update

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -625,69 +625,69 @@ int32_t StepMotorCtrlModule::module_get_error(int32_t* iserror) {
   return 0;
 }
 
-int32_t StepMotorCtrlModule::module_set_param(int32_t param_id, int32_t param_value) {
-  if (param_id == kcfg_motor_x_shift) {
-    m_param.shift_x = param_value;
-    return 0;
-  }
-
-  if (param_id == kcfg_motor_x_shaft) {
-    m_param.x_shaft = param_value;
-    return 0;
-  }
-
-  if (param_id == kcfg_motor_x_one_circle_pulse) {
-    m_param.distance_scale = param_value;
-    return 0;
-  }
+#if 0
+  kcfg_motor_x_shift = CONFIG_CODE(100, 0),  // x偏移
+  kcfg_motor_x_shaft = CONFIG_CODE(100, 3),  // x轴是否反转
+  kcfg_motor_x_one_circle_pulse = CONFIG_CODE(100, 6),  // x轴一圈脉冲数
+  kcfg_motor_default_velocity  = CONFIG_CODE(100, 9),   // 默认速度
+  kcfg_motor_default_acc       = CONFIG_CODE(100, 10),  // 默认加速度
+  kcfg_motor_default_dec       = CONFIG_CODE(100, 11),  // 默认减速度
+  // kcfg_motor_default_break_dec = CONFIG_CODE(100, 12),  // 默认减速度
+  /*******************************************************************************
+   *                                电机找零相关配置                               *
+   *******************************************************************************/
+  kcfg_motor_run_to_zero_max_x_d = CONFIG_CODE(150, 0),  // x轴回零最大距离
+  kcfg_motor_look_zero_edge_max_x_d = CONFIG_CODE(150, 3),  // x轴找零边缘最大距离
+  kcfg_motor_run_to_zero_speed = CONFIG_CODE(150, 6),  // 回零速度
+  kcfg_motor_run_to_zero_dec   = CONFIG_CODE(150, 7),  // 回零减速度
+  kcfg_motor_look_zero_edge_speed = CONFIG_CODE(150, 8),  // 找零边缘速度
+  kcfg_motor_look_zero_edge_dec   = CONFIG_CODE(150, 9),  // 找零边缘减速度
+  /*******************************************************************************
+   *                              步进电机相关配置                               *
+   *******************************************************************************/
+  k_cfg_stepmotor_ihold      = CONFIG_CODE(200, 0),
+  k_cfg_stepmotor_irun       = CONFIG_CODE(200, 1),
+  k_cfg_stepmotor_iholddelay = CONFIG_CODE(200, 2),
 
-  if (param_id == k_cfg_stepmotor_ihold) {
-    m_param.ihold = param_value;
-    return 0;
-  }
+#endif
 
-  if (param_id == k_cfg_stepmotor_irun) {
-    m_param.irun = param_value;
-    return 0;
+#define SET_CONFIG(param_id, configval) \
+  case param_id:                        \
+    if (set) {                          \
+      configval = param_value;          \
+    } else {                            \
+      param_value = configval;          \
+    }                                   \
+    break;
+int32_t StepMotorCtrlModule::_module_set_or_get_param(bool set, int32_t param_id, int32_t& param_value) {
+  switch (param_id) {
+    SET_CONFIG(kcfg_motor_x_shift, m_param.shift_x);
+    SET_CONFIG(kcfg_motor_x_shaft, m_param.x_shaft);
+    SET_CONFIG(kcfg_motor_x_one_circle_pulse, m_param.distance_scale);
+    SET_CONFIG(kcfg_motor_default_velocity, m_param.maxspeed);
+    SET_CONFIG(kcfg_motor_default_acc, m_param.acc);
+    SET_CONFIG(kcfg_motor_default_dec, m_param.dec);
+    // SET_CONFIG(kcfg_motor_default_break_dec, m_param.dec);
+    SET_CONFIG(kcfg_motor_run_to_zero_max_x_d, m_param.run_to_zero_max_d);
+    SET_CONFIG(kcfg_motor_look_zero_edge_max_x_d, m_param.look_zero_edge_max_d);
+    SET_CONFIG(kcfg_motor_run_to_zero_speed, m_param.run_to_zero_speed);
+    SET_CONFIG(kcfg_motor_run_to_zero_dec, m_param.run_to_zero_dec);
+    SET_CONFIG(kcfg_motor_look_zero_edge_speed, m_param.look_zero_edge_speed);
+    SET_CONFIG(kcfg_motor_look_zero_edge_dec, m_param.look_zero_edge_dec);
+    SET_CONFIG(k_cfg_stepmotor_ihold, m_param.ihold);
+    SET_CONFIG(k_cfg_stepmotor_irun, m_param.irun);
+    SET_CONFIG(k_cfg_stepmotor_iholddelay, m_param.iholddelay);
+    default:
+      return err::kmodule_not_find_config_index;
   }
+  return 0;
+}
 
-  if (param_id == k_cfg_stepmotor_iholddelay) {
-    m_param.iholddelay = param_value;
-    return 0;
-  }
-  return err::kmodule_not_find_config_index;
+int32_t StepMotorCtrlModule::module_set_param(int32_t param_id, int32_t param_value) {
+  return _module_set_or_get_param(true, param_id, param_value);
 }
 int32_t StepMotorCtrlModule::module_get_param(int32_t param_id, int32_t* param_value) {
-  if (param_id == kcfg_motor_x_shift) {
-    *param_value = m_param.shift_x;
-    return 0;
-  }
-
-  if (param_id == kcfg_motor_x_shaft) {
-    *param_value = m_param.x_shaft;
-    return 0;
-  }
-
-  if (param_id == kcfg_motor_x_one_circle_pulse) {
-    *param_value = m_param.distance_scale;
-    return 0;
-  }
-
-  if (param_id == k_cfg_stepmotor_ihold) {
-    *param_value = m_param.ihold;
-    return 0;
-  }
-
-  if (param_id == k_cfg_stepmotor_irun) {
-    *param_value = m_param.irun;
-    return 0;
-  }
-
-  if (param_id == k_cfg_stepmotor_iholddelay) {
-    *param_value = m_param.iholddelay;
-    return 0;
-  }
-  return err::kmodule_not_find_config_index;
+  return _module_set_or_get_param(false, param_id, *param_value);
 }
 
 int32_t StepMotorCtrlModule::module_clear_error() { return 0; }
@@ -758,7 +758,7 @@ int32_t StepMotorCtrlModule::motor_move_to(int32_t tox, int32_t motor_velocity,
   if (acc == 0) {
     acc = m_param.acc;
   }
-  if(motor_velocity == 0){
+  if (motor_velocity == 0) {
     motor_velocity = m_param.maxspeed;
   }
 

components/step_motor_ctrl_module/step_motor_ctrl_module.hpp

@@ -113,6 +113,7 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule, public ZIModule, publi
 
   virtual int32_t module_set_param(int32_t param_id, int32_t param_value) override;
   virtual int32_t module_get_param(int32_t param_id, int32_t* param_value) override;
+  int32_t         _module_set_or_get_param(bool set, int32_t param_id, int32_t& param_value);
 
   virtual int32_t module_readio(int32_t* io) override;
   virtual int32_t module_writeio(int32_t io) override;