update

sdk

@@ -1 +1 @@
-Subproject commit 18d70a8b2ed213738162a5631519ca1e3b8e94e8
+Subproject commit 541da22a0f3afd3b6f8b55646d6cca7958512dc0

usrc/main.cpp

@@ -19,6 +19,7 @@
 #include "sdk\components/step_motor_ctrl_module/zcan_master_step_motor_ctrl_module.hpp"
 #include "sdk\components/xy_robot_ctrl_module/xy_robot_script_cmder_module.hpp"
 #include "sdk\components/xy_robot_ctrl_module/zcan_xy_robot_master_module.hpp"
+#include "sdk\components\eq_20_asb_motor\script_cmder_eq20_servomotor.hpp"
 #include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
 // #include "sdk\components\scriptcmder_module\xy_robot_script_cmder_module.hpp"
 // #include "sdk\components\zcancmder_master_module/zcan_master_step_motor_ctrl_module.hpp"
@@ -153,6 +154,7 @@ I_StepMotorCtrlModule* g_z_step_motor      = nullptr;
  *******************************************************************************/
 StepMotorCtrlScriptCmderModule g_script_zmotor;
 XYRobotScriptCmderModule       g_script_xyrobot;
+ScriptCmderEq20Servomotor      g_script_eq20servomotor;
 
 }  // namespace iflytop
 #if 0
@@ -223,6 +225,9 @@ extern DMA_HandleTypeDef hdma_usart3_tx;
 }
 
 extern "C" {}
+extern DMA_HandleTypeDef hdma_usart2_rx;
+extern DMA_HandleTypeDef hdma_usart2_tx;
+
 extern void step_motor_cmd_reg();
 void        Main::run() {
   /*******************************************************************************
@@ -238,7 +243,15 @@ void        Main::run() {
   m_zcanCommnaderMaster.init(cfg);
   g_cmdScheduler.initialize(&DEBUG_UART, 1000);
   g_feiteservomotor_bus.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx);
+  g_modbusblockhost.initialize(&huart2, &hdma_usart2_tx, &hdma_usart2_rx);
+
+  g_main_servo_motor.init(&g_modbusblockhost, 1);
 
+  /*******************************************************************************
+   *                                     CMD                                     *
+   *******************************************************************************/
+  g_script_eq20servomotor.initialize(&g_cmdScheduler);
+  g_script_eq20servomotor.regmodule(1, &g_main_servo_motor);
 #if 0
 
   g_xyrobotctrlmodule = zcancmder_master::create_xyrobot_ctrl_module(&m_zcanCommnaderMaster, 1);