From b353eca842b3f251f8967f8c921dfeb32bb13645 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Mon, 24 Jun 2024 19:59:51 +0800
Subject: [PATCH] update

---
 .cproject                                          |   4 +-
 .settings/stm32cubeide.project.prefs               |   4 +-
 Core/Inc/FreeRTOSConfig.h                          |   2 +-
 README.md                                          |   5 -
 STM32F407VETX_FLASH.ld                             |   6 +-
 STM32F407VETX_RAM.ld                               |   4 +-
 a8000_protocol                                     |   2 +-
 sdk                                                |   2 +-
 .../plate_code_scaner_module.cpp                   | 375 +++++++++++++++++++++
 .../plate_code_scaner_module.hpp                   | 145 ++++++++
 .../subboard20_plate_clamp_case.cpp                | 119 +++++++
 .../subboard20_plate_clamp_case_board.c            |  93 +++++
 12 files changed, 744 insertions(+), 17 deletions(-)
 create mode 100644 usrc/subboards/subboard20_plate_clamp_case/plate_code_scaner_module.cpp
 create mode 100644 usrc/subboards/subboard20_plate_clamp_case/plate_code_scaner_module.hpp

diff --git a/.cproject b/.cproject
index 1501fb4..98e2564 100644
--- a/.cproject
+++ b/.cproject
@@ -40,7 +40,7 @@
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.782799112" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.1115926827" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.390305872" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.ofast" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.390305872" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1156405800" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
@@ -66,7 +66,7 @@
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.344817877" name="MCU G++ Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.529642841" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.345929657" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.value.ofast" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.345929657" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols.980152850" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
diff --git a/.settings/stm32cubeide.project.prefs b/.settings/stm32cubeide.project.prefs
index 7e5e08c..e5db33a 100644
--- a/.settings/stm32cubeide.project.prefs
+++ b/.settings/stm32cubeide.project.prefs
@@ -1,6 +1,6 @@
-2F62501ED4689FB349E356AB974DBE57=04980315A9C90A386CC08C1FEA19B581
+2F62501ED4689FB349E356AB974DBE57=9EAEC6679BAC0D8865B6DE2AD9864DCE
 635E684B79701B039C64EA45C3F84D30=C8B026EBE17C208F17FB66CE4235156C
 66BE74F758C12D739921AEA421D593D3=1
-8DF89ED150041C4CBC7CB9A9CAA90856=04980315A9C90A386CC08C1FEA19B581
+8DF89ED150041C4CBC7CB9A9CAA90856=9EAEC6679BAC0D8865B6DE2AD9864DCE
 DC22A860405A8BF2F2C095E5B6529F12=EC6C4D369FD4F7EABFE17B3222B5F3A0
 eclipse.preferences.version=1
diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index 4e6a824..11bf23c 100644
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -68,7 +68,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 7 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)512)
-#define configTOTAL_HEAP_SIZE                    ((size_t)50000)
+#define configTOTAL_HEAP_SIZE                    ((size_t)40000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configGENERATE_RUN_TIME_STATS            1
 #define configUSE_TRACE_FACILITY                 1
diff --git a/README.md b/README.md
index c343462..feec27d 100644
--- a/README.md
+++ b/README.md
@@ -52,11 +52,6 @@ ID地址:
 
     PE2  调试指示灯
 
-    
-
-
-
-
 
 ```
 
diff --git a/STM32F407VETX_FLASH.ld b/STM32F407VETX_FLASH.ld
index c8ddbb0..b35accf 100644
--- a/STM32F407VETX_FLASH.ld
+++ b/STM32F407VETX_FLASH.ld
@@ -39,15 +39,15 @@ ENTRY(Reset_Handler)
 /* Highest address of the user mode stack */
 _estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
 
-_Min_Heap_Size = 0x2000; /* required amount of heap */
-_Min_Stack_Size = 0x1001; /* required amount of stack */
+_Min_Heap_Size = 0x1000; /* required amount of heap */
+_Min_Stack_Size = 0x0F01; /* required amount of stack */
 
 /* Memories definition */
 MEMORY
 {
   CCMRAM    (xrw)    : ORIGIN = 0x10000000,   LENGTH = 64K
   RAM    (xrw)    : ORIGIN = 0x20000000,   LENGTH = 128K
-  FLASH    (rx)    : ORIGIN = 0x8000000,   LENGTH = 384K
+  FLASH    (rx)    : ORIGIN = 0x8000000,   LENGTH = 512K
 }
 
 /* Sections */
diff --git a/STM32F407VETX_RAM.ld b/STM32F407VETX_RAM.ld
index d10e01a..a170483 100644
--- a/STM32F407VETX_RAM.ld
+++ b/STM32F407VETX_RAM.ld
@@ -39,8 +39,8 @@ ENTRY(Reset_Handler)
 /* Highest address of the user mode stack */
 _estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
 
-_Min_Heap_Size = 0x2000; /* required amount of heap */
-_Min_Stack_Size = 0x1000; /* required amount of stack */
+_Min_Heap_Size = 0x1000; /* required amount of heap */
+_Min_Stack_Size = 0x0F01; /* required amount of stack */
 
 /* Memories definition */
 MEMORY
diff --git a/a8000_protocol b/a8000_protocol
index 3887bd1..4f4db27 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit 3887bd1636c93701b8041dce9f1c29dddd0b01f3
+Subproject commit 4f4db2708e7503d5369c7b5f9bdc7781fcca1be9
diff --git a/sdk b/sdk
index 59e0029..453c09f 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 59e0029690e8b097ee03bd65083ec4b8f1974ce2
+Subproject commit 453c09f80bc5f51b5285d9f8b12df86c973a3515
diff --git a/usrc/subboards/subboard20_plate_clamp_case/plate_code_scaner_module.cpp b/usrc/subboards/subboard20_plate_clamp_case/plate_code_scaner_module.cpp
new file mode 100644
index 0000000..75b1930
--- /dev/null
+++ b/usrc/subboards/subboard20_plate_clamp_case/plate_code_scaner_module.cpp
@@ -0,0 +1,375 @@
+#include "plate_code_scaner_module.hpp"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+using namespace iflytop;
+using namespace std;
+#define RAW_SECTION_SIZE 10
+
+#define ONE_BIT_WIDTH 12  // 12*.0.1mm
+#define BIT_NUM       15
+#define MAX_POINT     (12 * 15 + 2)  // 最多12*15+2个点,多扫描的两个点用于对齐使用
+
+#define TAG            "PlateCodeScaner"
+#define LOGI(fmt, ...) ZLOGI(TAG, fmt, ##__VA_ARGS__)
+
+#define DO(func)                                                                   \
+  {                                                                                \
+    int32_t ecode = func;                                                          \
+    if (ecode != 0) {                                                              \
+      ZLOGE(TAG, "do %s fail, error %s(%d)", #func, err::error2str(ecode), ecode); \
+      return ecode;                                                                \
+    }                                                                              \
+  }
+
+#define DO_IN_THREAD(func)                                                         \
+  {                                                                                \
+    int32_t ecode = func;                                                          \
+    if (ecode != 0) {                                                              \
+      ZLOGE(TAG, "do %s fail, error %s(%d)", #func, err::error2str(ecode), ecode); \
+      creg.module_errorcode = ecode;                                               \
+      return;                                                                      \
+    }                                                                              \
+  }
+
+#define BITVAL(code, off) ((code & (1 << off)) >> off)
+static void decode(uint32_t rawcode, int32_t* pitem, int32_t* plot) {  //
+  // Lot:3:6
+  // bit3->bit3, bit4->bit2, bit5->bit1, bit6->bit0
+  uint32_t lot = 0;
+  lot          = BITVAL(rawcode, 3) << 3 | BITVAL(rawcode, 4) << 2 | BITVAL(rawcode, 5) << 1 | BITVAL(rawcode, 6) << 0;
+
+  // =(bit1)*2^6+(bit2)*2^5+(bit11)*2^4+(bit10)*2^0+(bit9)*2^1+(bit8)*2^2+(bit7)*2^3
+  uint32_t item = 0;
+  item          = (BITVAL(rawcode, 1) << 6)  //
+         | (BITVAL(rawcode, 2) << 5)         //
+         | (BITVAL(rawcode, 11) << 4)        //
+         | (BITVAL(rawcode, 10) << 0)        //
+         | (BITVAL(rawcode, 9) << 1)         //
+         | (BITVAL(rawcode, 8) << 2)         //
+         | (BITVAL(rawcode, 7) << 3);
+
+  ZLOGI(TAG, "item-lot: %d-%d\n", item, lot);
+  *pitem = item;
+  *plot  = lot;
+}
+
+static int32_t t_detector_gain_to_potentiometer_val(float scan_gain) {
+  int32_t potentiometer_val = 0;
+  potentiometer_val         = (scan_gain * 4.7 - 2.4) * 256. / 100. + 0.5;
+  if (potentiometer_val < 1) potentiometer_val = 1;
+  if (potentiometer_val > 255) potentiometer_val = 255;
+  return potentiometer_val;
+}
+
+void PlateCodeScanerModule::initialize(int32_t moduleid, hardware_config_t* hardwarecfg) {  //
+  m_id          = moduleid;
+  m_hardwarecfg = *hardwarecfg;
+
+  m_t_optical_amp_mcp41_ohm.initialize(&m_hardwarecfg.t_optical_amp_mcp41);
+  m_t_optical_scaner_mcp41_ohm.initialize(&m_hardwarecfg.t_optical_scaner_mcp41);
+  m_f_optical_amp_mcp41_ohm.initialize(&m_hardwarecfg.f_optical_amp_mcp41);
+  m_f_optical_scaner_mcp41_ohm.initialize(&m_hardwarecfg.f_optical_scaner_mcp41);
+
+  m_t_laster_enable_io.initAsOutput(&m_hardwarecfg.t_laster_enable_io);
+  m_f_opt_laster_enable_io.initAsOutput(&m_hardwarecfg.f_opt_laster_enable_io);
+  m_channel_select_io_red_led3.initAsOutput(&m_hardwarecfg.channel_select_io_red_led3);
+  m_channel_select_io_blue_led1.initAsOutput(&m_hardwarecfg.channel_select_io_blue_led1);
+  m_channel_select_io_green_led1.initAsOutput(&m_hardwarecfg.channel_select_io_green_led1);
+  m_amp_negative_5v_gpio.initAsOutput(&m_hardwarecfg.amp_negative_5v_gpio);
+
+  m_t_amp_sw_io.initAsOutput(&m_hardwarecfg.t_amp_sw_io);
+  m_f_amp_sw_io.initAsOutput(&m_hardwarecfg.f_amp_sw_io);
+
+  t_laster_adc.initialize(&m_hardwarecfg.t_laster_adc);
+  t_result_adc.initialize(&m_hardwarecfg.t_result_adc);
+  f_laster_adc.initialize(&m_hardwarecfg.f_laster_adc);
+  f_result_adc.initialize(&m_hardwarecfg.f_result_adc);
+
+  m_motor = (StepMotorCtrlModule*)m_hardwarecfg.motor;
+  ZASSERT(m_motor);
+
+  adc_capture_buf = (int16_t*)calloc(2, MAX_POINT);
+  ZASSERT(adc_capture_buf);
+
+  m_reg.laster_intensity = 1;
+  m_reg.scan_gain        = 10;
+  m_thread.init("PlateCodeScanerModule", 1024, osPriorityNormal);
+}
+int32_t PlateCodeScanerModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
+  switch (param_id) {
+    PROCESS_REG(kreg_plate_code_scaner_laster_intensity, REG_GET(m_reg.laster_intensity), REG_SET(m_reg.laster_intensity));
+    PROCESS_REG(kreg_plate_code_scaner_scan_gain, REG_GET(m_reg.scan_gain), REG_SET(m_reg.scan_gain));
+    // PROCESS_REG(kreg_plate_code_scaner_scan_step_interval, REG_GET(m_reg.scan_step_interval), REG_SET(m_reg.scan_step_interval));
+    // PROCESS_REG(kreg_plate_code_scaner_scan_point_num, REG_GET(m_reg.scan_point_num), REG_SET(m_reg.scan_point_num));
+    default:
+      return err::kmodule_not_find_reg;
+      break;
+  }
+  if (!read) module_active_cfg();
+  return 0;
+};
+int32_t PlateCodeScanerModule::module_stop() {
+  m_thread.stop();
+  return 0;
+};
+
+int32_t PlateCodeScanerModule::plate_code_scaner_push_card_and_scan(int32_t final_stop_pos) {
+  ZLOGI(TAG, "plate_code_scaner_push_card_and_scan: %d", final_stop_pos);
+  /**
+   * @brief
+   */
+  m_thread.stop();
+  creg.module_status = 1;
+  m_thread.start(
+
+      [this, final_stop_pos]() {  //
+        DO_IN_THREAD(before_run());
+        ZLOGI(TAG, "plate_code_scaner_open_laser");
+        plate_code_scaner_open_laser();
+
+        /***********************************************************************************************************************
+         *                                               移动电机到扫描启动位置                                                  *
+         ***********************************************************************************************************************/
+        ZLOGI(TAG, "step_motor_easy_move_to start pos: %d", m_reg.scan_start_pos);
+        m_motor->step_motor_easy_move_to(m_reg.scan_start_pos);
+        while (true) {
+          if (!check_when_run() || m_thread.getExitFlag()) break;
+
+          int32_t status = 0;
+          m_motor->module_get_status(&status);
+          if (status == 0) break;   // 电机停止
+          if (status == 2) return;  // 电机异常
+          osDelay(5);
+        }
+        ZLOGI(TAG, "has moved to start pos");
+        /***********************************************************************************************************************
+         *                                                      开始扫码                                                       *
+         ***********************************************************************************************************************/
+        ZLOGI(TAG, "start scan");
+
+        m_reg.item       = -1;
+        m_reg.lot        = -1;
+        m_reg.rawcode    = 0;
+        m_reg.code_legal = -1;
+
+        auto    _motor    = m_motor->getMotor();
+        int32_t targetpos = 0;
+        targetpos         = m_reg.scan_start_pos + ONE_BIT_WIDTH * BIT_NUM;
+        ZLOGI(TAG, "move to: %d", targetpos);
+        _motor->moveTo(targetpos, m_reg.scan_velocity);
+
+        reset_capture_buf();
+        chip_critical_enter();
+        while (true) {
+          if (m_thread.getExitFlag()) break;
+          if (_motor->isReachTarget()) break;
+
+          // 读取ADC
+          int32_t pos  = _motor->getXACTUAL();
+          int16_t adcv = read_adc_val();
+          int32_t dpos = abs(pos - m_reg.scan_start_pos);
+          push_one_point(dpos, adcv);
+        }
+        chip_critical_exit();
+
+        /***********************************************************************************************************************
+         *                                                 移动到扫码结束位置                                                  *
+         ***********************************************************************************************************************/
+
+        ZLOGI(TAG, "step_motor_easy_move_to end pos: %d", final_stop_pos);
+        m_motor->step_motor_easy_move_to(final_stop_pos);
+        while (true) {
+          if (!check_when_run() || m_thread.getExitFlag()) break;
+
+          int32_t status = 0;
+          m_motor->module_get_status(&status);
+          if (status == 0) break;   // 电机停止
+          if (status == 2) return;  // 电机异常
+          osDelay(5);
+        }
+        ZLOGI(TAG, "has moved to start pos");
+        dumppoint();
+        parsepoint();
+
+      },
+      [this]() {  // exit fn
+        after_run();
+        m_motor->step_motor_stop(0);
+        plate_code_scaner_close_laser();
+      }  //
+  );
+
+  return 0;
+}
+
+int32_t PlateCodeScanerModule::plate_code_scaner_stop_scan() {
+  ZLOGI(TAG, "plate_code_scaner_stop_scan");
+  m_thread.stop();
+  return 0;
+}
+
+void PlateCodeScanerModule::push_one_point(int32_t pos, int16_t pointval) {
+  if (pos >= MAX_POINT) {
+    return;
+  }
+  if (pos < 0) {
+    return;
+  }
+
+  for (int32_t i = adc_capture_last_point_index + 1; i < pos; i++) {
+    adc_capture_buf[i] = adc_capture_buf[adc_capture_last_point_index];
+  }
+
+  adc_capture_buf[pos]         = pointval;
+  adc_capture_point_num        = pos + 1;
+  adc_capture_last_point_index = pos;
+}
+void PlateCodeScanerModule::reset_capture_buf() {
+  adc_capture_point_num        = 0;
+  adc_capture_last_point_index = 0;
+  for (int32_t i = 0; i < MAX_POINT; i++) {
+    adc_capture_buf[i] = 0;
+  }
+}
+
+void PlateCodeScanerModule::dumppoint() {
+  ZLOGI(TAG, " ===== capture points: %d ==== ", adc_capture_point_num);
+  for (int32_t i = 0; i < adc_capture_point_num; i++) {
+    ZLOGI(TAG, "%5d  %5d", i, adc_capture_buf[i]);
+  }
+}
+void PlateCodeScanerModule::parsepoint() {
+  //
+  uint8_t code[15];
+  for (int32_t i = 0; i < 15; i++) {
+    int pos = i * 12 + 6;
+    // 黑色数值更小，黑色1，白色0
+    if (adc_capture_buf[i] < m_reg.code_judgment_threshold) {
+      code[i] = 1;
+    } else {
+      code[i] = 0;
+    }
+  }
+
+  uint32_t rawcode = 0;
+
+  for (int32_t i = 0; i < 15; i++) {
+    rawcode |= code[i] << i;
+  }
+
+  int32_t item = 0;
+  int32_t lot  = 0;
+  decode(rawcode, &item, &lot);
+
+  m_reg.item    = item;
+  m_reg.lot     = lot;
+  m_reg.rawcode = rawcode;
+
+  if (code[14] == 1 && code[13] == 0 && code[12] == 0) {
+    m_reg.code_legal = 1;
+  } else {
+    m_reg.code_legal = 0;
+  }
+
+  ZLOGI(TAG, "rawcode:%x code: %d-%d (legal:%d)", rawcode, m_reg.item, m_reg.lot, m_reg.code_legal);
+}
+
+int32_t PlateCodeScanerModule::before_run() { return 0; }
+int32_t PlateCodeScanerModule::after_run() { return 0; }
+bool    PlateCodeScanerModule::check_when_run() { return true; }
+
+int32_t PlateCodeScanerModule::plate_code_scaner_read_result(int32_t packetIndex, uint8_t* data, int32_t* len) {
+  // 每次传10个点
+  int32_t start = packetIndex * RAW_SECTION_SIZE;
+  int32_t end   = start + RAW_SECTION_SIZE;
+  if (end > adc_capture_point_num) {
+    end = adc_capture_point_num;
+  }
+
+  int32_t size = end - start;
+  if (size <= 0) {
+    *len = 0;
+    return 0;
+  }
+
+  memcpy(data, adc_capture_buf + start, size * 2);
+  *len = size * 2;
+
+  return 0;
+}
+int32_t PlateCodeScanerModule::plate_code_scaner_read_result_point_num(int32_t* packetNum) {
+  *packetNum = adc_capture_point_num;
+  return 0;
+}
+
+int32_t PlateCodeScanerModule::plate_code_scaner_adc_readraw(int32_t* val) {
+  *val = read_adc_val();
+  return 0;
+}
+int32_t PlateCodeScanerModule::plate_code_scaner_read_code(int32_t* rawcode, int32_t* legal, int32_t* item, int32_t* lot) {
+  *item    = m_reg.item;
+  *lot     = m_reg.lot;
+  *rawcode = m_reg.rawcode;
+  *legal   = m_reg.code_legal;
+  return 0;
+}
+
+int32_t PlateCodeScanerModule::plate_code_scaner_open_laser() {
+  scaner_set_gain(m_reg.scan_gain / 10.0);
+  laser_set_intensity(m_reg.laster_intensity);
+  m_t_laster_enable_io.setState(true);
+  m_amp_negative_5v_gpio.setState(true);
+  m_t_amp_sw_io.setState(true);
+  m_f_amp_sw_io.setState(true);
+  m_lasterIsOn = true;
+  return 0;
+}
+
+void PlateCodeScanerModule::scaner_set_gain(float gain) {
+  int32_t potentiometer_val = 0;
+  potentiometer_val         = t_detector_gain_to_potentiometer_val(gain);
+  ZLOGI(TAG, "scaner_set_gain: %.2f(potentiometer_val: %d)", gain, potentiometer_val);
+  m_t_optical_scaner_mcp41_ohm.setPotentiometerValue_0(potentiometer_val);
+}
+void PlateCodeScanerModule::laser_set_intensity(float intensity) {
+  int32_t potentiometer_val = 0;
+  potentiometer_val         = intensity / 100.0 * 255.0;
+  ZLOGI(TAG, "laser_set_intensity: %.2f(potentiometer_val: %d)", intensity, potentiometer_val);
+}
+
+int32_t PlateCodeScanerModule::plate_code_scaner_close_laser() {
+  m_t_laster_enable_io.setState(false);
+  m_lasterIsOn = false;
+  return 0;
+}
+
+int32_t PlateCodeScanerModule::read_adc_val() {
+  int32_t val = 0;
+  t_result_adc.get_adc_value(val);
+#define CAPTURE_NUM 3
+
+  int32_t cache[CAPTURE_NUM];
+  for (int i = 0; i < CAPTURE_NUM; i++) {
+    f_result_adc.get_adc_value(cache[i]);
+  }
+
+  // 先排序，取中间10个数的中值
+  for (int i = 0; i < CAPTURE_NUM; i++) {
+    for (int j = i + 1; j < CAPTURE_NUM; j++) {
+      if (cache[i] > cache[j]) {
+        int temp = cache[i];
+        cache[i] = cache[j];
+        cache[j] = temp;
+      }
+    }
+  }
+
+  for (int i = 1; i < CAPTURE_NUM - 1; i++) {
+    val += cache[i];
+  }
+
+  return val / (CAPTURE_NUM - 2);
+}
\ No newline at end of file
diff --git a/usrc/subboards/subboard20_plate_clamp_case/plate_code_scaner_module.hpp b/usrc/subboards/subboard20_plate_clamp_case/plate_code_scaner_module.hpp
new file mode 100644
index 0000000..f19764c
--- /dev/null
+++ b/usrc/subboards/subboard20_plate_clamp_case/plate_code_scaner_module.hpp
@@ -0,0 +1,145 @@
+#pragma once
+#include "sdk\components\sensors\mcp41xxx\mcp41xxx.hpp"
+#include "sdk\os\zos.hpp"
+//
+#include "a8000_protocol\api\zi_plate_code_scaner_module.hpp"
+#include "a8000_protocol\protocol.hpp"
+#include "sdk\chip\api\zi_adc.hpp"
+#include "sdk\components\hardware\adc\z_simple_adc.hpp"
+#include "sdk\components\step_motor_ctrl_module\step_motor_ctrl_module.hpp"
+
+namespace iflytop {
+using namespace std;
+
+class PlateCodeScanerModule : public ZIModule, public ZI_PlateCodeScanerModule {
+  ENABLE_MODULE(PlateCodeScanerModule, ka8000_plate_code_scaner, PC_VERSION);
+
+  typedef enum {
+    kf_optical    = 0,
+    kt_optical    = 1,
+    ktest_optical = 2,
+  } optical_type_t;
+
+ public:
+  typedef struct {
+    ZGPIO::OutputGpioCfg_t amp_negative_5v_gpio;
+
+    ZADC::adc_config_t          t_laster_adc;
+    ZADC::adc_config_t          t_result_adc;
+    MCP41XXX::hardware_config_t t_optical_amp_mcp41;
+    MCP41XXX::hardware_config_t t_optical_scaner_mcp41;
+    ZGPIO::OutputGpioCfg_t      t_laster_enable_io;
+    ZGPIO::OutputGpioCfg_t      t_amp_sw_io;
+
+    MCP41XXX::hardware_config_t f_optical_amp_mcp41;
+    MCP41XXX::hardware_config_t f_optical_scaner_mcp41;
+    ZADC::adc_config_t          f_laster_adc;
+    ZADC::adc_config_t          f_result_adc;
+    ZGPIO::OutputGpioCfg_t      f_opt_laster_enable_io;
+    ZGPIO::OutputGpioCfg_t      f_amp_sw_io;
+
+    ZGPIO::OutputGpioCfg_t channel_select_io_red_led3;    // 引脚命名来源于巴迪泰原理图
+    ZGPIO::OutputGpioCfg_t channel_select_io_blue_led1;   // 引脚命名来源于巴迪泰原理图
+    ZGPIO::OutputGpioCfg_t channel_select_io_green_led1;  // 引脚命名来源于巴迪泰原理图
+
+    StepMotorCtrlModule* motor;
+
+  } hardware_config_t;
+
+  typedef struct {
+    int32_t laster_intensity;         // 0->100
+    int32_t scan_gain;                // 1 = 0.1倍增益
+    int32_t scan_velocity;            // 扫描速度
+    int32_t scan_start_pos;           // 扫描开始位置
+    int32_t final_stop_pos;           // 扫描结束停止位置
+    int32_t code_judgment_threshold;  // 编码解析时，判断当前位置的编码是0还是1的阈值
+    int32_t item;                     //
+    int32_t lot;                      //
+    int32_t rawcode;                  //
+    int32_t code_legal;               //
+  } reg_table_t;
+
+ private:
+  int32_t           m_id = 0;
+  hardware_config_t m_hardwarecfg;
+  reg_table_t       m_reg = {0};
+
+  MCP41XXX m_t_optical_amp_mcp41_ohm;
+  MCP41XXX m_t_optical_scaner_mcp41_ohm;
+  MCP41XXX m_f_optical_amp_mcp41_ohm;
+  MCP41XXX m_f_optical_scaner_mcp41_ohm;
+  // amp_negative_5v
+  ZGPIO m_amp_negative_5v_gpio;
+
+  ZGPIO m_t_laster_enable_io;
+  ZGPIO m_f_opt_laster_enable_io;
+  ZGPIO m_channel_select_io_red_led3;
+  ZGPIO m_channel_select_io_blue_led1;
+  ZGPIO m_channel_select_io_green_led1;
+
+  ZGPIO m_t_amp_sw_io;
+  ZGPIO m_f_amp_sw_io;
+
+  ZADC t_laster_adc;
+  ZADC t_result_adc;
+  ZADC f_laster_adc;
+  ZADC f_result_adc;
+
+  StepMotorCtrlModule* m_motor = nullptr;
+
+  ZThread m_thread;
+
+  int16_t* adc_capture_buf              = nullptr;
+  int32_t  adc_capture_point_num        = 0;
+  int32_t  adc_capture_last_point_index = 0;
+
+  int32_t f_adc_cache[20];
+
+  bool m_lasterIsOn = false;
+
+ public:
+  virtual ~PlateCodeScanerModule(){};
+
+  void initialize(int32_t moduleid, hardware_config_t* hardwarecfg);
+
+ public:
+  /***********************************************************************************************************************
+   *                                                      ZIModule                                                       *
+   ***********************************************************************************************************************/
+  virtual int32_t getid(int32_t* id) {
+    *id = m_id;
+    return 0;
+  }
+
+  virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val) override;
+  virtual int32_t module_stop() override;
+
+  /***********************************************************************************************************************
+   *                                              ZI_PlateCodeScanerModule                                               *
+   ***********************************************************************************************************************/
+  virtual int32_t plate_code_scaner_push_card_and_scan(int32_t final_stop_pos) override;
+  virtual int32_t plate_code_scaner_stop_scan() override;
+  virtual int32_t plate_code_scaner_read_result(int32_t packetIndex, uint8_t* data, int32_t* len) override;
+  virtual int32_t plate_code_scaner_read_result_point_num(int32_t* packetNum) override;
+  virtual int32_t plate_code_scaner_read_code(int32_t* rawcode, int32_t* legal, int32_t* item, int32_t* lot) override;
+
+  virtual int32_t plate_code_scaner_adc_readraw(int32_t* val) override;
+  virtual int32_t plate_code_scaner_open_laser() override;
+  virtual int32_t plate_code_scaner_close_laser() override;
+
+ private:
+  void push_one_point(int32_t pos, int16_t pointval);
+  void reset_capture_buf();
+  void dumppoint();
+  void parsepoint();
+
+ private:
+  int32_t before_run();
+  int32_t after_run();
+  bool    check_when_run();
+
+  int32_t read_adc_val();
+  void    scaner_set_gain(float gain);
+  void    laser_set_intensity(float intensity);
+};
+}  // namespace iflytop
diff --git a/usrc/subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case.cpp b/usrc/subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case.cpp
index ee8807f..ba7ff9b 100644
--- a/usrc/subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case.cpp
+++ b/usrc/subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case.cpp
@@ -2,6 +2,7 @@
 extern "C" {
 #include "subboard20_plate_clamp_case_board.h"
 }
+#include "plate_code_scaner_module.hpp"
 #include "pri_board.h"
 #include "public_service/instance_init.hpp"
 #include "public_service/public_service.hpp"
@@ -22,11 +23,129 @@ using namespace iflytop;
 void Subboard20PlateClampCase::initialize() {
   IO_INIT();
   GService::inst()->getZCanProtocolParser()->registerModule(this);
+
+  static StepMotorCtrlModule* push_rod_motor = nullptr;
+
 #if 1
   /***********************************************************************************************************************
    *                                                         ID1                                                         *
    ***********************************************************************************************************************/
   { TMC5130_MOTOR_INITER(1, 1); }
   { TMC5130_MOTOR_INITER(2, 2); }
+
+  push_rod_motor =  //
+      dynamic_cast<StepMotorCtrlModule*>(GService::inst()->getZCanProtocolParser()->getModule(getmoduleId(2)));
+
+  {
+    PlateCodeScanerModule::hardware_config_t cfg = {
+        .amp_negative_5v_gpio =
+            {
+                .pin               = PC5,
+                .mode              = ZGPIO::kMode_nopull,
+                .mirror            = true,
+                .initLevel         = false,
+                .log_when_setstate = true,
+            },
+        /*******************************************************************************
+         *                                    T光学                                    *
+         *******************************************************************************/
+        .t_laster_adc =
+            {
+                .hadc1        = &hadc1,
+                .channel      = ADC_CHANNEL_13,
+                .samplingTime = ADC_SAMPLETIME_480CYCLES,
+            },
+        .t_result_adc =
+            {
+                .hadc1        = &hadc1,
+                .channel      = ADC_CHANNEL_12,
+                .samplingTime = ADC_SAMPLETIME_56CYCLES,  // 注意这里必须要使用112周期采样时间，否则optical_module中的单次采样时间会大于1ms
+            },
+        .t_optical_amp_mcp41 =
+            {
+                .spihandler = &hspi2,
+                .ncspin     = PE15,
+                .mark       = "t_optical_amp_mcp41",
+            },
+        .t_optical_scaner_mcp41 =
+            {
+                .spihandler = &hspi2,
+                .ncspin     = PE14,
+                .mark       = "t_optical_scaner_mcp41",
+            },
+        .t_laster_enable_io =
+            {
+                .pin               = PB0,
+                .mode              = ZGPIO::kMode_nopull,
+                .mirror            = false,
+                .initLevel         = false,
+                .log_when_setstate = true,
+
+            },
+        .t_amp_sw_io =
+            {
+                .pin = PinNull,
+            },
+        /*******************************************************************************
+         *                                    F光学                                    *
+         *******************************************************************************/
+        .f_optical_amp_mcp41 =
+            {
+                .spihandler = &hspi3,
+                .ncspin     = PC13,
+                .mark       = "f_optical_amp_mcp41",
+            },
+        .f_optical_scaner_mcp41 =
+            {
+                .spihandler = &hspi2,
+                .ncspin     = PE13,
+                .mark       = "f_optical_scaner_mcp41",
+            },
+        // 激光亮度反馈ADC PC0
+        .f_laster_adc =
+            {
+                .hadc1        = &hadc1,
+                .channel      = ADC_CHANNEL_10,
+                .samplingTime = ADC_SAMPLETIME_480CYCLES,
+            },
+        .f_result_adc =
+            {
+                .hadc1        = &hadc1,
+                .channel      = ADC_CHANNEL_11,
+                .samplingTime = ADC_SAMPLETIME_480CYCLES,
+            },
+        .f_opt_laster_enable_io =
+            {
+                .pin               = PA8,
+                .mode              = ZGPIO::kMode_nopull,
+                .mirror            = false,
+                .initLevel         = false,
+                .log_when_setstate = true,
+            },
+        .f_amp_sw_io =
+            {
+                .pin               = PD6,
+                .mode              = ZGPIO::kMode_nopull,
+                .mirror            = true,
+                .initLevel         = false,
+                .log_when_setstate = true,
+            },
+
+        /*******************************************************************************
+         *                              F_CHANNEL_SELECT                               *
+         *******************************************************************************/
+        .channel_select_io_red_led3   = {.pin = PB11, .mode = ZGPIO::kMode_nopull, .mirror = false, .initLevel = false, .log_when_setstate = true},
+        .channel_select_io_blue_led1  = {.pin = PA15, .mode = ZGPIO::kMode_nopull, .mirror = false, .initLevel = false, .log_when_setstate = true},
+        .channel_select_io_green_led1 = {.pin = PB10, .mode = ZGPIO::kMode_nopull, .mirror = false, .initLevel = false, .log_when_setstate = true},
+        /*******************************************************************************
+         *                                    电机                                     *
+         *******************************************************************************/
+        .motor = push_rod_motor,
+
+    };
+    static PlateCodeScanerModule module;
+    module.initialize(getmoduleId(3), &cfg);
+    GService::inst()->getZCanProtocolParser()->registerModule(&module);
+  }
 #endif
 }
diff --git a/usrc/subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case_board.c b/usrc/subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case_board.c
index 9828f4e..c8156f2 100644
--- a/usrc/subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case_board.c
+++ b/usrc/subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case_board.c
@@ -62,6 +62,97 @@ static void MX_SPI2_Init(void) {
   hspi2_enable = true;
 }
 
+static void MX_SPI3_Init(void) {
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+  __HAL_RCC_SPI3_CLK_ENABLE();
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+
+  hspi3.Instance               = SPI3;
+  hspi3.Init.Mode              = SPI_MODE_MASTER;
+  hspi3.Init.Direction         = SPI_DIRECTION_2LINES;
+  hspi3.Init.DataSize          = SPI_DATASIZE_8BIT;
+  hspi3.Init.CLKPolarity       = SPI_POLARITY_LOW;
+  hspi3.Init.CLKPhase          = SPI_PHASE_1EDGE;
+  hspi3.Init.NSS               = SPI_NSS_SOFT;
+  hspi3.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;
+  hspi3.Init.FirstBit          = SPI_FIRSTBIT_MSB;
+  hspi3.Init.TIMode            = SPI_TIMODE_DISABLE;
+  hspi3.Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLE;
+  hspi3.Init.CRCPolynomial     = 10;
+  if (HAL_SPI_Init(&hspi3) != HAL_OK) {
+    Error_Handler();
+  }
+
+  /**SPI3 GPIO Configuration
+  PC10     ------> SPI3_SCK
+  PC11     ------> SPI3_MISO
+  PC12     ------> SPI3_MOSI
+  */
+  GPIO_InitStruct.Pin       = GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12;
+  GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Pull      = GPIO_NOPULL;
+  GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_VERY_HIGH;
+  GPIO_InitStruct.Alternate = GPIO_AF6_SPI3;
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+  hspi3_enable = true;
+}
+
+/* ADC1 init function */
+static void ADC1_Init(void) {
+  __HAL_RCC_ADC1_CLK_ENABLE();
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
+   */
+  hadc1.Instance                   = ADC1;
+  hadc1.Init.ClockPrescaler        = ADC_CLOCK_SYNC_PCLK_DIV2;
+  hadc1.Init.Resolution            = ADC_RESOLUTION_12B;
+  hadc1.Init.ScanConvMode          = DISABLE;
+  hadc1.Init.ContinuousConvMode    = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConvEdge  = ADC_EXTERNALTRIGCONVEDGE_NONE;
+  hadc1.Init.ExternalTrigConv      = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign             = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion       = 1;
+  hadc1.Init.DMAContinuousRequests = DISABLE;
+  hadc1.Init.EOCSelection          = ADC_EOC_SINGLE_CONV;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK) {
+    Error_Handler();
+  }
+
+  /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
+   */
+  sConfig.Channel      = ADC_CHANNEL_10;
+  sConfig.Rank         = 1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) {
+    Error_Handler();
+  }
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+  /**ADC1 GPIO Configuration
+  PC0     ------> ADC1_IN10
+  PC1     ------> ADC1_IN11
+  PC2     ------> ADC1_IN12
+  PC3     ------> ADC1_IN13
+  */
+  GPIO_InitStruct.Pin  = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3;
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+  hadc1_enable = true;
+}
+
 /**
  * @brief 板夹仓初始化
  */
@@ -70,4 +161,6 @@ void subboard20_plate_clamp_case_board_init() {
   common_hardware_init();
   MX_SPI1_Init();
   MX_SPI2_Init();
+  MX_SPI3_Init();
+  ADC1_Init();
 }