v1014 |通用模块添加 detail_error_code寄存器，添加舵机运行时错误检测

a8000_protocol

@@ -1 +1 @@
-Subproject commit a16732b2c0be0cec93c0099b56643befe27fe411
+Subproject commit ad9e845df37276be1f32322dace4c35790bed570

sdk/components/api/zi_module.cpp

@@ -50,6 +50,17 @@ int32_t ZIModule::_module_xxx_reg(int32_t param_id, bool read, int32_t &val) {
       val = creg.module_errorcode;
       return 0;
     } else {
+      val = 0;
+      return 0;
+    }
+  }
+
+  else if (param_id == kreg_module_detail_errorcode) {
+    if (read) {
+      val = creg.module_detail_errorcode;
+      return 0;
+    } else {
+      val = 0;
       return 0;
     }
   }
@@ -86,7 +97,7 @@ int32_t ZIModule::module_get_error(int32_t *iserror) {
 }
 int32_t ZIModule::module_clear_error() {
   creg.module_errorcode = 0;
-  creg.module_status  = 0;
+  creg.module_status    = 0;
   return 0;
 }
 

sdk/components/api/zi_module.hpp

@@ -38,6 +38,7 @@ using namespace std;
 
 typedef struct {
   int32_t module_errorcode;
+  int32_t module_detail_errorcode;
   int32_t module_status;
 } module_common_reg_t;
 

sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp

@@ -272,16 +272,20 @@ bool MiniServoCtrlModule::check_when_run(servo_status_t *status) {
   int32_t nowpos   = 0;
   bool    suc      = m_bus->isMove(m_idinbus, &moveflag);
   if (!suc) {
+    creg.module_errorcode = err::ksubdevice_overtime;
     return false;
   }
   suc = m_bus->getPos(m_idinbus, &nowpos);
   if (!suc) {
+    creg.module_errorcode = err::ksubdevice_overtime;
     return false;
   }
 
   if (m_bus->getStatus(m_idinbus) != 0) {
     status->status = m_bus->getStatus(m_idinbus);
     ZLOGE(TAG, "check fail, status = %x", status->status);
+    creg.module_status    = status->status;
+    creg.module_errorcode = err::kmini_servo_status_is_error;
     return false;
   }
 

usrc/version.h

@@ -1,2 +1,2 @@
 #pragma once
-#define PC_VERSION           1013
+#define PC_VERSION           1014