update

a8000_protocol

@@ -1 +1 @@
-Subproject commit ad55d4474d5fe39585c788d2f5d73832cf782e94
+Subproject commit 5598b81844f8ca2e8373db46455e35aa6a5ae4f4

sdk/components/mini_servo_motor/feite_servo_motor.cpp

@@ -709,15 +709,16 @@ bool FeiTeServoMotor::read_regs(uint8_t id, uint8_t add, uint8_t* data, uint8_t
     return false;
   }
   memcpy(data, receipt_header->data, len);
+  osDelay(10);
   return true;
 }
 bool FeiTeServoMotor::tx_and_rx(uint8_t* tx, uint8_t txdatalen, uint8_t* rx, uint8_t expectrxsize, int32_t overtimems) {
-  for (int i = 0; i < 3; i++) {
+  for (int i = 0; i < 5; i++) {
     bool suc = _tx_and_rx(tx, txdatalen, rx, expectrxsize, overtimems);
     if (suc) {
       return true;
     }
-    osDelay(1);
+    osDelay(100);
   }
   return false;
 }

sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp

@@ -33,6 +33,8 @@ int32_t MiniServoCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t
     PROCESS_REG(kreg_mini_servo_limit_velocity, REG_GET(m_cfg.limit_velocity), REG_SET(m_cfg.limit_velocity));
     PROCESS_REG(kreg_mini_servo_limit_torque, REG_GET(m_cfg.limit_torque), REG_SET(m_cfg.limit_torque));
     PROCESS_REG(kreg_mini_servo_protective_torque, REG_GET(m_cfg.protective_torque), REG_SET(m_cfg.protective_torque));
+    PROCESS_REG(kreg_mini_servo_is_move, mini_servo_is_move(&val), ACTION_NONE);
+
     default:
       return err::kmodule_not_find_reg;
       break;
@@ -195,6 +197,14 @@ int32_t MiniServoCtrlModule::mini_servo_set_cur_pos(int32_t pos) {
   return 0;
 }
 
+int32_t MiniServoCtrlModule::mini_servo_is_move(int32_t *isMove) {
+  bool suc = m_bus->isMove(m_idinbus, isMove);
+  if (!suc) {
+    return err::ksubdevice_overtime;
+  }
+  return 0;
+}
+
 void MiniServoCtrlModule::befor_motor_move() {
   creg.module_status    = 1;
   creg.module_errorcode = 0;

sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp

@@ -60,6 +60,8 @@ class MiniServoCtrlModule : public ZIModule, public ZIMiniServo {
   void after_motor_move();
   bool check_when_run();
 
+  int32_t mini_servo_is_move(int32_t *isMove);
+
   int32_t inter_mini_servo_stop(int32_t breakstop);
 };
 }  // namespace iflytop

usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp

@@ -51,7 +51,7 @@ void Subboard30ShakeModule::initialize() {
     int                                  subid      = 5;
     int                                  subidInBus = 2;
 
-    feiteservomotor_bus.regServo(subidInBus, feite::ksts5420m_c001, false);
+    feiteservomotor_bus.regServo(subidInBus, feite::ksts5420m_c001, true);
 
     module.create_default_config(cfg);
     module.initialize(getmoduleId(subid), &feiteservomotor_bus, subidInBus, &cfg);