From 49aa1c4693983ad6031f71b0c0b785c6721d9868 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 5 Jun 2024 16:21:15 +0800
Subject: [PATCH] update

---
 components/step_motor_ctrl_module/step_motor_ctrl_module.hpp | 4 ++++
 components/zcancmder/zcan_protocol_parser.hpp                | 1 +
 2 files changed, 5 insertions(+)

diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
index 694d2db..f758b9e 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
@@ -79,6 +79,10 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
   virtual int32_t step_motor_active_cfg() override;
   virtual int32_t step_motor_read_io_state(int32_t ioindex, int32_t* state) override;
 
+ public:
+  IStepperMotor* getMotor() { return m_stepM1; }
+  config_t*      getCfg() { return &m_cfg; }
+
  private:
   void inter_inverse_kinematics(int32_t motor_pos, int32_t& x);
   void inter_forward_kinematics(int32_t x, int32_t& motor_pos);
diff --git a/components/zcancmder/zcan_protocol_parser.hpp b/components/zcancmder/zcan_protocol_parser.hpp
index ad2261e..4c7a4a7 100644
--- a/components/zcancmder/zcan_protocol_parser.hpp
+++ b/components/zcancmder/zcan_protocol_parser.hpp
@@ -39,6 +39,7 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   void         initialize(IZCanReceiver* cancmder);
   virtual void onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, int32_t len);
   void         registerModule(ZIModule* module);
+  ZIModule*    getModule(int id) { return m_modulers[id]; }
 
  private:
   void     _registerModule(uint16_t id, ZIModule* module);