Merge pull request #82 from MK16kawai/dev

fixed some bugs and update thermal&tof app
sipeed · Jan 6, 2025 · ef142dd · ef142dd
2 parents f9f4091 + fe7ff53
commit ef142dd
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Showing 7 changed files with 15 additions and 11 deletions.
diff --git a/components/comm/src/maix_modbus.cpp b/components/comm/src/maix_modbus.cpp
@@ -293,7 +293,7 @@ Slave::~Slave()
 ::maix::err::Err Slave::__receive__()
 {
     this->rc_ = ::modbus_receive(this->ctx_.get(), this->query_);
-    if (this->rc_ >= 0) {
+    if (this->rc_ > 0) {
         if (this->debug_) {
             log::info("%s receive, len: %d", this->TAG().c_str(), this->rc_);
         }

diff --git a/components/ext_dev/src/tmc2209/janelia-arduino_TMC2209/TMC2209.cpp b/components/ext_dev/src/tmc2209/janelia-arduino_TMC2209/TMC2209.cpp
@@ -740,7 +740,6 @@ int TMC2209::serialRead()
   //   auto all_datas = this->_uart->read(buffer+next_index, num, num);
   //   next_index += num;
   //   for (int i = 0; i < num; ++i) {
-
   //   }
   // }
 
@@ -995,7 +994,7 @@ uint32_t TMC2209::read(uint8_t register_address)
 
   // if (reply_delay >= REPLY_DELAY_MAX_MICROSECONDS)
   // {
-  //   return 0;  
+  //   return 0;
   // }
 
   // this->serialRead();

diff --git a/components/ext_dev/src/tmc2209/maix_tmc2209.cpp b/components/ext_dev/src/tmc2209/maix_tmc2209.cpp
@@ -17,9 +17,9 @@ static constexpr int TRY_NUM = 5;
  * speed ==> (360/step_angle)/(screw_pitch/speed) ==> 400 fullsteps/s
  * speed_factor ==> speed/SPEED_EACH_FACTOR ==> ((360/step_angle)/(screw_pitch/speed))/SPEED_EACH_FACTOR ==> 555
  */
-static inline uint16_t calculate_speed_factor(uint16_t speed_mm_s, float step_angle, uint16_t screw_pitch)
+static inline uint16_t calculate_speed_factor(float speed_mm_s, float step_angle, float screw_pitch)
 {
-    return static_cast<uint16_t>(((360/step_angle)/(static_cast<float>(screw_pitch)/speed_mm_s))/SPEED_EACH_FACTOR);
+    return static_cast<uint16_t>(((360.0f/step_angle)/(screw_pitch/speed_mm_s))/SPEED_EACH_FACTOR);
 }
 
 class FileHandler {
@@ -782,6 +782,7 @@ void ScrewSlide::move(float oft, int speed_mm_s, std::function<bool(float)> call
                                 this->speed_factor_ : \
                                 calculate_speed_factor(static_cast<uint16_t>(speed_mm_s),
                                     this->step_angle, this->screw_pitch);
+    // maix::log::info("speed factor:%u", speed_factor);
     // maix::log::info("std::abs(oft): %0.3f", std::abs(oft));
     // maix::log::info("this->micro_step_distance: %0.8f", this->micro_step_distance);
     // maix::log::info("std::abs(oft) / this->micro_step_distance: %0.3f", std::abs(oft) / this->micro_step_distance);

diff --git a/projects/app_thermal_camera/README.md b/projects/app_thermal_camera/README.md
@@ -1,6 +1,8 @@
 # Thermal camera
 
 
-## support list
+## Supported List
 
-* mlx90640
+[Consult purchase address](https://wiki.sipeed.com/en/store.html)
+
+* PMOD_Thermal32
diff --git a/projects/app_thermal_camera/main/src/main.cpp b/projects/app_thermal_camera/main/src/main.cpp
@@ -51,7 +51,7 @@ struct BoolResult {
 
 BoolResult find_device()
 {
-    std::string suffix = "Support list:\nMLX90640\n\nClicked to exit.";
+    std::string suffix = "Support list:\nPMOD_Thermal32\n\nClicked to exit.";
     BoolResult res;
 
     bool total_flag = false;

diff --git a/projects/app_tof_camera/README.md b/projects/app_tof_camera/README.md
@@ -1,6 +1,8 @@
 # ToF camera
 
 
-## support list
+## Supported List
 
-* OPNS3031
+[Consult purchase address](https://wiki.sipeed.com/en/store.html)
+
+* PMOD_TOF100
diff --git a/projects/app_tof_camera/main/src/main.cpp b/projects/app_tof_camera/main/src/main.cpp
@@ -54,7 +54,7 @@ void show_error(display::Display& disp, touchscreen::TouchScreen& ts)
 {
     ui_total_deinit();
     auto img = Image(disp.width(), disp.height());
-    std::string msg = "Devices Not Found!\nSupport list:\nOPNS3031\n\nClicked to exit.";
+    std::string msg = "Devices Not Found!\nSupport list:\nPMOD_TOF100\n\nClicked to exit.";
     img.draw_string(0, 100, msg);
     disp.show(img);
     while (!app::need_exit()) {