diff --git a/a8000_temperature_ctl.launch b/a8000_temperature_ctl.launch
index 99c3033..681901d 100644
--- a/a8000_temperature_ctl.launch
+++ b/a8000_temperature_ctl.launch
@@ -51,8 +51,8 @@
-
-
+
+
diff --git a/sdk b/sdk
index 89a7ff2..9ac1223 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 89a7ff2c9c2328ba294d19ca501c2303a0942659
+Subproject commit 9ac1223e1e0515c3096478a37c9b930becdd2cad
diff --git a/usrc/driver.cpp b/usrc/driver.cpp
index a6147d6..7f031cc 100644
--- a/usrc/driver.cpp
+++ b/usrc/driver.cpp
@@ -2,7 +2,7 @@
using namespace iflytop;
#define TIMER2_FREQ 1000
#define TIMER1_FREQ 1000
-#define HEART_SHAFT false
+#define ENABL_TRACE false
#define TAG "DRIVER"
/*******************************************************************************
@@ -181,38 +181,39 @@ void PumpCtrlModule::clearError() { return pump.clearError(); }
/*******************************************************************************
* ÅÁ¶ûÌùÅäÖà *
*******************************************************************************/
+#define PELTIER_POLARITY false
DRV8710::config_t peltier_config0 = {
.pwm_cfg =
{
- .name = "peltier0_pwm",
+ .name = "peltier1_pwm",
.htim = &htim1,
.freq = TIMER1_FREQ,
.polarity = false,
},
- .in1_chnannel_index = 1, // PE9
- .in2 = PE11,
- .nsleep = PB2,
- .nfault = PB3,
- .sensePin = PB4,
- .shaft = HEART_SHAFT,
- .enableTrace = true,
+ .in1_chnannel_index = 3, // PE13
+ .in2 = PE14,
+ .nsleep = PB13,
+ .nfault = PB14,
+ .sensePin = PB15,
+ .shaft = PELTIER_POLARITY,
+ .enableTrace = false,
};
DRV8710::config_t peltier_config1 = {
.pwm_cfg =
{
- .name = "peltier1_pwm",
+ .name = "peltier0_pwm",
.htim = &htim1,
.freq = TIMER1_FREQ,
.polarity = false,
},
- .in1_chnannel_index = 3, // PE13
- .in2 = PE14,
- .nsleep = PB13,
- .nfault = PB14,
- .sensePin = PB15,
- .shaft = HEART_SHAFT,
- .enableTrace = true,
+ .in1_chnannel_index = 1, // PE9
+ .in2 = PE11,
+ .nsleep = PB2,
+ .nfault = PB3,
+ .sensePin = PB4,
+ .shaft = !PELTIER_POLARITY,
+ .enableTrace = false,
};
void PeltierCtrlModule::initialize(peltier_index_t index) {