update

a8000_protocol

@@ -1 +1 @@
-Subproject commit a85673b9c1b9a54c0e91a3e3f4299106a749e56d
+Subproject commit 7bfd98cff4587d08a048aff876d8130bcb31d919

src/mainwindow.ui

@@ -819,6 +819,20 @@ QScrollBar::add-page:vertical, QScrollBar::sub-page:vertical {
            </widget>
           </item>
           <item>
+           <widget class="QGroupBox" name="moduleOpera">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="title">
+             <string/>
+            </property>
+            <layout class="QVBoxLayout" name="verticalLayout_9"/>
+           </widget>
+          </item>
+          <item>
            <widget class="QGroupBox" name="FunctionKeyGB">
             <property name="minimumSize">
              <size>
@@ -910,20 +924,6 @@ QScrollBar::add-page:vertical, QScrollBar::sub-page:vertical {
            </widget>
           </item>
           <item>
-           <widget class="QGroupBox" name="moduleOpera">
-            <property name="minimumSize">
-             <size>
-              <width>0</width>
-              <height>0</height>
-             </size>
-            </property>
-            <property name="title">
-             <string/>
-            </property>
-            <layout class="QVBoxLayout" name="verticalLayout_9"/>
-           </widget>
-          </item>
-          <item>
            <spacer name="verticalSpacer">
             <property name="orientation">
              <enum>Qt::Vertical</enum>

src/tab/module_opera_tab.cpp

@@ -85,12 +85,14 @@ void ModuleOperaTab::construct(QWidget *parent) {
           IflytopCanbusMaster::ins()->ping(i);
 
           int moduleType;
+          int moduleVersion;
           IflytopCanbusMaster::ins()->readreg(i, kreg_module_type, &moduleType);
+          IflytopCanbusMaster::ins()->readreg(i, kreg_module_version, &moduleVersion);
 
           if (i % 10 == 0) {
             ZQUI::ins()->ishow("");
           }
-          ZQUI::ins()->ishow("module :%d isOnline type:%s", i, module_type2_str(moduleType));
+          ZQUI::ins()->ishow("module :%d isOnline type:%10s v(%d)", i, module_type2_str(moduleType),moduleVersion);
         } catch (const zexception &e) {
           if (e.ecode() != ke_overtime) {
             ZQUI::ins()->ishow("%s", e.what());

src/tab/step_motor_ctrl_tab.cpp

@@ -65,6 +65,29 @@ void StepMotorCtrlTab::construct(QTabWidget *fathertab) {
       ICM->step_motor_read_io_state(getDeviceId(), atoi(args[0]), &io);
       ZQUI::ins()->ishow("IO:%d", io);
     });
+
+    box->newFunc("读取5130电机详细状态", {"ioindex"}, [this](int argn, const char **args) {
+      ICM->callcmd0(getDeviceId(), kstep_motor_read_tmc5130_status);
+
+      TMC5130MotorStatus_t status;
+      static_assert(sizeof(status) == 4, "sizeof(TMC5130MotorStatus_t) != 4");
+
+      memcpy(&status, ICM->getAckBuf(), 4);
+
+      ZQUI::ins()->ishow("sg_result           :%d", status.sg_result);
+      ZQUI::ins()->ishow("reserved0           :%d", status.reserved0);
+      ZQUI::ins()->ishow("fsactive            :%d", status.fsactive);
+      ZQUI::ins()->ishow("cs_actual           :%d", status.cs_actual);
+      ZQUI::ins()->ishow("reserved1           :%d", status.reserved1);
+      ZQUI::ins()->ishow("stallguard          :%d", status.stallguard);
+      ZQUI::ins()->ishow("ot                  :%d", status.ot);
+      ZQUI::ins()->ishow("otpw                :%d", status.otpw);
+      ZQUI::ins()->ishow("s2ga                :%d", status.s2ga);
+      ZQUI::ins()->ishow("s2gb                :%d", status.s2gb);
+      ZQUI::ins()->ishow("ola                 :%d", status.ola);
+      ZQUI::ins()->ishow("olb                 :%d", status.olb);
+      ZQUI::ins()->ishow("stst                :%d", status.stst);
+    });
   }
   tab->addSpacer();
 }