fix some bug

sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp

@@ -65,7 +65,7 @@ int32_t MiniServoCtrlModule::mini_servo_rotate(int32_t speed) {
   if (!m_bus->ping(m_idinbus)) return err::ksubdevice_overtime;
   if (!m_state.enable) return err::kmini_servo_not_enable;
   if (!m_bus->isSupportMode1(m_idinbus)) return err::kmini_servo_mode_not_support;
-
+  creg.module_status = 1;
   m_thread.start(
       [this, speed]() {
         befor_motor_move();
@@ -100,7 +100,7 @@ int32_t MiniServoCtrlModule::mini_servo_move_to(int32_t pos3600) {
   if (!m_bus->ping(m_idinbus)) return err::ksubdevice_overtime;
   if (!m_state.enable) return err::kmini_servo_not_enable;
   if (!m_bus->isSupportMode0(m_idinbus)) return err::kmini_servo_mode_not_support;
-
+  creg.module_status = 1;
   m_thread.start(
       [this, pos3600]() {
         befor_motor_move();
@@ -153,7 +153,7 @@ int32_t MiniServoCtrlModule::mini_servo_rotate_with_torque(int32_t torque) {
   if (!m_bus->ping(m_idinbus)) return err::ksubdevice_overtime;
   if (!m_state.enable) return err::kmini_servo_not_enable;
   if (!m_bus->isSupportMode2(m_idinbus)) return err::kmini_servo_mode_not_support;
-
+  creg.module_status = 1;
   m_thread.start(
       [this, torque]() {
         befor_motor_move();

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -495,6 +495,7 @@ int32_t StepMotorCtrlModule::step_motor_easy_reciprocating_motion(int32_t startp
   if (m_cfg.min_d != 0 && x_endpos < m_cfg.min_d) x_endpos = m_cfg.min_d;
   if (m_cfg.max_d != 0 && x_endpos > m_cfg.max_d) x_endpos = m_cfg.max_d;
   m_thread.stop();
+  creg.module_status = 1;
   m_thread.start(
       [this, x_startpos, x_endpos, x_beginpos, times]() {
         befor_motor_move();
@@ -537,6 +538,7 @@ int32_t StepMotorCtrlModule::step_motor_easy_reciprocating_motion(int32_t startp
 
 int32_t StepMotorCtrlModule::do_step_motor_easy_rotate(int32_t direction) {
   m_thread.stop();
+  creg.module_status = 1;
   m_thread.start(
       [this, direction]() {
         befor_motor_move();
@@ -559,6 +561,7 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_move_to(int32_t tox) {
   if (m_cfg.min_d != 0 && tox < m_cfg.min_d) tox = m_cfg.min_d;
   if (m_cfg.max_d != 0 && tox > m_cfg.max_d) tox = m_cfg.max_d;
   m_thread.stop();
+  creg.module_status = 1;
   m_thread.start(
       [this, tox]() {
         befor_motor_move();
@@ -589,6 +592,7 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_move_by(int32_t distance) {
 
 int32_t StepMotorCtrlModule::do_step_motor_easy_move_to_zero() {
   m_thread.stop();
+  creg.module_status = 1;
   m_thread.start(
       [this]() {
         befor_motor_move();
@@ -609,6 +613,7 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_move_to_io(int32_t ioindex, int3
   }
 
   m_thread.stop();
+  creg.module_status = 1;
   m_thread.start(
       [this, ioindex, direction]() {
         befor_motor_move();

usrc/project_configs.h

@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           511
+#define PC_VERSION           512
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1