V1210 | 修改HBOT moveByDirect 运行在模块线程中

sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp

@@ -21,7 +21,7 @@ void XYRobotCtrlModule::initialize(int32_t id, TMC51X0* stepM1, TMC51X0* stepM2,
   m_default_cfg = default_cfg;
   m_thread.init("XYRobotCtrlModule", 1024, osPriorityNormal);
   module_active_cfg();
-  xymotor_enable(1);
+  xymotor_enable(0);
   m_state.has_move_to_zero = 0;
 }
 
@@ -598,22 +598,32 @@ int32_t XYRobotCtrlModule::xymotor_set_pos(int32_t x, int32_t y) {
 }
 
 int32_t XYRobotCtrlModule::xymotor_motor_move_by_direct(int32_t motor1_dpos, int32_t motor2_dpos) {
-
-  TMC51X0::VCfg_t vcfg;
-  vcfg.a1     = m_cfg.a1;
-  vcfg.amax   = m_cfg.amax;
-  vcfg.v1     = m_cfg.v1;
-  vcfg.dmax   = m_cfg.dmax;
-  vcfg.d1     = m_cfg.d1;
-  vcfg.vstart = m_cfg.vstart;
-  vcfg.vstop  = m_cfg.vstop;
-  vcfg.vmax   =  m_cfg.default_velocity;
-  m_stepM1->set_vcfg(&vcfg);
-  m_stepM2->set_vcfg(&vcfg);
-
-
-  m_stepM1->moveBy(motor1_dpos);
-  m_stepM2->moveBy(motor2_dpos);
+  m_thread.stop();
+  module_status = 1;
+  m_thread.start(
+      [this, motor1_dpos, motor2_dpos]() {
+        TMC51X0::VCfg_t vcfg;
+        vcfg.a1     = m_cfg.a1;
+        vcfg.amax   = m_cfg.amax;
+        vcfg.v1     = m_cfg.v1;
+        vcfg.dmax   = m_cfg.dmax;
+        vcfg.d1     = m_cfg.d1;
+        vcfg.vstart = m_cfg.vstart;
+        vcfg.vstop  = m_cfg.vstop;
+        vcfg.vmax   = m_cfg.default_velocity;
+        m_stepM1->set_vcfg(&vcfg);
+        m_stepM2->set_vcfg(&vcfg);
+
+        m_stepM1->moveBy(motor1_dpos);
+        m_stepM2->moveBy(motor2_dpos);
+        while (true) {
+          if (_motor_is_reach_target()) break;
+          if (m_thread.getExitFlag()) break;
+          vTaskDelay(5);
+        }
+        module_status = 0;
+      },
+      [this]() {});
   return 0;
 }
 int32_t XYRobotCtrlModule::xymotor_read_enc_direct(int32_t* enc1, int32_t* enc2) {

usrc/version.h

@@ -1,2 +1,2 @@
 #pragma once
-#define APP_VERSION           1209
+#define APP_VERSION           1210