update

api/apibasic/cmdid.cpp

@@ -72,6 +72,7 @@ static cmdinfo_t table[] = {
     CMD_ITERM(kstep_motor_active_cfg),
     CMD_ITERM(kstep_motor_read_io_state),
     CMD_ITERM(kstep_motor_easy_move_to_end_point),
+    CMD_ITERM(kstep_motor_read_pos_and_enc_pos),
     CMD_ITERM(kstep_motor_read_tmc5130_status),
     CMD_ITERM(kstep_motor_read_tmc5130_state),
     CMD_ITERM(kstep_motor_read_io_index_in_stm32),

api/apibasic/cmdid.hpp

@@ -62,6 +62,7 @@ typedef enum {
   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_read_pos_and_enc_pos   = CMDID(2, 45),  // para:{}, ack:{4,4}
 
   kstep_motor_read_tmc5130_status    = CMDID(2, 50),  //
   kstep_motor_read_tmc5130_state     = CMDID(2, 51),  // 调试使用

api/zi_motor.hpp

@@ -138,6 +138,8 @@ class ZIStepMotor {
   virtual int32_t step_motor_active_cfg()                                        = 0;
   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_read_pos_and_enc_pos(int32_t* pos, int32_t* encpos)  = 0;
+
   /***********************************************************************************************************************
    *                                                        DEBUG                                                        *
    ***********************************************************************************************************************/