From 401929fd52d0b2c1f37a962edd8410c753551ab5 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 24 Jul 2024 11:06:28 +0800
Subject: [PATCH] update

---
 a8000_protocol                                                 |  2 +-
 sdk/components/mini_servo_motor/feite_servo_motor.cpp          |  5 +++--
 .../mini_servo_motor/mini_servo_motor_ctrl_module.cpp          | 10 ++++++++++
 .../mini_servo_motor/mini_servo_motor_ctrl_module.hpp          |  2 ++
 .../subboard30_shake_module/subboard30_shake_module.cpp        |  2 +-
 5 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/a8000_protocol b/a8000_protocol
index ad55d44..5598b81 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit ad55d4474d5fe39585c788d2f5d73832cf782e94
+Subproject commit 5598b81844f8ca2e8373db46455e35aa6a5ae4f4
diff --git a/sdk/components/mini_servo_motor/feite_servo_motor.cpp b/sdk/components/mini_servo_motor/feite_servo_motor.cpp
index 1ef62a3..df701c0 100644
--- a/sdk/components/mini_servo_motor/feite_servo_motor.cpp
+++ b/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;
 }
diff --git a/sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp b/sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
index 5895fa8..d7a9e81 100644
--- a/sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
+++ b/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;
diff --git a/sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp b/sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
index a7eb9ce..3c18bdd 100644
--- a/sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
+++ b/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
\ No newline at end of file
diff --git a/usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp b/usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
index a34016f..ca85447 100644
--- a/usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
+++ b/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);