update

stm32components

@@ -1 +1 @@
-Subproject commit 29c41362b35e5097f8b52751098aede52133aed5
+Subproject commit 16ccc17d6d41154562af9294f49c5545cedaea00

usrc/module/tmc_motor_group.cpp

@@ -8,7 +8,8 @@ using namespace transmit_disfection_protocol;
 /***********************************************************************************************************************
  *                                                    电机异常监控                                                     *
  ***********************************************************************************************************************/
-static osTimerId      MotorMonitorTimerId;      // 压力传感器数值上报
+static osTimerId      MotorMonitorTimerId;      //
+static osTimerId      MoveToEndUpdateTimer;     //
 static bool           motorErrorFlagCache[10];  // 电机异常状态上报标志位
 static zmutex         motorErrorFlagCacheLock = {"motorErrorFlagCacheLock"};
 static TmcMotorGroup* tmcgroup_p;
@@ -28,6 +29,16 @@ static void motorErrorFlag_set(int subindex, bool val) {
     motorErrorFlagCache[subindex] = val;
   }
 }
+static void onMoveToEndUpdateTimer(void const* argument) {
+  TmcMotorGroup*           DEVICE = (TmcMotorGroup*)tmcgroup_p;
+  report_exeception_data_t data   = {0};
+  for (size_t i = 0; i < DEVICE->motorNum(); i++) {
+    if (DEVICE->motor(i)->isMoveToEnd()) {
+      ZLOGI(TAG, "refreshMoveToEnd %d", i);
+      DEVICE->motor(i)->refreshMoveToEnd();
+    }
+  }
+}
 
 static void onMotorMonitorTimer(void const* argument) {
   // ZLOGI(TAG, "x MotorMonitorTimerId: %p", argument);
@@ -143,10 +154,15 @@ void TmcMotorGroup::initialize(Pin_t tmcPowerPin, TMC51X0Cfg cfg0, TMC51X0Cfg cf
 
   motorErrorFlagCacheLock.init();
   tmcgroup_p = this;
+
   osTimerDef(MotorMonitorTimer, onMotorMonitorTimer);
   MotorMonitorTimerId = osTimerCreate(osTimer(MotorMonitorTimer), osTimerPeriodic, this);
-  ZLOGI(TAG, "MotorMonitorTimerId: %p", this);
   osTimerStart(MotorMonitorTimerId, 1000);
+
+  osTimerDef(MoveToEndUpdateTimer, onMoveToEndUpdateTimer);
+  MoveToEndUpdateTimer = osTimerCreate(osTimer(MoveToEndUpdateTimer), osTimerPeriodic, this);
+  osTimerStart(MoveToEndUpdateTimer, 10000);
+
   m_isInitialized = true;
 
   BIND_FN(TmcMotorGroup, this, fn_pump_rotate);
@@ -182,7 +198,8 @@ void TmcMotorGroup::fn_pump_rotate(ProcessContext* cxt) {
   motor(GET_PARAM(0))->enable(false);
   motor(GET_PARAM(0))->refreshcfg();
   motor(GET_PARAM(0))->enable(true);
-  motor(GET_PARAM(0))->rotate(velocity);
+  // motor(GET_PARAM(0))->rotate(velocity);
+  motor(GET_PARAM(0))->moveToEnd(velocity, abs(velocity));
 
   zcanbus_send_ack(cxt->packet, NULL, 0);
   motorErrorFlag_set(GET_PARAM(0), false);