update

a8000_protocol

@@ -1 +1 @@
-Subproject commit 7bfd98cff4587d08a048aff876d8130bcb31d919
+Subproject commit 77eb03279eb3f348ded05b200978dae54fc86d1f

iflytop_canbus/iflytop_canbus_master.hpp

@@ -66,9 +66,9 @@ class IflytopCanbusMaster {
   /*******************************************************************************
    *                                 TX CONTEXT                                  *
    *******************************************************************************/
-  mutex   m_tx_lock;
-  uint8_t m_txbuf[1024];
-  int32_t m_rxsize;
+  mutex    m_tx_lock;
+  uint8_t  m_txbuf[1024];
+  int32_t  m_rxsize;
   uint16_t m_txindex = 0;
 
   WaveshareCan m_waveCan;
@@ -96,9 +96,9 @@ class IflytopCanbusMaster {
 
   void sendraw(int32_t fromId, uint8_t *data, size_t len);
 
-  int32_t getAck(int32_t index);
-  uint8_t* getAckBuf();
-  int32_t getAckBufLen();
+  int32_t  getAck(int32_t index);
+  uint8_t *getAckBuf();
+  int32_t  getAckBufLen();
 
  public:
   /***********************************************************************************************************************
@@ -114,7 +114,7 @@ class IflytopCanbusMaster {
   void step_motor_easy_move_to(int32_t device_id, int32_t position) { callcmd1(device_id, kstep_motor_easy_move_to, position); }
   void step_motor_easy_move_to_zero(int32_t device_id) { callcmd0(device_id, kstep_motor_easy_move_to_zero); }
   void step_motor_easy_set_current_pos(int32_t device_id, int32_t position) { callcmd1(device_id, kstep_motor_easy_set_current_pos, position); }
-  void step_motor_easy_move_to_io(int32_t device_id, int32_t io) { callcmd1(device_id, kstep_motor_easy_move_to_io, io); }
+  void step_motor_easy_move_to_io(int32_t device_id, int32_t io, int32_t direction) { callcmd1(device_id, kstep_motor_easy_move_to_io, io, direction); }
   void step_motor_active_cfg(int32_t device_id) { callcmd0(device_id, kstep_motor_active_cfg); }
   void step_motor_read_io_state(int32_t device_id, int32_t io, int32_t *state) {
     callcmd1(device_id, kstep_motor_read_io_state, io);

src/tab/step_motor_ctrl_tab.cpp

@@ -44,28 +44,30 @@ void StepMotorCtrlTab::construct(QTabWidget *fathertab) {
   {
     ZQFunctionListBox *box = new ZQFunctionListBox(tab, "方法", 4);
 
-    //
-
     box->newFunc("使能", {"enable"}, [this](int argn, const char **args) { ICM->step_motor_enable(getDeviceId(), atoi(args[0])); });
-    box->newFunc("读取位置", {}, [this](int argn, const char **args) {
-      int32_t pos = 0;
-      ICM->step_motor_read_pos(getDeviceId(), &pos);
-      ZQUI::ins()->ishow("Pos:%d", pos);
-    });
+    box->newFunc("停止", {}, [this](int argn, const char **args) { ICM->step_motor_stop(getDeviceId(), 0); });
+    box->newFunc("激活配置", {}, [this](int argn, const char **args) { ICM->step_motor_active_cfg(getDeviceId()); });
+    box->newFunc("", {}, [this](int argn, const char **args) {});
+
     box->newFunc("旋转", {"direction"}, [this](int argn, const char **args) { ICM->step_motor_easy_rotate(getDeviceId(), atoi(args[0])); });
     box->newFunc("相对移动", {"distance"}, [this](int argn, const char **args) { ICM->step_motor_easy_move_by(getDeviceId(), atoi(args[0])); });
     box->newFunc("移动到", {"position"}, [this](int argn, const char **args) { ICM->step_motor_easy_move_to(getDeviceId(), atoi(args[0])); });
     box->newFunc("归零", {}, [this](int argn, const char **args) { ICM->step_motor_easy_move_to_zero(getDeviceId()); });
+    box->newFunc("移动到终点", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kstep_motor_easy_move_to_end_point); });
+    box->newFunc("移动到IO", {"ioindex", "direction"}, [this](int argn, const char **args) { ICM->step_motor_easy_move_to_io(getDeviceId(), atoi(args[0]), atoi(args[1])); });
+
+    box->newFunc("", {}, [this](int argn, const char **args) {});
     box->newFunc("设置当前位置", {"position"}, [this](int argn, const char **args) { ICM->step_motor_easy_set_current_pos(getDeviceId(), atoi(args[0])); });
-    box->newFunc("移动到IO", {"ioindex"}, [this](int argn, const char **args) { ICM->step_motor_easy_move_to_io(getDeviceId(), atoi(args[0])); });
-    box->newFunc("激活配置", {}, [this](int argn, const char **args) { ICM->step_motor_active_cfg(getDeviceId()); });
-    box->newFunc("停止", {}, [this](int argn, const char **args) { ICM->step_motor_stop(getDeviceId(), 0); });
+    box->newFunc("读取位置", {}, [this](int argn, const char **args) {
+      int32_t pos = 0;
+      ICM->step_motor_read_pos(getDeviceId(), &pos);
+      ZQUI::ins()->ishow("Pos:%d", pos);
+    });
     box->newFunc("读取IO状态", {"ioindex"}, [this](int argn, const char **args) {
       int32_t io = 0;
       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);