IO9 PinNull
+
+#define EXT_INPUT_IO0_MIRROR true
+#define EXT_INPUT_IO1_MIRROR true
+#define EXT_INPUT_IO2_MIRROR true
+#define EXT_INPUT_IO3_MIRROR true
+#define EXT_INPUT_IO4_MIRROR true
+#define EXT_INPUT_IO5_MIRROR true
+#define EXT_INPUT_IO6_MIRROR true
+#define EXT_INPUT_IO7_MIRROR true
+#define EXT_INPUT_IO8_MIRROR true
+#define EXT_INPUT_IO9_MIRROR true
+
+
 /***********************************************************************************************************************
  *                                                     板载扩展IO                                                      *
  ***********************************************************************************************************************/

usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp

@@ -14,8 +14,7 @@ extern "C" {
 
 using namespace iflytop;
 
-static ZGPIO IO[5];
-
+static ZGPIO IO[EXT_READ_IO_NUM];
 Subboard70IncubationTurntable::Subboard70IncubationTurntable(/* args */) {}
 Subboard70IncubationTurntable::~Subboard70IncubationTurntable() {}
 int32_t                  Subboard70IncubationTurntable::getmoduleId(int off) { return zdevice_id_mgr_get_device_id() + off; }
@@ -32,31 +31,22 @@ int32_t Subboard70IncubationTurntable::getid(int32_t *id) {
 }
 int32_t Subboard70IncubationTurntable::module_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::kmodule_not_find_reg; }
 int32_t Subboard70IncubationTurntable::board_read_ext_io(int32_t ioindex, int32_t *val) {
-  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) {
-    return err::kparam_out_of_range;
-  }
+  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
   *val = IO[ioindex].getState();
-
   return 0;
 }
 int32_t Subboard70IncubationTurntable::board_write_ext_io(int32_t ioindex, int32_t val) { return 0; }
-
 int32_t Subboard70IncubationTurntable::board_read_muti_io(int32_t *val) {
   for (int i = 0; i < ZARRAY_SIZE(IO); i++) {
     *val |= IO[i].getState() << i;
   }
   return 0;
 }
-
 /***********************************************************************************************************************
  *                                                        IMPL                                                         *
  ***********************************************************************************************************************/
 void Subboard70IncubationTurntable::initialize() {
-  IO[0].initAsInput(EXT_INPUT_IO0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO0_MIRROR);
-  IO[1].initAsInput(EXT_INPUT_IO1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO1_MIRROR);
-  IO[2].initAsInput(EXT_INPUT_IO2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO2_MIRROR);
-  IO[3].initAsInput(EXT_INPUT_IO3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO3_MIRROR);
-  IO[4].initAsInput(EXT_INPUT_IO4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO4_MIRROR);
+  IO_INIT();
   GService::inst()->getZCanProtocolParser()->registerModule(this);
 
 #if 1

usrc/subboards/subboard80_cliptip/pri_board.h

@@ -9,12 +9,22 @@
 #define EXT_INPUT_IO2 PinNull
 #define EXT_INPUT_IO3 PinNull
 #define EXT_INPUT_IO4 PinNull
+#define EXT_INPUT_IO5 PinNull
+#define EXT_INPUT_IO6 PinNull
+#define EXT_INPUT_IO7 PinNull
+#define EXT_INPUT_IO8 PinNull
+#define EXT_INPUT_IO9 PinNull
 
 #define EXT_INPUT_IO0_MIRROR true
 #define EXT_INPUT_IO1_MIRROR true
 #define EXT_INPUT_IO2_MIRROR true
 #define EXT_INPUT_IO3_MIRROR true
 #define EXT_INPUT_IO4_MIRROR true
+#define EXT_INPUT_IO5_MIRROR true
+#define EXT_INPUT_IO6_MIRROR true
+#define EXT_INPUT_IO7_MIRROR true
+#define EXT_INPUT_IO8_MIRROR true
+#define EXT_INPUT_IO9_MIRROR true
 
 /***********************************************************************************************************************
  *                                                    转盘电机                                                          *

usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp

@@ -15,8 +15,8 @@ extern "C" {
 
 using namespace iflytop;
 
-static ZGPIO IO[5];
 
+static ZGPIO IO[EXT_READ_IO_NUM];
 Subboard80Cliptip::Subboard80Cliptip(/* args */) {}
 Subboard80Cliptip::~Subboard80Cliptip() {}
 int32_t                  Subboard80Cliptip::getmoduleId(int off) { return zdevice_id_mgr_get_device_id() + off; }
@@ -33,31 +33,22 @@ int32_t Subboard80Cliptip::getid(int32_t *id) {
 }
 int32_t Subboard80Cliptip::module_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::kmodule_not_find_reg; }
 int32_t Subboard80Cliptip::board_read_ext_io(int32_t ioindex, int32_t *val) {
-  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) {
-    return err::kparam_out_of_range;
-  }
+  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
   *val = IO[ioindex].getState();
-
   return 0;
 }
 int32_t Subboard80Cliptip::board_write_ext_io(int32_t ioindex, int32_t val) { return 0; }
-
 int32_t Subboard80Cliptip::board_read_muti_io(int32_t *val) {
   for (int i = 0; i < ZARRAY_SIZE(IO); i++) {
     *val |= IO[i].getState() << i;
   }
   return 0;
 }
-
 /***********************************************************************************************************************
  *                                                        IMPL                                                         *
  ***********************************************************************************************************************/
 void Subboard80Cliptip::initialize() {
-  IO[0].initAsInput(EXT_INPUT_IO0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO0_MIRROR);
-  IO[1].initAsInput(EXT_INPUT_IO1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO1_MIRROR);
-  IO[2].initAsInput(EXT_INPUT_IO2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO2_MIRROR);
-  IO[3].initAsInput(EXT_INPUT_IO3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO3_MIRROR);
-  IO[4].initAsInput(EXT_INPUT_IO4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO4_MIRROR);
+  IO_INIT();
   GService::inst()->getZCanProtocolParser()->registerModule(this);
 
 #if 1

usrc/subboards/subboard90_optical_module/pri_board.h

@@ -0,0 +1,95 @@
+#pragma once
+
+/***********************************************************************************************************************
+ *                                                     板载扩展IO                                                      *
+ ***********************************************************************************************************************/
+
+#define EXT_INPUT_IO0 PinNull
+#define EXT_INPUT_IO1 PinNull
+#define EXT_INPUT_IO2 PinNull
+#define EXT_INPUT_IO3 PinNull
+#define EXT_INPUT_IO4 PinNull
+#define EXT_INPUT_IO5 PinNull
+#define EXT_INPUT_IO6 PinNull
+#define EXT_INPUT_IO7 PinNull
+#define EXT_INPUT_IO8 PinNull
+#define EXT_INPUT_IO9 PinNull
+
+#define EXT_INPUT_IO0_MIRROR true
+#define EXT_INPUT_IO1_MIRROR true
+#define EXT_INPUT_IO2_MIRROR true
+#define EXT_INPUT_IO3_MIRROR true
+#define EXT_INPUT_IO4_MIRROR true
+#define EXT_INPUT_IO5_MIRROR true
+#define EXT_INPUT_IO6_MIRROR true
+#define EXT_INPUT_IO7_MIRROR true
+#define EXT_INPUT_IO8_MIRROR true
+#define EXT_INPUT_IO9_MIRROR true
+
+#define TMC_MOTOR_SPI hspi1
+
+/***********************************************************************************************************************
+ *                                                    推杆电机                                                          *
+ ***********************************************************************************************************************/
+
+#define MOTOR1_CSN             PA4
+#define MOTOR1_ENN             PE3
+#define MOTOR1_SPI_MODE_SELECT PinNull
+#define MOTOR1_nFREEZE_IO      PE12
+#define MOTOR1_nRESET_IO       PinNull
+#define MOTOR1_SUB_IC_ENN_IO   PE11
+
+#define MOTOR1_REFL        PD2
+#define MOTOR1_REFR        PD1
+#define MOTOR1_REFL_MIRROR true
+#define MOTOR1_REFR_MIRROR true
+
+#define MOTOR1_MOTOR_SHAFT                        false  //
+#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             80     // 3600 = 93圈, 3600/93 = 38.70967741935484
+#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1      //
+#define MOTOR1_STEPMOTOR_IHOLD                    1
+#define MOTOR1_STEPMOTOR_IRUN                     8
+#define MOTOR1_STEPMOTOR_IHOLDDELAY               100
+#define MOTOR1_STEPMOTOR_IGLOBALSCALER            1
+#define MOTOR1_MOTOR_DEFAULT_ACC                  300
+#define MOTOR1_MOTOR_DEFAULT_DEC                  300
+#define MOTOR1_MOTOR_DEFAULT_VELOCITY             500
+#define MOTOR1_MIN_D                              0
+#define MOTOR1_MAX_D                              0
+#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED            100
+#define MOTOR1_MOTOR_RUN_TO_ZERO_DEC              300
+#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED         50
+#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC           600
+
+/***********************************************************************************************************************
+ *                                                      平移电机                                                       *
+ ***********************************************************************************************************************/
+
+#define MOTOR2_CSN             PA4
+#define MOTOR2_ENN             PE3
+#define MOTOR2_SPI_MODE_SELECT PinNull
+#define MOTOR2_nFREEZE_IO      PE12
+#define MOTOR2_nRESET_IO       PinNull
+#define MOTOR2_SUB_IC_ENN_IO   PE11
+
+#define MOTOR2_REFL        PD2
+#define MOTOR2_REFR        PD1
+#define MOTOR2_REFL_MIRROR true
+#define MOTOR2_REFR_MIRROR true
+
+#define MOTOR2_MOTOR_SHAFT                        false  //
+#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             80     // 3600 = 93圈, 3600/93 = 38.70967741935484
+#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1      //
+#define MOTOR2_STEPMOTOR_IHOLD                    1
+#define MOTOR2_STEPMOTOR_IRUN                     8
+#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             500
+#define MOTOR2_MIN_D                              0
+#define MOTOR2_MAX_D                              0
+#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED            100
+#define MOTOR2_MOTOR_RUN_TO_ZERO_DEC              300
+#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED         50
+#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_DEC           600

usrc/subboards/subboard90_optical_module/subboard90_optical_module.cpp

@@ -0,0 +1,64 @@
+#include "subboard90_optical_module.hpp"
+extern "C" {
+#include "subboard90_optical_module_board.h"
+}
+#include "pri_board.h"
+#include "public_service/instance_init.hpp"
+#include "public_service/public_service.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/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
+#include "sdk/components/tmc/ic/ztmc4361A.hpp"
+#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
+
+#define TAG "ShakeModule"
+
+using namespace iflytop;
+
+static ZGPIO IO[EXT_READ_IO_NUM];
+Subboard90OpticalModule::Subboard90OpticalModule(/* args */) {}
+Subboard90OpticalModule::~Subboard90OpticalModule() {}
+int32_t                  Subboard90OpticalModule::getmoduleId(int off) { return zdevice_id_mgr_get_device_id() + off; }
+Subboard90OpticalModule *Subboard90OpticalModule::ins() {
+  static Subboard90OpticalModule instance;
+  return &instance;
+}
+/***********************************************************************************************************************
+ *                                                         PRI                                                         *
+ ***********************************************************************************************************************/
+int32_t Subboard90OpticalModule::getid(int32_t *id) {
+  *id = getmoduleId(0);
+  return 0;
+}
+int32_t Subboard90OpticalModule::module_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::kmodule_not_find_reg; }
+int32_t Subboard90OpticalModule::board_read_ext_io(int32_t ioindex, int32_t *val) {
+  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
+  *val = IO[ioindex].getState();
+  return 0;
+}
+int32_t Subboard90OpticalModule::board_write_ext_io(int32_t ioindex, int32_t val) { return 0; }
+int32_t Subboard90OpticalModule::board_read_muti_io(int32_t *val) {
+  for (int i = 0; i < ZARRAY_SIZE(IO); i++) {
+    *val |= IO[i].getState() << i;
+  }
+  return 0;
+}
+
+/***********************************************************************************************************************
+ *                                                        IMPL                                                         *
+ ***********************************************************************************************************************/
+void Subboard90OpticalModule::initialize() {
+  IO_INIT();
+  GService::inst()->getZCanProtocolParser()->registerModule(this);
+
+#if 1
+
+  /***********************************************************************************************************************
+   *                                                         ID1                                                         *
+   ***********************************************************************************************************************/
+  { TMC5130_MOTOR_INITER(1, 1); }
+  { TMC5130_MOTOR_INITER(2, 2); }
+
+#endif
+}

usrc/subboards/subboard90_optical_module/subboard90_optical_module.hpp

@@ -0,0 +1,45 @@
+#include <stddef.h>
+#include <stdio.h>
+
+//
+#include "configs/device_id_mgr.hpp"
+#include "sdk/chip/chip.hpp"
+#include "sdk/os/zos.hpp"
+//
+#include "sdk\components\step_motor_ctrl_module\step_motor_ctrl_module.hpp"
+#include "sdk\components\tmc\ic\ztmc5130.hpp"
+
+namespace iflytop {
+class Subboard90OpticalModule : public ZIBoard, public ZIModule {
+  ENABLE_MODULE(Subboard90OpticalModule, kboard, 1);
+
+ private:
+  /* data */
+
+ public:
+  Subboard90OpticalModule(/* args */);
+  ~Subboard90OpticalModule();
+
+  static Subboard90OpticalModule *ins();
+
+  void initialize();
+
+ public:
+  /***********************************************************************************************************************
+   *                                                      ZIModule                                                       *
+   ***********************************************************************************************************************/
+  virtual int32_t getid(int32_t *id);
+  virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val);
+  /***********************************************************************************************************************
+   *                                                       ZIBoard                                                       *
+   ***********************************************************************************************************************/
+  virtual int32_t board_read_ext_io(int32_t ioindex, int32_t *val);
+  virtual int32_t board_write_ext_io(int32_t ioindex, int32_t val);
+  virtual int32_t board_read_muti_io(int32_t *val);
+
+ private:
+  int32_t getmoduleId(int off);
+};
+
+}  // namespace iflytop
+

usrc/subboards/subboard90_optical_module/subboard90_optical_module_board.c

@@ -0,0 +1,73 @@
+#include "main.h"
+#include "public_service/public_service.h"
+
+/* SPI1 init function */
+static void MX_SPI1_Init(void) {
+  __HAL_RCC_SPI1_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+
+  hspi1.Instance               = SPI1;
+  hspi1.Init.Mode              = SPI_MODE_MASTER;
+  hspi1.Init.Direction         = SPI_DIRECTION_2LINES;
+  hspi1.Init.DataSize          = SPI_DATASIZE_8BIT;
+  hspi1.Init.CLKPolarity       = SPI_POLARITY_LOW;
+  hspi1.Init.CLKPhase          = SPI_PHASE_1EDGE;
+  hspi1.Init.NSS               = SPI_NSS_SOFT;
+  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
+  hspi1.Init.FirstBit          = SPI_FIRSTBIT_MSB;
+  hspi1.Init.TIMode            = SPI_TIMODE_DISABLE;
+  hspi1.Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLE;
+  hspi1.Init.CRCPolynomial     = 10;
+  if (HAL_SPI_Init(&hspi1) != HAL_OK) {
+    Error_Handler();
+  }
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  GPIO_InitStruct.Pin              = GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7;
+  GPIO_InitStruct.Mode             = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Pull             = GPIO_NOPULL;
+  GPIO_InitStruct.Speed            = GPIO_SPEED_FREQ_VERY_HIGH;
+  GPIO_InitStruct.Alternate        = GPIO_AF5_SPI1;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  hspi1_enable = true;
+}
+
+static void MX_SPI2_Init(void) {
+  __HAL_RCC_SPI2_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+
+  hspi2.Instance               = SPI2;
+  hspi2.Init.Mode              = SPI_MODE_MASTER;
+  hspi2.Init.Direction         = SPI_DIRECTION_2LINES;
+  hspi2.Init.DataSize          = SPI_DATASIZE_8BIT;
+  hspi2.Init.CLKPolarity       = SPI_POLARITY_LOW;
+  hspi2.Init.CLKPhase          = SPI_PHASE_1EDGE;
+  hspi2.Init.NSS               = SPI_NSS_SOFT;
+  hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;
+  hspi2.Init.FirstBit          = SPI_FIRSTBIT_MSB;
+  hspi2.Init.TIMode            = SPI_TIMODE_DISABLE;
+  hspi2.Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLE;
+  hspi2.Init.CRCPolynomial     = 10;
+  if (HAL_SPI_Init(&hspi2) != HAL_OK) {
+    Error_Handler();
+  }
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  GPIO_InitStruct.Pin              = GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15;
+  GPIO_InitStruct.Mode             = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Pull             = GPIO_NOPULL;
+  GPIO_InitStruct.Speed            = GPIO_SPEED_FREQ_VERY_HIGH;
+  GPIO_InitStruct.Alternate        = GPIO_AF5_SPI2;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  hspi2_enable = true;
+}
+
+/**
+ * @brief 板夹仓初始化
+ */
+
+void subboard90_optical_module_board_init() {
+  common_hardware_init();
+  MX_SPI1_Init();
+  MX_SPI2_Init();
+}

usrc/subboards/subboard90_optical_module/subboard90_optical_module_board.h

@@ -0,0 +1,12 @@
+#pragma once
+#include "main.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void subboard90_optical_module_board_init();
+
+#ifdef __cplusplus
+}
+#endif