update

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -357,9 +357,8 @@ void StepMotorCtrlModule::dump(TMC4361AMotorEventState_t val) {
   ZLOGI(TAG, "RST_EV :                      %d", val.RST_EV);
 }
 
-void StepMotorCtrlModule::setErrorFlag(int32_t ecode, uint32_t motorStatue) {
+void StepMotorCtrlModule::setErrorFlag(int32_t ecode) {
   creg.module_errorcode = ecode;
-  // m_state.motorStatus   = motorStatue;
 }
 
 bool StepMotorCtrlModule::check_when_run() {
@@ -375,16 +374,16 @@ bool StepMotorCtrlModule::check_when_run() {
     auto devStatus = tmc5130->getDevStatus();
     if (state.reset) {
       ZLOGE(TAG, "motor reset when run");
-      setErrorFlag(err::kstep_motor_subic_reset, (*(uint32_t*)&devStatus));
+      setErrorFlag(err::kstep_motor_subic_reset);
       return false;
     } else if (state.uv_cp) {
       ZLOGE(TAG, "motor uv_cp when run");
       dumpTMC5130Status(&devStatus);
-      setErrorFlag(err::kstep_motor_uv_cp, (*(uint32_t*)&devStatus));
+      setErrorFlag(err::kstep_motor_uv_cp);
       return false;
     } else if (state.drv_err) {
       ZLOGE(TAG, "motor drv_err when run");
-      setErrorFlag(err::kstep_motor_drv_err, (*(uint32_t*)&devStatus));
+      setErrorFlag(err::kstep_motor_drv_err);
       dumpTMC5130Status(&devStatus);
       return false;
     }
@@ -428,7 +427,7 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio
     // 失败返回
     if (!xreach_io) {
       ZLOGE(TAG, "x reach io failed");
-      setErrorFlag(err::kstep_motor_not_found_zero_point, 0);
+      setErrorFlag(err::kstep_motor_not_found_zero_point);
       return false;
     }
   }
@@ -457,7 +456,7 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio
 
     if (!reach_edge) {
       ZLOGE(TAG, "leave away zero failed");
-      setErrorFlag(err::kstep_motor_not_found_point_edge, 0);
+      setErrorFlag(err::kstep_motor_not_found_point_edge);
       return false;
     }
   }
@@ -486,7 +485,7 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio
 
     if (!reach_edge) {
       ZLOGE(TAG, " bak to gpio trigger edge fail");
-      setErrorFlag(err::kstep_motor_not_found_point_edge, 0);
+      setErrorFlag(err::kstep_motor_not_found_point_edge);
       return false;
     }
   }

components/step_motor_ctrl_module/step_motor_ctrl_module.hpp

@@ -129,7 +129,7 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
 
  private:
   void dumpTMC5130Status(TMC51X0::DevStatusReg_t* status);
-  void setErrorFlag(int32_t ecode, uint32_t motorStatue);
+  void setErrorFlag(int32_t ecode);
 
   void dump(TMC2160MotorDriverStatus_t val);
   void dump(TMC4361AMotorStatus_t val);

components/tmc/ic/ztmc5130.hpp

@@ -3,6 +3,7 @@
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
+#include <string.h>
 
 #include "../basic/tmc_ic_interface.hpp"
 #include "sdk/os/zos.hpp"
@@ -149,12 +150,16 @@ class TMC51X0 : public IStepperMotor {
   DevStatusReg_t getDevStatus() {  // R 读后不清
     static_assert(sizeof(DevStatusReg_t) == 4);
     uint32_t value = readInt(TMC5130_DRVSTATUS);
-    return *(DevStatusReg_t *)&value;
+    DevStatusReg_t val;
+    memcpy(&val, &value, sizeof(DevStatusReg_t));
+    return val;
   }
   GState_t getGState() {  // R+C 读后自动清除
     static_assert(sizeof(GState_t) == 4);
     uint32_t value = readInt(TMC5130_GSTAT);
-    return *(GState_t *)&value;
+    GState_t val;
+    memcpy(&val, &value, sizeof(GState_t));
+    return val;
   }
 
   bool isTMC5130();