From 30ac68256d6d37f945271fe7a1f3efff2082837b Mon Sep 17 00:00:00 2001 From: zhaohe Date: Mon, 3 Jun 2024 16:24:39 +0800 Subject: [PATCH] update --- .../mini_servo_motor/mini_servo_motor_ctrl_module.cpp | 14 +++++++++++++- .../step_motor_ctrl_module/step_motor_ctrl_module.cpp | 1 - components/zcancmder/zcan_protocol_parser.cpp | 4 +++- 3 files changed, 16 insertions(+), 3 deletions(-) diff --git a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp index aaa4b01..3607b2d 100644 --- a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp +++ b/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); diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp index 8d93075..bdf25a0 100644 --- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp +++ b/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); diff --git a/components/zcancmder/zcan_protocol_parser.cpp b/components/zcancmder/zcan_protocol_parser.cpp index 0b60472..d63b991 100644 --- a/components/zcancmder/zcan_protocol_parser.cpp +++ b/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]);