V521

a8000_protocol

@@ -1 +1 @@
-Subproject commit ae58e9ee275d6abdaa78ba2f519d1d87b6e2bf3c
+Subproject commit 9ece9bfe4e730bd668cdd6c4da0a3071de7ede14

sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp

@@ -28,7 +28,7 @@ int32_t MiniServoCtrlModule::getid(int32_t *id) {
 }
 int32_t MiniServoCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t &val) {
   switch (param_id) {
-    MODULE_COMMON_PROCESS_REG_CB();
+    PROCESS_REG(kreg_mini_servo_is_enable, REG_GET(m_state.enable), ACTION_NONE);
     PROCESS_REG(kreg_mini_servo_pos, mini_servo_read_pos(&val), ACTION_NONE);
     PROCESS_REG(kreg_mini_servo_limit_velocity, REG_GET(m_cfg.limit_velocity), REG_SET(m_cfg.limit_velocity));
     PROCESS_REG(kreg_mini_servo_limit_torque, REG_GET(m_cfg.limit_torque), REG_SET(m_cfg.limit_torque));
@@ -212,7 +212,7 @@ void MiniServoCtrlModule::befor_motor_move() {
 void MiniServoCtrlModule::after_motor_move() {
   if (creg.module_errorcode != 0) {
     creg.module_status = 2;
-  }else {
+  } else {
     creg.module_status = 0;
   }
 }

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -85,6 +85,7 @@ int32_t StepMotorCtrlModule::pri_module_xxx_reg(int32_t param_id, bool read, int
   switch (param_id) {
     MODULE_COMMON_PROCESS_REG_CB();
     PROCESS_REG(kreg_step_motor_pos, getnowpos(val), ACTION_NONE);
+    PROCESS_REG(kreg_step_motor_is_enable, REG_GET(m_state.enable), ACTION_NONE);
 
     PROCESS_REG(kreg_step_motor_dpos, REG_GET(m_state.dpos), ACTION_NONE);
     PROCESS_REG(kreg_step_motor_shaft, REG_GET(m_cfg.motor_shaft), REG_SET(m_cfg.motor_shaft));

sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp

@@ -51,11 +51,11 @@ int32_t XYRobotCtrlModule::xymotor_enable(int32_t enable) {
   ZLOGI(TAG, "enable:%d", enable);
   m_stepM1->enable(enable);
   m_stepM2->enable(enable);
-  m_state.enable = enable;
+  m_state.is_enable = enable;
   return 0;
 }
 int32_t XYRobotCtrlModule::do_public_check() {
-  if (!m_state.enable) {
+  if (!m_state.is_enable) {
     return err::kxymotor_not_enable;
   }
   return 0;
@@ -92,7 +92,7 @@ int32_t XYRobotCtrlModule::module_active_cfg() {
   m_stepM2->set_tzerowait(m_cfg.tzerowait);
   m_stepM2->set_enc_resolution(m_cfg.enc_resolution);
 
-  if (m_state.enable) {
+  if (m_state.is_enable) {
     m_stepM1->enable(true);
     m_stepM2->enable(true);
   }
@@ -151,6 +151,7 @@ int32_t XYRobotCtrlModule::xymotor_read_pos(int32_t* x, int32_t* y) {
 }
 
 #define UPDATE_CFG(key) PROCESS_REG(kreg_xyrobot_##key, REG_GET(m_cfg.key), REG_SET(m_cfg.key))
+#define READ_STATE(key) PROCESS_REG(kreg_xyrobot_##key, REG_GET(m_state.key),ACTION_NONE)
 int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
   int32_t ret = __module_xxx_reg(param_id, read, val);
   if (ret != 0) {
@@ -196,6 +197,7 @@ int32_t XYRobotCtrlModule::__module_xxx_reg(int32_t param_id, bool read, int32_t
     UPDATE_CFG(pos_devi_tolerance);
     UPDATE_CFG(io_trigger_append_distance);
 
+    READ_STATE(is_enable);
     default:
       return err::kmodule_not_find_reg;
       break;

sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp

@@ -57,7 +57,7 @@ class XYRobotCtrlModule : public ZIXYMotor, public ZIModule {
     int32_t before_x;
     int32_t before_y;
 
-    bool    enable;
+    int32_t is_enable;
     int32_t hassync;
   } state_t;
 
@@ -109,7 +109,7 @@ class XYRobotCtrlModule : public ZIXYMotor, public ZIModule {
   virtual int32_t xymotor_read_enc_direct(int32_t* enc1, int32_t* enc2) override;
 
  public:
-  virtual int32_t waiting_for_stop(function<bool()> condition_fn,bool checkWhenLoop, int32_t delay);
+  virtual int32_t waiting_for_stop(function<bool()> condition_fn, bool checkWhenLoop, int32_t delay);
 
  private:
   int32_t do_public_check();

usrc/project_configs.h

@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           520
+#define PC_VERSION           521
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1

usrc/public_service/ext_board_impl.cpp

@@ -12,7 +12,14 @@ int32_t ExtBoardImpl::getid(int32_t *id) {
   *id = getmoduleId(0);
   return 0;
 }
-int32_t ExtBoardImpl::module_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::kmodule_not_find_reg; }
+int32_t ExtBoardImpl::module_xxx_reg(int32_t param_id, bool read, int32_t &val) {
+  switch (param_id) {
+    PROCESS_REG(kreg_extboard_resetflag, REG_GET(resetflag), REG_SET(resetflag));
+    default:
+      return err::kmodule_not_find_reg;
+  }
+  return 0;
+}
 int32_t ExtBoardImpl::extboard_read_inio(int32_t ioindex, int32_t *val) {
   if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
   *val = IO[ioindex].getState();
@@ -34,7 +41,6 @@ int32_t ExtBoardImpl::extboard_read_inio_index_in_stm32(int32_t ioindex, int32_t
   return 0;
 }
 
-
 int32_t ExtBoardImpl::kextboard_write_outio(int32_t ioindex, int32_t val) {
   if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
   OutputIO[ioindex].setState(val);

usrc/public_service/ext_board_impl.hpp

@@ -19,6 +19,8 @@ class ExtBoardImpl : public ZIBoard, public ZIModule {
   ZGPIO IO[EXT_READ_IO_NUM];
   ZGPIO OutputIO[EXT_WRITE_IO_NUM];
 
+  int32_t resetflag = 1;
+
  public:
   ExtBoardImpl(/* args */);
   ~ExtBoardImpl();