update

components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp

@@ -34,7 +34,19 @@ int32_t MiniServoCtrlModule::getid(int32_t *id) {
   *id = m_module_id;
   return 0;
 }
-int32_t MiniServoCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t &val) {}
+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_pos, mini_servo_read_pos(&val), ACTION_NONE);
+    PROCESS_REG(kreg_mini_servo_limit_velocity, REG_GET(m_cfg.limit_velocity), ACTION_NONE);
+    PROCESS_REG(kreg_mini_servo_limit_torque, REG_GET(m_cfg.limit_torque), REG_SET(m_cfg.limit_torque));
+    PROCESS_REG(kreg_mini_servo_protective_torque, REG_GET(m_cfg.protective_torque), REG_SET(m_cfg.protective_torque));
+    default:
+      return err::kmodule_not_find_config_index;
+      break;
+  }
+  return 0;
+}
 
 int32_t MiniServoCtrlModule::mini_servo_enable(int32_t enable) {
   ZLOGI(TAG, "%d mini_servo_enable %d", m_module_id, enable);

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -45,7 +45,6 @@ void StepMotorCtrlModule::create_default_cfg(config_t& cfg) {
  *                                                         EXT                                                         *
  ***********************************************************************************************************************/
 int32_t StepMotorCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
-  ZLOGI(TAG, "m%d module_xxx_reg %d %d", m_id, param_id, read);
   switch (param_id) {
     MODULE_COMMON_PROCESS_REG_CB();
     PROCESS_REG(kreg_step_motor_pos, inter_get_pos(val), ACTION_NONE);

components/zcancmder/zcan_protocol_parser.cpp

@@ -20,6 +20,8 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
   REGFN(module_get_reg);
   REGFN(module_get_error);
   REGFN(module_clear_error);
+  REGFN(module_stop);
+  
 
   REGFN(step_motor_enable);
   REGFN(step_motor_read_pos);
@@ -159,7 +161,7 @@ int32_t ZCanProtocolParser::module_get_reg(cmdcontxt_t* cxt) {
 }
 
 int32_t ZCanProtocolParser::module_get_error(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
+  CHECK_AND_GET_MODULE(0);
   int32_t* ack = (int32_t*)cxt->ackbuf;
   cxt->acklen  = 4;
   return module->module_get_error(&ack[0]);