Auto-commit: 6 modified files

.vscode/settings.json

@@ -54,5 +54,6 @@
         "typeinfo": "cpp"
     },
     "files.autoGuessEncoding": false,
-    "files.encoding": "utf8"
+    "files.encoding": "utf8",
+    "autoGitCopilot.enabled": true
 }

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -16,7 +16,6 @@ void StepMotorCtrlModule::initialize(int moduleid, TMC51X0* stepM, ZGPIO iotable
   m_iotable = iotable;
   m_nio     = nio;
 
-
   m_thread.init(TAG, 1024, osPriorityNormal);
   m_cfg         = *cfg;
   m_default_cfg = *cfg;
@@ -442,13 +441,13 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio
 
   if (!check_when_run()) return false;
 
-  if (!getIOState(ioindex)) {
+  if (isIORelease(ioindex)) {
     ZLOGI(TAG, "---------STEP1-------- move to point");
     rotate(direction, runToPointSpeed);
     bool xreach_io = false;
 
     while (!m_thread.getExitFlag()) {
-      if (getIOState(ioindex)) {
+      if (isIOTrigger(ioindex)) {
         xreach_io = true;
         m_stepM1->stop();
         break;
@@ -474,13 +473,13 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio
 
   // 如果设备已经在零点，则反向移动一定距离远离零点
 
-  if (getIOState(ioindex)) {
+  if (isIOTrigger(ioindex)) {
     ZLOGI(TAG, "---------STEP2--------  find edge");
     rotate(-direction, lookPointVelocity);
     bool reach_edge = false;
 
     while (!m_thread.getExitFlag()) {
-      if (!getIOState(ioindex)) {
+      if (isIORelease(ioindex)) {
         reach_edge = true;
         m_stepM1->stop();
         break;
@@ -503,13 +502,13 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio
   if (!check_when_run()) return false;
 
   // 如果设备已经在零点，则反向移动一定距离远离零点
-  if (!getIOState(ioindex)) {
+  if (isIORelease(ioindex)) {
     ZLOGI(TAG, "---------STEP3--------  bak to gpio trigger edge");
     rotate(direction, lookPointVelocity);
     bool reach_edge = false;
 
     while (!m_thread.getExitFlag()) {
-      if (getIOState(ioindex)) {
+      if (isIOTrigger(ioindex)) {
         reach_edge = true;
         m_stepM1->stop();
         break;
@@ -632,7 +631,6 @@ int32_t StepMotorCtrlModule::step_motor_easy_move_to_zero() {
     return err::kstep_motor_ioindex_out_of_range;
   }
 
-
   return do_step_motor_easy_move_to_zero();
 }
 int32_t StepMotorCtrlModule::step_motor_easy_move_to_io(int32_t ioindex, int32_t direction) {
@@ -997,3 +995,20 @@ bool StepMotorCtrlModule::getIOState(int32_t ioindex) {
     return m_iotable[ioindex].getState();
   }
 }
+
+bool StepMotorCtrlModule::isIOTrigger(int32_t ioindex) {
+  for (int i = 0; i < 10; i++) {
+    bool state = getIOState(ioindex);
+    if (!state) return false;
+    zos_early_delayus(100);
+  }
+  return true;
+}
+bool StepMotorCtrlModule::isIORelease(int32_t ioindex) {
+  for (int i = 0; i < 10; i++) {
+    bool state = getIOState(ioindex);
+    if (state) return false;
+    zos_early_delayus(100);
+  }
+  return true;
+}

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp

@@ -165,5 +165,7 @@ class StepMotorCtrlModule : public ZIModule {
  private:
   int32_t getspeed(int32_t speedlevel);
   bool getIOState(int32_t ioindex);
+  bool isIOTrigger(int32_t ioindex);
+  bool isIORelease(int32_t ioindex);
 };
 }  // namespace iflytop

usrc/a8000_protocol/protocol/reg_index.cpp

@@ -194,6 +194,9 @@ static reginfo_t table[] = {
     REG_ITERM(kreg_step_motor_dzero_pos),
     REG_ITERM(kreg_step_motor_pos_devi_tolerance),
     REG_ITERM(kreg_step_motor_io_trigger_append_distance),
+    REG_ITERM(kreg_step_motor_zero_io_mirror),
+    REG_ITERM(kreg_step_motor_limit_io_mirror),
+    REG_ITERM(kreg_step_motor_io_filter_times),
 
     REG_ITERM(kreg_mini_servo_pos),
     REG_ITERM(kreg_mini_servo_is_enable),

usrc/a8000_protocol/protocol/reg_index.hpp

@@ -218,7 +218,8 @@ typedef enum {
   kreg_step_motor_pos_devi_tolerance           = 10192,  // 位置偏差容忍度
   kreg_step_motor_io_trigger_append_distance   = 10193,  // 移动到IO时，会在原点触发的边沿，稍稍里面移动一点，用来保证IO稳定触发
   kreg_step_motor_zero_io_mirror               = 10194,  // 零点IO有效位是否翻转
-  kreg_step_motor_limit_io_mirror              = 10195,  // 零点IO有效位是否翻转
+  kreg_step_motor_limit_io_mirror              = 10195,  // 限位IO有效位是否翻转
+  kreg_step_motor_io_filter_times              = 10196,  // IO过滤次数
 
   /***********************************************************************************************************************
    *                                                     step_motor                                                      *

usrc/version.h

@@ -1,2 +1,2 @@
 #pragma once
-#define APP_VERSION           1212
+#define APP_VERSION           1213