update

api/apibasic/cmdid.hpp

@@ -62,6 +62,7 @@ typedef enum {
   kstep_motor_stop                 = CMDID(2, 40),  // para:{4}, ack:{}
   kstep_motor_active_cfg           = CMDID(2, 41),  // para:{4}, ack:{}
   kstep_motor_read_io_state        = CMDID(2, 42),  // para:{4}, ack:{}
+  kstep_motor_read_motoric_status  = CMDID(2, 43),  //
 
   /***********************************************************************************************************************
    *                                                     MINI_SERVO                                                      *

api/apibasic/errorcode.cpp

@@ -93,6 +93,10 @@ static ecode_table_item_t table[] = {
     ERR_ITERM(kstep_motor_run_overtime),
     ERR_ITERM(kstep_motor_not_enable),
     ERR_ITERM(kstep_motor_ioindex_out_of_range),
+    ERR_ITERM(kstep_motor_subic_reset),
+    ERR_ITERM(kstep_motor_drv_err),
+    ERR_ITERM(kstep_motor_uv_cp),
+    ERR_ITERM(kstep_motor_not_found_point_edge),
     ERR_ITERM(kmini_servo_not_enable),
     ERR_ITERM(kmini_servo_mode_not_support),
 };
@@ -107,7 +111,7 @@ const char* error2str(int32_t code) {
 }
 
 ecode_table_item_t* error_get_table() { return table; }
-int error_get_table_size() { return sizeof(table) / sizeof(table[0]); }
+int                 error_get_table_size() { return sizeof(table) / sizeof(table[0]); }
 
 }  // namespace err
 }  // namespace iflytop

api/apibasic/errorcode.hpp

@@ -107,13 +107,17 @@ typedef enum {
   /**
    * @brief step motor error
    */
-  kstep_motor_not_found_zero_point = ERROR_CODE(600, 0),  // 未找到零点
-  kstep_motor_not_go_zero          = ERROR_CODE(600, 1),  // 设备未归零
-  kstep_motor_over_temperature     = ERROR_CODE(600, 2),  // 过温
-  kstep_motor_over_voltage         = ERROR_CODE(600, 3),  // 过压
-  kstep_motor_run_overtime         = ERROR_CODE(600, 4),  // 运行超时
-  kstep_motor_not_enable           = ERROR_CODE(600, 5),  // 电机未使能
-  kstep_motor_ioindex_out_of_range = ERROR_CODE(600, 6),  // IO超出范围
+  kstep_motor_not_found_zero_point = ERROR_CODE(600, 0),   // 未找到零点
+  kstep_motor_not_go_zero          = ERROR_CODE(600, 1),   // 设备未归零
+  kstep_motor_over_temperature     = ERROR_CODE(600, 2),   // 过温
+  kstep_motor_over_voltage         = ERROR_CODE(600, 3),   // 过压
+  kstep_motor_run_overtime         = ERROR_CODE(600, 4),   // 运行超时
+  kstep_motor_not_enable           = ERROR_CODE(600, 5),   // 电机未使能
+  kstep_motor_ioindex_out_of_range = ERROR_CODE(600, 6),   // IO超出范围
+  kstep_motor_subic_reset          = ERROR_CODE(600, 7),   // 子IC复位
+  kstep_motor_drv_err              = ERROR_CODE(600, 8),   // 驱动器异常
+  kstep_motor_uv_cp                = ERROR_CODE(600, 9),   // 驱动器异常
+  kstep_motor_not_found_point_edge = ERROR_CODE(600, 10),  // 未找到零点
 
   /**
    * @brief mini servo error

api/zi_module.cpp

@@ -86,7 +86,6 @@ int32_t ZIModule::module_get_error(int32_t *iserror) {
 }
 int32_t ZIModule::module_clear_error() {
   creg.module_errorcode     = 0;
-  creg.module_errorbitflag0 = 0;
   return 0;
 }
 

api/zi_module.hpp

@@ -39,7 +39,6 @@ using namespace std;
 
 typedef struct {
   int32_t module_errorcode;
-  int32_t module_errorbitflag0;
   int32_t m_module_status;
 } module_common_reg_t;
 

api/zi_motor.hpp

@@ -5,6 +5,22 @@
 
 #include "apibasic/basic.hpp"
 
+typedef struct {
+  uint32_t sg_result : 10;
+  uint32_t reserved0 : 5;
+  uint32_t fsactive : 1;
+  uint32_t cs_actual : 5;
+  uint32_t reserved1 : 3;
+  uint32_t stallguard : 1;
+  uint32_t ot : 1;
+  uint32_t otpw : 1;
+  uint32_t s2ga : 1;
+  uint32_t s2gb : 1;
+  uint32_t ola : 1;
+  uint32_t olb : 1;
+  uint32_t stst : 1;
+} TMC5130ErrorFlag_t;
+
 namespace iflytop {
 using namespace std;
 class ZIStepMotor {
@@ -21,5 +37,10 @@ class ZIStepMotor {
   virtual int32_t step_motor_easy_move_to_io(int32_t ioindex, int32_t direction) = 0;
   virtual int32_t step_motor_active_cfg()                                        = 0;
   virtual int32_t step_motor_read_io_state(int32_t ioindex, int32_t* state)      = 0;
+
+  /***********************************************************************************************************************
+   *                                                        DEBUG                                                        *
+   ***********************************************************************************************************************/
+  virtual int32_t step_motor_read_motoric_status(int32_t* errorflag) = 0;
 };
 }  // namespace iflytop