From afc75059cb0751d0a1cd328a4ebefe727dd721e3 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sat, 3 Aug 2024 15:46:50 +0800
Subject: [PATCH] update

---
 .../step_motor_ctrl_module.cpp                     | 22 +++++++++++++---------
 usrc/project_configs.h                             |  2 +-
 2 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
index 203922b..9754667 100644
--- a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -483,7 +483,8 @@ int32_t StepMotorCtrlModule::step_motor_easy_move_to(int32_t tox) {
   if (m_state.has_move_to_zero == 0) {
     return err::kstep_motor_not_move_to_zero;
   }
-
+  if (m_cfg.min_d != 0 && tox < m_cfg.min_d) tox = m_cfg.min_d;
+  if (m_cfg.max_d != 0 && tox > m_cfg.max_d) tox = m_cfg.max_d;
   return do_step_motor_easy_move_to(tox);
 }
 int32_t StepMotorCtrlModule::step_motor_easy_move_to_zero() {
@@ -604,9 +605,17 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_rotate(int32_t direction) {
       [this]() { m_stepM1->stop(); });
   return 0;
 }
+int32_t StepMotorCtrlModule::do_step_motor_easy_move_by(int32_t distance) {
+  int32_t motor_pos = 0;
+  step_motor_read_pos(&motor_pos);
+  motor_pos += distance;
+
+  int32_t ecode = check_befor_run();
+  if (ecode != 0) return ecode;
+
+  return do_step_motor_easy_move_to(motor_pos);
+}
 int32_t StepMotorCtrlModule::do_step_motor_easy_move_to(int32_t tox) {
-  if (m_cfg.min_d != 0 && tox < m_cfg.min_d) tox = m_cfg.min_d;
-  if (m_cfg.max_d != 0 && tox > m_cfg.max_d) tox = m_cfg.max_d;
   m_thread.stop();
   creg.module_status = 1;
   m_thread.start(
@@ -628,12 +637,7 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_move_to(int32_t tox) {
   return 0;
 }
 
-int32_t StepMotorCtrlModule::do_step_motor_easy_move_by(int32_t distance) {
-  int32_t motor_pos = 0;
-  step_motor_read_pos(&motor_pos);
-  motor_pos += distance;
-  return step_motor_easy_move_to(motor_pos);
-}
+
 
 int32_t StepMotorCtrlModule::do_step_motor_easy_move_to_zero() {
   m_thread.stop();
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index c6a5e35..a32adcc 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           600
+#define PC_VERSION           601
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1