From e4a80570d108c0a711401236f95bbc95b4ae7ecf Mon Sep 17 00:00:00 2001 From: zhaohe Date: Wed, 26 Jun 2024 09:57:40 +0800 Subject: [PATCH] update --- api/apibasic/cmdid.cpp | 1 + api/apibasic/cmdid.hpp | 1 + api/zi_motor.hpp | 2 ++ 3 files changed, 4 insertions(+) diff --git a/api/apibasic/cmdid.cpp b/api/apibasic/cmdid.cpp index 403cc49..7b6e1a7 100644 --- a/api/apibasic/cmdid.cpp +++ b/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), diff --git a/api/apibasic/cmdid.hpp b/api/apibasic/cmdid.hpp index 5ed2522..0d73198 100644 --- a/api/apibasic/cmdid.hpp +++ b/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 diff --git a/api/zi_motor.hpp b/api/zi_motor.hpp index 9662ea9..53d128c 100644 --- a/api/zi_motor.hpp +++ b/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 * ***********************************************************************************************************************/