添加归零丢步检测

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -112,7 +112,7 @@ int32_t StepMotorCtrlModule::pri_module_xxx_reg(int32_t param_id, bool read, int
     PROCESS_REG(kreg_step_motor_enable_enc, REG_GET(m_cfg.motor_enable_enc), REG_SET(m_cfg.motor_enable_enc));
     PROCESS_REG(kreg_step_motor_dzero_pos, REG_GET(m_cfg.motor_dzero), update_dzero(m_cfg.motor_dzero));
 
-    PROCESS_REG(kret_step_motor_pos_devi_tolerance, REG_GET(m_cfg.pos_devi_tolerance), update_dzero(m_cfg.pos_devi_tolerance));
+    PROCESS_REG(kret_step_motor_pos_devi_tolerance, REG_GET(m_cfg.pos_devi_tolerance), REG_SET(m_cfg.pos_devi_tolerance));
 
     default:
       return err::kmodule_not_find_reg;

usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h

@@ -72,9 +72,9 @@
 #define MOTOR2_REFR_MIRROR true
 
 #define MOTOR2_VSTART 100
-#define MOTOR2_A1     100
+#define MOTOR2_A1     20
 #define MOTOR2_V1     800
-#define MOTOR2_AMAX   500
+#define MOTOR2_AMAX   300
 
 #define MOTOR2_MOTOR_SHAFT                        false
 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             80