From 4257580790dc2dda82d0b03a1323746f321331b3 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Mon, 23 Oct 2023 13:10:22 +0800
Subject: [PATCH] update

---
 .../step_motor_ctrl_module.cpp                     | 22 ++++++++++++++++++----
 ...o_computer_module_device_script_cmder_paser.cpp | 10 ++++++++++
 ...o_computer_module_device_script_cmder_paser.hpp |  3 ++-
 components/zprotocols/zcancmder_v2                 |  2 +-
 4 files changed, 31 insertions(+), 6 deletions(-)

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 08457f1..5688ce1 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -729,6 +729,9 @@ int32_t StepMotorCtrlModule::motor_rotate(int32_t direction, int32_t motor_veloc
   ZLOGI(TAG, "m%d motor_rotate %d", m_id, direction);
   m_status_cb = nullptr;
   m_thread.stop();
+  if (acc == 0) {
+    acc = m_param.acc;
+  }
   _rotate(direction * motor_velocity, acc, acc);
   return 0;
 }
@@ -751,6 +754,11 @@ int32_t StepMotorCtrlModule::motor_move_to(int32_t tox, int32_t motor_velocity,
   if (m_param.max_x != 0 && tox > m_param.max_x) {
     tox = m_param.max_x;
   }
+
+  if (acc == 0) {
+    acc = m_param.acc;
+  }
+
   m_thread.start(
       [this, tox, motor_velocity, acc]() {
         _motor_move_to(tox, motor_velocity, acc, acc);
@@ -772,10 +780,16 @@ int32_t StepMotorCtrlModule::motor_move_to_acctime(int32_t position, int32_t mot
 int32_t StepMotorCtrlModule::motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
 int32_t StepMotorCtrlModule::motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) {
   ZLOGI(TAG, "motor_move_to_zero_backward");
-  m_param.run_to_zero_speed    = findzerospeed;
-  m_param.look_zero_edge_speed = findzeroedge_speed;
-  m_param.look_zero_edge_dec   = acc;
-  m_param.run_to_zero_dec      = acc;
+  if (findzerospeed != 0) {
+    m_param.run_to_zero_speed = findzerospeed;
+  }
+  if (findzeroedge_speed != 0) {
+    m_param.look_zero_edge_speed = findzeroedge_speed;
+  }
+  if (acc != 0) {
+    m_param.look_zero_edge_dec = acc;
+    m_param.run_to_zero_dec    = acc;
+  }
   return move_to_zero(nullptr);
 }
 
diff --git a/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp b/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp
index 3f50b7e..3fe9cb1 100644
--- a/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp
+++ b/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp
@@ -1,6 +1,8 @@
 #include "micro_computer_module_device_script_cmder_paser.hpp"
 
+#include <stdio.h>
 #include <stdlib.h>
+#include <string.h>
 
 #include "sdk/os/zos.hpp"
 using namespace iflytop;
@@ -8,6 +10,14 @@ using namespace std;
 
 #define TAG "CMD"
 
+void MicroComputerModuleDeviceScriptCmderPaser::do_dumpconfig(int32_t moduleId) {
+  ICmdParserACK ack;
+  const char    paraV[1][10] = {{0}};
+  sprintf((char*)paraV[0], "%d", moduleId);
+
+  do_dumpconfig(1, (const char**)paraV, &ack);
+}
+
 void MicroComputerModuleDeviceScriptCmderPaser::do_dumpconfig(int32_t paramN, const char* paraV[], ICmdParserACK* ack) {
   //
   ack->ecode = 0;
diff --git a/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.hpp b/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.hpp
index 0217897..8fff564 100644
--- a/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.hpp
+++ b/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.hpp
@@ -10,7 +10,8 @@ class MicroComputerModuleDeviceScriptCmderPaser : public ZModuleDeviceScriptCmde
  public:
   void initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager);
 
-  void do_dumpconfig(int32_t paramN, const char* paraV[], ICmdParserACK* ack) ;
+  void do_dumpconfig(int32_t paramN, const char* paraV[], ICmdParserACK* ack);
+  void do_dumpconfig(int32_t moduleId);
 };
 
 }  // namespace iflytop
diff --git a/components/zprotocols/zcancmder_v2 b/components/zprotocols/zcancmder_v2
index 5ca88d7..0da1095 160000
--- a/components/zprotocols/zcancmder_v2
+++ b/components/zprotocols/zcancmder_v2
@@ -1 +1 @@
-Subproject commit 5ca88d73b1481eb8cba888f7d713129dfcbaf235
+Subproject commit 0da1095ad399f7acbe11f2f5ba166b84268c1df6