update

a8000_protocol

@@ -1 +1 @@
-Subproject commit 1d75c687904a843514be39cbb4b379ffc0aa2414
+Subproject commit db4404e94683ade89cffb540a570fa749b518bfb

usrc/subboards/subboard90_optical_module/optical_module.cpp

@@ -208,7 +208,18 @@ int32_t OpticalModule::adjust_detector_gain() {
 }
 
 int32_t OpticalModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
+  if (param_id == kreg_opt_module_do_action0 && !read) {
+    return do_action(val);
+  }
+
   switch (param_id) {
+    PROCESS_REG(kreg_opt_module_do_action0, ACTION_NONE, REG_SET(module_do_action0));
+    PROCESS_REG(kreg_opt_module_action_param1, ACTION_NONE, REG_SET(module_action_param1));
+    PROCESS_REG(kreg_opt_module_action_param2, ACTION_NONE, REG_SET(module_action_param2));
+    PROCESS_REG(kreg_opt_module_action_param3, ACTION_NONE, REG_SET(module_action_param3));
+    PROCESS_REG(kreg_opt_module_action_ack1, REG_GET(module_action_ack1), ACTION_NONE);
+    PROCESS_REG(kreg_opt_module_action_ack2, REG_GET(module_action_ack2), ACTION_NONE);
+
     PROCESS_REG(kreg_boditech_optical_module_raw_sector_size, raw_get_sector_size(&val), ACTION_NONE);
     PROCESS_REG(kreg_boditech_optical_module_raw_sector_num, raw_get_sector_num(&val), ACTION_NONE);
     PROCESS_REG(kreg_boditech_optical_scan_type, REG_GET(m_reg.scan_type), REG_SET(m_reg.scan_type));
@@ -242,14 +253,14 @@ int32_t OpticalModule::do_action(int32_t action) {
   } else if (action == ACTION_CLOSE_LASER) {
     return a8000_optical_close_laser(m_reg.scan_type);
   } else if (action == ACTION_READ_SCAN_ADC) {
-    // int32_t ret = a8000_optical_read_scanner_adc_val(m_reg.scan_type, &m_com_reg.module_action_ack1);
-    // return ret;
+    int32_t ret = a8000_optical_read_scanner_adc_val(m_reg.scan_type, &module_action_ack1);
+    return ret;
     return err::kparam_out_of_range;
   } else if (action == ACTION_READ_LASTER_ADC) {
-    // return a8000_optical_read_laster_adc_val(m_reg.scan_type, &m_com_reg.module_action_ack1);
+    return a8000_optical_read_laster_adc_val(m_reg.scan_type, &module_action_ack1);
     return err::kparam_out_of_range;
   } else if (action == ACTION_READ_ONE_POINT) {
-    // return a8000_optical_scan_current_point_amp_adc_val(m_reg.scan_type, m_com_reg.module_action_param1, m_com_reg.module_action_param2, &m_com_reg.module_action_ack1, &m_com_reg.module_action_ack2);
+    return a8000_optical_scan_current_point_amp_adc_val(m_reg.scan_type, module_action_param1, module_action_param2, &module_action_ack1, &module_action_ack2);
     return err::kparam_out_of_range;
   } else if (action == ACTION_SET_LASTER_GAIN) {
     return a8000_optical_set_laster_gain(m_reg.scan_type, m_reg.laster_gain);

usrc/subboards/subboard90_optical_module/optical_module.hpp

@@ -103,6 +103,13 @@ class OpticalModule : public ZIModule, public ZIA8000OpticalModule {
 
   int32_t f_adc_cache[20];
 
+  int32_t module_do_action0;
+  int32_t module_action_param1;
+  int32_t module_action_param2;
+  int32_t module_action_param3;
+  int32_t module_action_ack1;
+  int32_t module_action_ack2;
+
  public:
   virtual ~OpticalModule(){};
 
@@ -130,6 +137,7 @@ class OpticalModule : public ZIModule, public ZIA8000OpticalModule {
   virtual int32_t a8000_optical_read_scanner_adc_val(int32_t type, int32_t* adcval) override;
   virtual int32_t a8000_optical_read_laster_adc_val(int32_t type, int32_t* adcval) override;
   virtual int32_t a8000_optical_module_power_ctrl(int32_t state) override;
+
  private:
   int32_t start_t_optical_scan();
   int32_t start_f_optical_scan();

usrc/subboards/subboard90_optical_module/subboard90_optical_module.cpp

@@ -31,7 +31,7 @@ void Subboard90OpticalModule::initialize() {
    ***********************************************************************************************************************/
   { TMC5130_MOTOR_INITER(1, 1); }
   { TMC5130_MOTOR_INITER(2, 2); }
-  opt_scan_motor = dynamic_cast<StepMotorCtrlModule*>(GService::inst()->getZCanProtocolParser()->getModule(1));
+  opt_scan_motor = dynamic_cast<StepMotorCtrlModule*>(GService::inst()->getZCanProtocolParser()->getModule(getmoduleId(1)));
   ZASSERT(opt_scan_motor);
   {
     OpticalModule::hardware_config_t cfg = {
@@ -141,6 +141,7 @@ void Subboard90OpticalModule::initialize() {
 
     };
     static OpticalModule opticalModule;
+    opticalModule.initialize(getmoduleId(3), &cfg);
     GService::inst()->getZCanProtocolParser()->registerModule(&opticalModule);
   }
 #endif