update

sdk

@@ -1 +1 @@
-Subproject commit c698f7e05b12ee3e6af4fa3dcca78c73f902a2f5
+Subproject commit 234f88f7bd3531684e19b52c7bf65737f788ac1c

usrc/main.cpp

@@ -41,7 +41,7 @@ void umain() {
   ZEARLY_LOGI("SYS", "chip init ok");
   ZEARLY_LOGI("SYS", "= manufacturer  : %s", PC_MANUFACTURER);
   ZEARLY_LOGI("SYS", "= project name  : %s", PC_PROJECT_NAME);
-  ZEARLY_LOGI("SYS", "= version       : %s", PC_VERSION);
+  ZEARLY_LOGI("SYS", "= version       : %d", PC_VERSION);
   ZEARLY_LOGI("SYS", "= freq          : %d", HAL_RCC_GetSysClockFreq());
   ZEARLY_LOGI("SYS", "= build time    : %s", __DATE__ " " __TIME__);
   ZEARLY_LOGI("SYS", "= device id     : %d", id);

usrc/project_configs.h

@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           "v3.0.1"
+#define PC_VERSION           100
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1

usrc/subboards/subboard30_shake_module/pri_board.h

@@ -26,7 +26,7 @@
 #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         80
+#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED         50
 #define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC           500
 
 /***********************************************************************************************************************
@@ -37,8 +37,10 @@
 #define MOTOR2_SPI_MODE_SELECT PinNull
 #define MOTOR2_REFL            PD11
 #define MOTOR2_REFR            PinNull
+#define MOTOR2_REFL_MIRROR     true
+#define MOTOR2_REFR_MIRROR     false
 
-#define MOTOR2_MOTOR_SHAFT                        true
+#define MOTOR2_MOTOR_SHAFT                        false
 #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
@@ -52,8 +54,8 @@
 #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         80
-#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_DEC           500
+#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED         50
+#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_DEC           300
 
 /***********************************************************************************************************************
  *                                                      摇匀电机                                                       *
@@ -63,17 +65,19 @@
 #define MOTOR3_SPI_MODE_SELECT PinNull
 #define MOTOR3_REFL            PD6
 #define MOTOR3_REFR            PinNull
+#define MOTOR3_REFL_MIRROR     true
+#define MOTOR3_REFR_MIRROR     false
 
 #define MOTOR3_MOTOR_SHAFT                        true
 #define MOTOR3_MOTOR_ONE_CIRCLE_PULSE             120  // 360转一圈
 #define MOTOR3_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
-#define MOTOR3_STEPMOTOR_IHOLD                    2
-#define MOTOR3_STEPMOTOR_IRUN                     18
+#define MOTOR3_STEPMOTOR_IHOLD                    6
+#define MOTOR3_STEPMOTOR_IRUN                     31
 #define MOTOR3_STEPMOTOR_IHOLDDELAY               100
 #define MOTOR3_STEPMOTOR_IGLOBALSCALER            1
 #define MOTOR3_MOTOR_DEFAULT_ACC                  300
 #define MOTOR3_MOTOR_DEFAULT_DEC                  300
-#define MOTOR3_MOTOR_DEFAULT_VELOCITY             150
+#define MOTOR3_MOTOR_DEFAULT_VELOCITY             500
 #define MOTOR3_MIN_D                              0
 #define MOTOR3_MAX_D                              0
 #define MOTOR3_MOTOR_RUN_TO_ZERO_SPEED            50

usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp

@@ -113,8 +113,8 @@ void Subboard30ShakeModule::initialize() {
     motor.setMotorShaft(false);
 
     static ZGPIO input[2];
-    input[0].initAsInput(MOTOR2_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
-    input[1].initAsInput(MOTOR2_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
+    input[0].initAsInput(MOTOR2_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR2_REFL_MIRROR);
+    input[1].initAsInput(MOTOR2_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR2_REFR_MIRROR);
 
     StepMotorCtrlModule::config_t stepcfg = {0};
     StepMotorCtrlModule::create_default_cfg(stepcfg);
@@ -158,12 +158,13 @@ void Subboard30ShakeModule::initialize() {
     motor.setMotorShaft(false);
 
     static ZGPIO input[2];
-    input[0].initAsInput(MOTOR3_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
-    input[1].initAsInput(MOTOR3_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+    input[0].initAsInput(MOTOR3_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR3_REFL_MIRROR);
+    input[1].initAsInput(MOTOR3_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR3_REFR_MIRROR);
 
     StepMotorCtrlModule::config_t stepcfg = {0};
     StepMotorCtrlModule::create_default_cfg(stepcfg);
 
+
     stepcfg.motor_shaft                        = MOTOR3_MOTOR_SHAFT;
     stepcfg.motor_one_circle_pulse             = MOTOR3_MOTOR_ONE_CIRCLE_PULSE;
     stepcfg.motor_one_circle_pulse_denominator = MOTOR3_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR;