update

components/algorithm/pid_module.cpp

@@ -21,6 +21,7 @@ int32_t PidModule::reset() {
   m_previous_err1 = 0;
   m_previous_err2 = 0;
   m_integral_err  = 0;
+  return 0;
 }
 float PidModule::pid_calc_incremental(float error) {
   float output = 0;

components/zcancmder/zcan_board_module.cpp

@@ -0,0 +1,74 @@
+#include "zcan_board_module.hpp"
+
+using namespace iflytop;
+using namespace std;
+void ZCanBoardModule::initialize(int32_t moduleId, hardware_config_t *hcfg) {
+  module_id = moduleId;
+  m_cfg     = *hcfg;
+
+  for (int i = 0; i < ZARRAY_SIZE(hcfg->input); i++) {
+    if (hcfg->input[i].pin == PinNull) {
+      break;
+    }
+    ZGPIO::InputGpioCfg_t *cfg = &hcfg->input[i];
+    m_input[i].initAsInput(cfg->pin, cfg->mode, cfg->irqtype, cfg->mirror);
+    m_input_num++;
+  }
+
+  for (int i = 0; i < ZARRAY_SIZE(hcfg->output); i++) {
+    if (hcfg->output[i].pin == PinNull) {
+      break;
+    }
+    ZGPIO::OutputGpioCfg_t *cfg = &hcfg->output[i];
+    m_output[i].initAsOutput(cfg->pin, cfg->mode, cfg->mirror, cfg->initLevel);
+    m_output_num++;
+  }
+}
+int32_t ZCanBoardModule::getid(int32_t *id) { *id = module_id; };
+int32_t ZCanBoardModule::module_readio(int32_t *io) {
+  *io = readinput();
+  return 0;
+};
+int32_t ZCanBoardModule::module_writeio(int32_t idindex, int32_t io) {
+  if (idindex < 0 || idindex >= ZARRAY_SIZE(m_output)) {
+    return err::kparam_out_of_range;
+  }
+  m_output[idindex].setState(io);
+  return 0;
+};
+
+int32_t ZCanBoardModule::module_xxx_reg(int32_t param_id, bool read, int32_t &val) {
+  switch (param_id) {
+    PROCESS_REG(kreg_module_version, /*           */ val = 0x0001, ACTION_NONE);
+    PROCESS_REG(kreg_module_type, /*              */ val = 0, ACTION_NONE);
+    PROCESS_REG(kreg_module_initflag, /*          */ val = module_get_inited_flag(), module_set_inited_flag(val));
+    PROCESS_REG(kreg_module_output_state, /*      */ val = readoutput(), ACTION_NONE);
+    PROCESS_REG(kreg_module_input_state, /*       */ val = readinput(), ACTION_NONE);
+    default:
+      return err::kmodule_not_find_config_index;
+      break;
+  }
+  return 0;
+}
+
+int32_t ZCanBoardModule::module_set_reg(int32_t param_id, int32_t param_value) { return module_xxx_reg(param_id, false, param_value); }
+int32_t ZCanBoardModule::module_get_reg(int32_t param_id, int32_t *param_value) { return module_xxx_reg(param_id, true, *param_value); }
+
+int32_t ZCanBoardModule::readinput() {
+  int32_t inputval = 0;
+  for (int i = 0; i < m_input_num; i++) {
+    if (m_input[i].getStateUint32()) {
+      inputval |= (1 << i);
+    }
+  }
+  return inputval;
+}
+int32_t ZCanBoardModule::readoutput() {
+  int32_t outputval = 0;
+  for (int i = 0; i < m_output_num; i++) {
+    if (m_output[i].getStateUint32()) {
+      outputval |= (1 << i);
+    }
+  }
+  return outputval;
+}

components/zcancmder/zcan_board_module.hpp

@@ -0,0 +1,63 @@
+//
+// Created by zwsd
+//
+
+#pragma once
+#include "sdk/os/zos.hpp"
+#include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"
+
+/**
+ * @brief
+ *
+ * service: M3078
+ *
+ * 监听事件:
+ * 依赖状态:
+ * 依赖服务:
+ * 作用:
+ *
+ * 推荐配置:
+ *  1.  识读模式:按键保持
+ *  2.  波特率:9600
+ *  3.  单次扫码时长:无限时
+ *
+ */
+
+namespace iflytop {
+using namespace std;
+
+class ZCanBoardModule : public ZIModule {
+ public:
+  typedef struct {
+    ZGPIO::InputGpioCfg_t  input[10];
+    ZGPIO::OutputGpioCfg_t output[10];
+  } hardware_config_t;
+
+  hardware_config_t m_cfg;
+  int32_t           module_id;
+
+  ZGPIO m_input[10];
+  ZGPIO m_output[10];
+
+  int32_t m_input_num  = 0;
+  int32_t m_output_num = 0;
+
+ public:
+  virtual ~ZCanBoardModule() {}
+
+  void initialize(int32_t moduleId, hardware_config_t *cfg);
+
+  virtual int32_t getid(int32_t *id) override;
+  virtual int32_t module_readio(int32_t *io) override;
+  virtual int32_t module_writeio(int32_t idindex, int32_t io) override;
+
+  virtual int32_t module_set_reg(int32_t param_id, int32_t param_value);
+  virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value);
+
+ private:
+  int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &param_value);
+  int32_t readinput();
+  int32_t readoutput();
+};
+
+}  // namespace iflytop

components/zprotocols/zcancmder_v2

@@ -1 +1 @@
-Subproject commit fb17dcb55250a0d7230051ca725149928905aa25
+Subproject commit 7c37ecd0941426c01b0cf57db89da5943925dbd9