v1003 | change can baudrate to 1M

a8000_protocol

@@ -1 +1 @@
-Subproject commit 74042ce3f342868ca2bfdb51a09fddd68ab396c1
+Subproject commit de705d4df1deff279fa9547365f34f22a65c2904

sdk/components/pipette_module/pipette_ctrl_module_v2.cpp

@@ -153,6 +153,8 @@ int32_t PipetteModuleV2::module_xxx_reg_impl(int32_t param_id, bool read, int32_
     XXX_STATE_REG(kreg_pipette_zm_pos, assign_int32(&val, zm_get_now_pos()));
     XXX_STATE_REG(kreg_pipette_zm_is_enable, REG_GET(m_state.enable));
     XXX_STATE_REG(kreg_pipette_zm_dpos, REG_GET(m_state.dpos));
+    XXX_STATE_REG(kreg_pipette_zm_has_move_zero, REG_GET(m_state.zm_has_move_zero));
+    
 
     /***********************************************************************************************************************
      *                                                         CFG                                                         *
@@ -184,6 +186,7 @@ int32_t PipetteModuleV2::module_xxx_reg_impl(int32_t param_id, bool read, int32_
     XXX_CFG_REG(zm_pos_devi_tolerance);
     XXX_CFG_REG(zm_io_trigger_append_distance);
 
+
     default:
       return err::kmodule_not_find_reg;
       break;
@@ -210,7 +213,7 @@ int32_t PipetteModuleV2::pipette_zmotor_enable(int32_t enable) {
   m_zm->enable(enable);
   m_state.enable = enable;
   if (enable == 0 && m_cfg.zm_enable_enc == 0) {
-    m_state.has_move_to_zero = 0;
+    m_state.zm_has_move_zero = 0;
   }
   return 0;
 }
@@ -224,7 +227,7 @@ int32_t PipetteModuleV2::pipette_zmotor_move_zero() {  //
   thread_start_work(__FUNCTION__, [this]() {
     do_zm_move_0p();  // 移动到零点
     zm_set_now_pos(0 + m_cfg.zm_dzero - m_cfg.zm_io_trigger_append_distance);
-    m_state.has_move_to_zero = 1;
+    m_state.zm_has_move_zero = 1;
   });
   return 0;
 }
@@ -241,7 +244,7 @@ int32_t PipetteModuleV2::pipette_zmotor_measure_distance() {
     int32_t dpos = zm_get_now_pos() - startpos;
 
     zm_set_now_pos(0 + m_cfg.zm_dzero - m_cfg.zm_io_trigger_append_distance);
-    m_state.has_move_to_zero = 1;
+    m_state.zm_has_move_zero = 1;
 
     m_asynchronous_result.result0 = 0 + m_cfg.zm_dzero - m_cfg.zm_io_trigger_append_distance - dpos;
   });
@@ -635,7 +638,7 @@ void PipetteModuleV2::do_pipette_zmotor_move_to_zero_point_quick() {
   int32_t dpos = zm_get_now_pos() - startpos;
   // 设置零点
   zm_set_now_pos(0 + m_cfg.zm_dzero - m_cfg.zm_io_trigger_append_distance);
-  m_state.has_move_to_zero = 1;
+  m_state.zm_has_move_zero = 1;
 
   if (m_cfg.zm_pos_devi_tolerance != 0 && (abs(expectation_dpos - dpos) > m_cfg.zm_pos_devi_tolerance)) {
     throw zapp_exception(err::kstep_motor_lost_step);
@@ -837,7 +840,7 @@ check_motor_is_enable:
 
 check_motor_has_moveto_zero:
   if (m_state.enable == 0) return err::kstep_motor_not_enable;
-  if (m_state.has_move_to_zero == 0) return err::kstep_motor_not_move_to_zero;
+  if (m_state.zm_has_move_zero == 0) return err::kstep_motor_not_move_to_zero;
   goto check;
 
 check:

sdk/components/pipette_module/pipette_ctrl_module_v2.hpp

@@ -79,6 +79,7 @@ class PipetteModuleV2 : public ZIModule {
     int32_t zm_dzero;  // 零点偏移
     int32_t zm_io_trigger_append_distance;
     int32_t zm_pos_devi_tolerance;
+
   } config_t;
 
   typedef struct {
@@ -106,7 +107,7 @@ class PipetteModuleV2 : public ZIModule {
     int32_t aspirate_cfg_eigen_time;  // 吸液操作验证，特征时间，用来检测气泡，吸空检测
     int32_t aspirate_cfg_tolerance;   // 容差
 
-    int32_t has_move_to_zero;
+    int32_t zm_has_move_zero;
   } state_t;
 
   struct {

usrc/project_configs.h

@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           1002
+#include "version.h"
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1

usrc/public_service/common_hardware_init.c

@@ -140,7 +140,7 @@ static void can1_init() {
   HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
 
   hcan1.Instance                  = CAN1;
-  hcan1.Init.Prescaler            = 4;
+  hcan1.Init.Prescaler            = 2;
   hcan1.Init.Mode                 = CAN_MODE_NORMAL;
   hcan1.Init.SyncJumpWidth        = CAN_SJW_3TQ;
   hcan1.Init.TimeSeg1             = CAN_BS1_14TQ;

usrc/version.h

@@ -0,0 +1,2 @@
+#pragma once
+#define PC_VERSION           1003