add step_motor_easy_move_to_zero_point_quick func

api/apibasic/cmdid.cpp

@@ -90,6 +90,7 @@ static cmdinfo_t table[] = {
     CMD_ITERM(kstep_motor_set_subdevice_reg),
     CMD_ITERM(kstep_motor_get_subdevice_reg),
     CMD_ITERM(kstep_motor_easy_reciprocating_motion),
+    CMD_ITERM(kstep_motor_easy_move_to_zero_point_quick),
 
     CMD_ITERM(kmini_servo_enable),
     CMD_ITERM(kmini_servo_read_pos),

api/apibasic/cmdid.hpp

@@ -64,19 +64,20 @@ typedef enum {
    *                                                     STEP_MOTOR                                                      *
    ***********************************************************************************************************************/
 
-  kstep_motor_enable                    = CMDID(2, 1),   // para:{1}, ack:{}
-  kstep_motor_read_pos                  = CMDID(2, 11),  // para:{}, ack:{4}
-  kstep_motor_easy_rotate               = CMDID(2, 17),  // para:{4}, ack:{}
-  kstep_motor_easy_move_by              = CMDID(2, 18),  // para:{4}, ack:{}
-  kstep_motor_easy_move_to              = CMDID(2, 19),  // para:{4}, ack:{}
-  kstep_motor_easy_move_to_zero         = CMDID(2, 20),  // para:{1}, ack:{}
-  kstep_motor_easy_set_current_pos      = CMDID(2, 21),  // para:{4}, ack:{}
-  kstep_motor_easy_move_to_io           = CMDID(2, 22),  // para:{4,4}, ack:{}
-  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_easy_move_to_end_point    = CMDID(2, 44),  //
-  kstep_motor_easy_reciprocating_motion = CMDID(2, 45),  //(int32_t startpos, int32_t endpos, int32_t times) = 0;
+  kstep_motor_enable                        = CMDID(2, 1),   // para:{1}, ack:{}
+  kstep_motor_read_pos                      = CMDID(2, 11),  // para:{}, ack:{4}
+  kstep_motor_easy_rotate                   = CMDID(2, 17),  // para:{4}, ack:{}
+  kstep_motor_easy_move_by                  = CMDID(2, 18),  // para:{4}, ack:{}
+  kstep_motor_easy_move_to                  = CMDID(2, 19),  // para:{4}, ack:{}
+  kstep_motor_easy_move_to_zero             = CMDID(2, 20),  // para:{1}, ack:{}
+  kstep_motor_easy_set_current_pos          = CMDID(2, 21),  // para:{4}, ack:{}
+  kstep_motor_easy_move_to_io               = CMDID(2, 22),  // para:{4,4}, ack:{}
+  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_easy_move_to_end_point        = CMDID(2, 44),  //
+  kstep_motor_easy_reciprocating_motion     = CMDID(2, 45),  //(int32_t startpos, int32_t endpos, int32_t times) = 0;
+  kstep_motor_easy_move_to_zero_point_quick = CMDID(2, 46),  //(int32_t startpos, int32_t endpos, int32_t times) = 0;
 
   kstep_motor_read_tmc5130_status    = CMDID(2, 50),  //
   kstep_motor_read_tmc5130_state     = CMDID(2, 51),  // 调试使用

api/apibasic/reg_index.cpp

@@ -146,6 +146,7 @@ static reginfo_t table[] = {
     REG_ITERM(kreg_step_motor_enc_resolution),
     REG_ITERM(kreg_step_motor_enable_enc),
     REG_ITERM(kreg_step_motor_dzero_pos),
+    REG_ITERM(kret_step_motor_pos_devi_tolerance),
 
     REG_ITERM(kreg_mini_servo_pos),
     REG_ITERM(kreg_mini_servo_limit_velocity),

api/apibasic/reg_index.hpp

@@ -144,6 +144,7 @@ typedef enum {
   kreg_step_motor_enc_resolution               = 10189,  // 编码器分辨率 1000,1024,4000,4096,16384
   kreg_step_motor_enable_enc                   = 10190,  //
   kreg_step_motor_dzero_pos                    = 10191,  // 驱动器处于调试模式
+  kret_step_motor_pos_devi_tolerance           = 10192,  // 位置偏差容忍度
 
   /***********************************************************************************************************************
    *                                                     step_motor                                                      *

api/zi_motor.hpp

@@ -139,6 +139,8 @@ class ZIStepMotor {
   virtual int32_t step_motor_read_io_state(int32_t ioindex, int32_t* state)      = 0;
   virtual int32_t step_motor_easy_move_to_end_point()                            = 0;
 
+  virtual int32_t step_motor_easy_move_to_zero_point_quick() = 0;
+
   virtual int32_t step_motor_easy_reciprocating_motion(int32_t startpos, int32_t endpos, int32_t times) = 0;
 
   /***********************************************************************************************************************