diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 1ae201f..cddd77d 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/README.md b/README.md
index cffe523..c343462 100644
--- a/README.md
+++ b/README.md
@@ -65,4 +65,70 @@ ID地址:
1. 去除掉input_reg，修改驱动读取gpio的寄存器为kreg_step_motor_io_state
2. 增加舵机专用寄存器和方法
+```
+
+```
+~吸吐
+ 此时探头中没有液体
+ 1.液面探测(max_dpos)(混合液体探测)
+ 2.吸液且液面跟随(step_motor_v)
+
+
+移液枪动作
+ 刺破:
+ Z轴电机移动
+
+
+ 大瓶缓冲液+探测物质
+ 1. 刺破探测物质
+ 取tip
+ 移动Z轴
+ 丢tip（应该可以不丢）
+ 2. 取大瓶子缓冲液（PS:1,2步应该可以使用同一个tip）
+ 取tip
+ 液面探测复位
+ 移动z轴
+ 液面探测(maxdpos,)
+ 液体跟随&&取液体(v,ul)
+ 3. 滴入探测物质
+ 移动z轴
+ 排空液体
+ 丢tip
+ 4. 取血液体
+ 取tip
+ 移动Z轴
+ 液面探测
+ 吸液&&液面跟随
+ 5. 血液滴入探测物质（此过程中没有液面探测，没有液面跟随）
+ 移动z轴（固定位置）
+ 排空液体
+ 吸吐混匀(液面跟随V)
+
+ 小瓶缓冲液
+ 1. 刺破小瓶缓冲液
+ 取tip
+ 移动Z轴（刺破）
+ 丢tip(可以不丢弃)
+ 2. 取血液
+ 取tip
+ 移动Z轴
+ 液面探测
+ 吸液&&液面跟随
+ 3. 血液滴入探测物质（此过程中没有液面探测，没有液面跟随）
+ 移动z轴（固定位置）
+ 排空液体
+ 吸吐混匀
+ 排空液体
+ 丢tip
+
+
+
+
+
+
+
+
+
+
+
```
\ No newline at end of file
diff --git a/a8000_protocol b/a8000_protocol
index db4404e..cab27e0 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit db4404e94683ade89cffb540a570fa749b518bfb
+Subproject commit cab27e09a7e78e662b55de7b72e6b232988d5b27
diff --git a/sdk b/sdk
index e73bbb7..8691aac 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit e73bbb727cbc87ea0ddcd64c0a9a7d48fb7bd8f8
+Subproject commit 8691aaccb11538496a6898eacebb031048d4a324
diff --git a/usrc/public_service/gservice.cpp b/usrc/public_service/gservice.cpp
index e642a21..957aeae 100644
--- a/usrc/public_service/gservice.cpp
+++ b/usrc/public_service/gservice.cpp
@@ -1,7 +1,7 @@
#include "gservice.hpp"
-#include "a8000_protocol\protocol_event_bus_sender.hpp"
#include "configs/device_id_mgr.hpp"
+
using namespace iflytop;
void GService::initialize() { //
diff --git a/usrc/public_service/gservice.hpp b/usrc/public_service/gservice.hpp
index 8e337c1..affa551 100644
--- a/usrc/public_service/gservice.hpp
+++ b/usrc/public_service/gservice.hpp
@@ -4,6 +4,8 @@
#include "sdk/chip/chip.hpp"
#include "sdk/components/zcancmder/zcan_protocol_parser.hpp"
#include "sdk/components/zcancmder/zcanreceiver.hpp"
+#include "sdk\components\zcancmder\protocol_event_bus_sender.hpp"
+
#include "sdk/os/zos.hpp"
namespace iflytop {
diff --git a/usrc/subboards/subboard100_idcard_reader/eeprom_service.cpp b/usrc/subboards/subboard100_idcard_reader/eeprom_service.cpp
index 74e20eb..bbb53a7 100644
--- a/usrc/subboards/subboard100_idcard_reader/eeprom_service.cpp
+++ b/usrc/subboards/subboard100_idcard_reader/eeprom_service.cpp
@@ -1,5 +1,5 @@
#include "eeprom_service.hpp"
-
+#include "sdk\components\zcancmder\protocol_event_bus_sender.hpp"
#include
#include
@@ -39,7 +39,7 @@ static __unused void dumpbuf(uint8_t* buf, size_t len) {
* CODE *
*******************************************************************************/
-void EEPROMService::initialize(int id, I2C_HandleTypeDef* i2c_handle, ZIEventBusSender* event_bus_sender) {
+void EEPROMService::initialize(int id, I2C_HandleTypeDef* i2c_handle, ProtocolEventBusSender* event_bus_sender) {
m_i2c_handle = i2c_handle;
ZASSERT(m_i2c_handle);
m_mutex.init();
diff --git a/usrc/subboards/subboard100_idcard_reader/eeprom_service.hpp b/usrc/subboards/subboard100_idcard_reader/eeprom_service.hpp
index 8a9ed5a..ed3ec1f 100644
--- a/usrc/subboards/subboard100_idcard_reader/eeprom_service.hpp
+++ b/usrc/subboards/subboard100_idcard_reader/eeprom_service.hpp
@@ -2,6 +2,7 @@
#include "sdk\components\sensors\i2ceeprom\m24lrxxe_i2c_eeprom.hpp"
#include "sdk\components\sensors\i2ceeprom\p24c16_eeprom.hpp"
+#include "sdk\components\zcancmder\protocol_event_bus_sender.hpp"
//
#include "sdk\os\zos.hpp"
@@ -21,11 +22,11 @@ using namespace std;
class EEPROMService : public ZIModule, public ZIA8000IDCardReaderModule {
ENABLE_MODULE(EEPROMService, ka8000_idcard_reader, PC_VERSION)
- I2C_HandleTypeDef* m_i2c_handle;
- ZThread m_monitor_thread;
- bool m_is_online_flag = false;
- zmutex m_mutex;
- ZIEventBusSender* m_event_bus_sender;
+ I2C_HandleTypeDef* m_i2c_handle;
+ ZThread m_monitor_thread;
+ bool m_is_online_flag = false;
+ zmutex m_mutex;
+ ProtocolEventBusSender* m_event_bus_sender;
int32_t id = 0;
@@ -43,7 +44,7 @@ class EEPROMService : public ZIModule, public ZIA8000IDCardReaderModule {
EEPROMService(){};
~EEPROMService(){};
- void initialize(int id, I2C_HandleTypeDef* i2c_handle, ZIEventBusSender* event_bus_sender);
+ void initialize(int id, I2C_HandleTypeDef* i2c_handle, ProtocolEventBusSender* event_bus_sender);
public:
virtual int32_t a8000_idcard_reader_read_raw(int32_t index, uint8_t* data, int32_t* len) override;