v1008| step motor 添加mres 配置

a8000_protocol

@@ -1 +1 @@
-Subproject commit 4ed86854f7c2a6906d17b922d9af85677fb31033
+Subproject commit 9ec492b5981174c6cc2db3dbfeeb6e9c68bc0a42

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -43,6 +43,7 @@ void StepMotorCtrlModule::create_default_cfg(config_t& cfg) {
   cfg.motor_run_to_zero_speed            = 100;
   cfg.motor_look_zero_edge_speed         = 100;
   cfg.io_trigger_append_distance         = 0;
+  cfg.stepmotor_mres                     = 0;
 }
 
 /***********************************************************************************************************************
@@ -57,6 +58,7 @@ int32_t StepMotorCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t
       case kreg_step_motor_shaft:
       case kreg_step_motor_one_circle_pulse:
       case kreg_step_motor_one_circle_pulse_denominator:
+      case kreg_step_motor_mres:
       case kreg_step_motor_ihold:
       case kreg_step_motor_irun:
       case kreg_step_motor_iholddelay:
@@ -110,6 +112,7 @@ int32_t StepMotorCtrlModule::pri_module_xxx_reg(int32_t param_id, bool read, int
     PROCESS_REG(kreg_step_motor_max_d, REG_GET(m_cfg.max_d), REG_SET(m_cfg.max_d));
     PROCESS_REG(kreg_step_motor_min_d, REG_GET(m_cfg.min_d), REG_SET(m_cfg.min_d));
     PROCESS_REG(kreg_step_motor_iglobalscaler, REG_GET(m_cfg.stepmotor_iglobalscaler), REG_SET(m_cfg.stepmotor_iglobalscaler));
+    PROCESS_REG(kreg_step_motor_mres, REG_GET(m_cfg.stepmotor_mres), REG_SET(m_cfg.stepmotor_mres));
     PROCESS_REG(kreg_step_motor_in_debug_mode, REG_GET(m_state.debugmode), REG_SET(m_state.debugmode));
 
     PROCESS_REG(kreg_step_motor_vstart, REG_GET(m_cfg.motor_vstart), REG_SET(m_cfg.motor_vstart));
@@ -164,6 +167,7 @@ int32_t StepMotorCtrlModule::step_motor_easy_set_current_pos(int32_t pos) { retu
 int32_t StepMotorCtrlModule::step_motor_active_cfg() {
   ZLOGI(TAG, "m%d motor_active_cfg", m_id);
   m_stepM1->enable(false);
+  m_stepM1->setMRES((mres_type_t)m_cfg.stepmotor_mres);
   m_stepM1->setIHOLD_IRUN(m_cfg.stepmotor_ihold, m_cfg.stepmotor_irun, m_cfg.stepmotor_iholddelay);
   m_stepM1->setScale(m_cfg.motor_one_circle_pulse);
   m_stepM1->setScaleDenominator(m_cfg.motor_one_circle_pulse_denominator);

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp

@@ -19,6 +19,7 @@ class StepMotorCtrlModule : public ZIModule {
     int32_t stepmotor_irun;
     int32_t stepmotor_iholddelay;
     int32_t stepmotor_iglobalscaler;
+    int32_t stepmotor_mres;
     int32_t motor_default_velocity;
     int32_t min_d;
     int32_t max_d;

sdk/components/tmc/ic/ztmc5130.cpp

@@ -49,28 +49,30 @@ void TMC51X0::initialize(cfg_t *cfg) {
 void TMC51X0::setMRES(mres_type_t value) {
   PRV_FIELD_WRITE(TMC5130_CHOPCONF, TMC5130_MRES_MASK, TMC5130_MRES_SHIFT, value);
 
-  m_MRES = value;
-  if (m_MRES == kmres_256) {
+  if (value == kmres_256) {
     m_onecirclepulse = 51200;
-  } else if (m_MRES == kmres_128) {
+  } else if (value == kmres_128) {
     m_onecirclepulse = 25600;
-  } else if (m_MRES == kmres_64) {
+  } else if (value == kmres_64) {
     m_onecirclepulse = 12800;
-  } else if (m_MRES == kmres_32) {
+  } else if (value == kmres_32) {
     m_onecirclepulse = 6400;
-  } else if (m_MRES == kmres_16) {
+  } else if (value == kmres_16) {
     m_onecirclepulse = 3200;
-  } else if (m_MRES == kmres_8) {
+  } else if (value == kmres_8) {
     m_onecirclepulse = 1600;
-  } else if (m_MRES == kmres_4) {
+  } else if (value == kmres_4) {
     m_onecirclepulse = 800;
-  } else if (m_MRES == kmres_2) {
+  } else if (value == kmres_2) {
     m_onecirclepulse = 400;
-  } else if (m_MRES == kmres_1) {
+  } else if (value == kmres_1) {
     m_onecirclepulse = 200;
   } else {
     ZASSERT(false);
+    m_onecirclepulse = 51200;
+    value            = kmres_256;
   }
+  m_MRES = value;
 }
 
 void TMC51X0::setNoAccLimit(bool enable) {
@@ -329,7 +331,7 @@ int32_t TMC51X0::to_user_vel(int32_t vel) {  //
 }
 
 void TMC51X0::readMotorState(bool *stoped, int32_t *error) {
-  auto state     = getGState();
+  auto state = getGState();
   // auto devStatus = getDevStatus();
   if (state.reset) {
     *error = (int32_t)err::kstep_motor_subic_reset;

usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp

@@ -84,5 +84,19 @@ void Subboard30ShakeModule::initialize() {
     GService::inst()->getZCanProtocolParser()->registerModule(&module);
   }
 
+  
+  {
+    static MiniServoCtrlModule::config_t cfg = {0};
+    static MiniServoCtrlModule           module;
+    int                                  subid      = 8;
+    int                                  subidInBus = 5;
+
+    feiteservomotor_bus.regServo(subidInBus, feite::kscs009, false);
+
+    module.create_default_config(cfg);
+    module.initialize(getmoduleId(subid), &feiteservomotor_bus, subidInBus, &cfg);
+    GService::inst()->getZCanProtocolParser()->registerModule(&module);
+  }
+
 #endif
 }

usrc/version.h

@@ -1,2 +1,2 @@
 #pragma once
-#define PC_VERSION           1006
+#define PC_VERSION           1008