修正读取IOBUG

a8000_protocol

@@ -1 +1 @@
-Subproject commit 77eb03279eb3f348ded05b200978dae54fc86d1f
+Subproject commit 01d58ee7bc71cf5db47158d7c63c254c00936898

sdk

@@ -1 +1 @@
-Subproject commit 5d12a50cd4f562a26d3774356541827ebaa1c296
+Subproject commit 99f6aa959a04ededcdf668aa33d6dcaf0c434bd9

usrc/public_service/ext_board_impl.cpp

@@ -20,8 +20,11 @@ int32_t ExtBoardImpl::board_read_ext_io(int32_t ioindex, int32_t *val) {
 }
 int32_t ExtBoardImpl::board_write_ext_io(int32_t ioindex, int32_t val) { return 0; }
 int32_t ExtBoardImpl::board_read_muti_io(int32_t *val) {
+  *val = 0;
   for (int i = 0; i < ZARRAY_SIZE(IO); i++) {
     *val |= IO[i].getState() << i;
+    ZLOGI("BOARD", "IO %d %d", i, IO[i].getState());
   }
+
   return 0;
 }

usrc/public_service/instance_init.hpp

@@ -96,6 +96,7 @@
   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_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); \

usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h

@@ -4,28 +4,23 @@
 #define EXT_INPUT_IO2 PD2
 #define EXT_INPUT_IO3 PD3
 #define EXT_INPUT_IO4 PD4
-#define EXT_INPUT_IO5 PinNull
+#define EXT_INPUT_IO5 PD5
 #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 EXT_INPUT_IO0_MIRROR false
+#define EXT_INPUT_IO1_MIRROR false
+#define EXT_INPUT_IO2_MIRROR false
+#define EXT_INPUT_IO3_MIRROR false
+#define EXT_INPUT_IO4_MIRROR false
+#define EXT_INPUT_IO5_MIRROR false
+#define EXT_INPUT_IO6_MIRROR false
+#define EXT_INPUT_IO7_MIRROR false
+#define EXT_INPUT_IO8_MIRROR false
+#define EXT_INPUT_IO9_MIRROR false
 
 
 #define TMC_MOTOR_SPI hspi1

usrc/subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module.cpp

@@ -14,6 +14,8 @@ extern "C" {
 using namespace iflytop;
 void Subboard60InjectAndOutletModule::initialize() {
   IO_INIT();
+
+
   GService::inst()->getZCanProtocolParser()->registerModule(this);
 
 #if 1