From 829b5f702743cceca05db0d69251e73ceaa3b9c9 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Thu, 12 Oct 2023 21:07:30 +0800
Subject: [PATCH] update

---
 sdk           |  2 +-
 usrc/main.cpp | 20 +++++++++++++-------
 2 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/sdk b/sdk
index 7ac96f7..b3dbb15 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 7ac96f7487c64d6e23bf4e3e3c09bc1f910ddc96
+Subproject commit b3dbb159e8a0f0593bfc9088c96ae7c24edb975a
diff --git a/usrc/main.cpp b/usrc/main.cpp
index da2f25d..3dcdd4f 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -2,15 +2,15 @@
 #include <stdio.h>
 
 #include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
-#include "sdk/components/zcancmder_module/zcan_step_motor_ctrl_module.hpp"
+#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.hpp"
+#include "sdk/components/step_motor_ctrl_module/zcan_master_step_motor_ctrl_module.hpp"
+#include "sdk/components/step_motor_ctrl_module/zcan_step_motor_ctrl_module.hpp"
 #include "sdk/os/zos.hpp"
 #include "sdk\components\flash\zsimple_flash.hpp"
 #include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
 #include "sdk\components\tmc\ic\ztmc5130.hpp"
-#include "sdk\components\xy_robot_ctrl_module\xy_robot_ctrl_module.hpp"
 #include "sdk\components\zcancmder\zcanreceiver.hpp"
 #include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
-#include "sdk\components\zcancmder_module\zcan_xy_robot_module.hpp"
 //
 #include "sdk\components\flash\znvs.hpp"
 //
@@ -62,14 +62,20 @@ void umain() {
 
   uint8_t deviceId = getId();
   ZLOGI(TAG, "deviceId:%d", deviceId);
+  if (deviceId == 0) {
+    chip_set_error();
+    while (true) {
+      osDelay(1000);
+    }
+  }
 
   /*******************************************************************************
    *                                   NVSINIT                                   *
    *******************************************************************************/
   ZNVS::ins().initialize(IFLYTOP_NVS_CONFIG_FLASH_SECTOR);
   {
-    static I_XYRobotCtrlModule::flash_config_t cfg;
-    XYRobotCtrlModule::create_default_cfg(cfg);
+    static I_StepMotorCtrlModule::flash_config_t cfg;
+    StepMotorCtrlModule::create_default_cfg(cfg);
     ZNVS::ins().alloc_config(MOTOR_CFG_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg));
   }
   ZNVS::ins().init_config();
@@ -95,7 +101,7 @@ void umain() {
   g_motor.rotate(0);
   // g_motor.enable(false);
 
-  auto zcanCmder_cfg = g_zcanCmder.createCFG(deviceId);
+  auto zcanCmder_cfg = g_zcanCmder.createCFG(deviceId + ZCAN_CMD_PUBLIC_DEVICE_ID_STEP_MOTOR_BOARD_OFFEST);
   g_zcanCmder.init(zcanCmder_cfg);
 
   /*******************************************************************************
@@ -145,7 +151,7 @@ void umain() {
       },
       1000);
 
-  //g_stepMotorCtrlModule.initialize(deviceId, &g_motor, input, ZARRAY_SIZE(input));
+  g_stepMotorCtrlModule.initialize(deviceId, &g_motor, input, ZARRAY_SIZE(input), "MOTOR_CFG_FLASH_MARK");
   g_zcanStepMotorCtrlModule.initialize(&g_zcanCmder, 1, &g_stepMotorCtrlModule);
 
   while (true) {