From 6b8bff2cb8c091fd1f110fe0cd36b445e553fa59 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Fri, 4 Apr 2025 10:54:58 +0800
Subject: [PATCH] =?UTF-8?q?v1014=20|=E9=80=9A=E7=94=A8=E6=A8=A1=E5=9D=97?=
 =?UTF-8?q?=E6=B7=BB=E5=8A=A0=20detail=5Ferror=5Fcode=E5=AF=84=E5=AD=98?=
 =?UTF-8?q?=E5=99=A8=EF=BC=8C=E6=B7=BB=E5=8A=A0=E8=88=B5=E6=9C=BA=E8=BF=90?=
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---
 a8000_protocol                                              |  2 +-
 sdk/components/api/zi_module.cpp                            | 13 ++++++++++++-
 sdk/components/api/zi_module.hpp                            |  1 +
 .../mini_servo_motor/mini_servo_motor_ctrl_module.cpp       |  4 ++++
 usrc/version.h                                              |  2 +-
 5 files changed, 19 insertions(+), 3 deletions(-)

diff --git a/a8000_protocol b/a8000_protocol
index a16732b..ad9e845 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit a16732b2c0be0cec93c0099b56643befe27fe411
+Subproject commit ad9e845df37276be1f32322dace4c35790bed570
diff --git a/sdk/components/api/zi_module.cpp b/sdk/components/api/zi_module.cpp
index 01844fe..2274e24 100644
--- a/sdk/components/api/zi_module.cpp
+++ b/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;
 }
 
diff --git a/sdk/components/api/zi_module.hpp b/sdk/components/api/zi_module.hpp
index 1f5cf1b..027c086 100644
--- a/sdk/components/api/zi_module.hpp
+++ b/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;
 
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 1a9cdc9..ad0b064 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
@@ -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;
   }
 
diff --git a/usrc/version.h b/usrc/version.h
index ea0420a..54bb83d 100644
--- a/usrc/version.h
+++ b/usrc/version.h
@@ -1,2 +1,2 @@
 #pragma once
-#define PC_VERSION           1013
+#define PC_VERSION           1014