From 563e4ca7f479b028da851852ebec4fdfad95482e Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 5 Jun 2024 20:20:10 +0800
Subject: [PATCH] update

---
 .../step_motor_ctrl_module/step_motor_ctrl_module.cpp      | 14 +++++++++++---
 .../step_motor_ctrl_module/step_motor_ctrl_module.hpp      | 12 +++++++-----
 components/zcancmder/zcan_protocol_parser.cpp              |  5 +++++
 components/zcancmder/zcan_protocol_parser.hpp              |  1 +
 4 files changed, 24 insertions(+), 8 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 d249ac1..12cf149 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -401,9 +401,15 @@ int32_t StepMotorCtrlModule::step_motor_easy_move_to_io(int32_t ioindex, int32_t
   return do_step_motor_easy_move_to_io(ioindex, direction);
 }
 
-//
-//
-//
+int32_t StepMotorCtrlModule::step_motor_easy_move_to_end_point() {
+  ZLOGI(TAG, "m%d step_motor_easy_move_to_end_point", m_id);
+  int32_t ecode = check_befor_run();
+  if (ecode != 0) return ecode;
+  if (m_nio <= 1) {
+    return err::kstep_motor_ioindex_out_of_range;
+  }
+  return do_step_motor_easy_move_to_end_point();
+}
 
 int32_t StepMotorCtrlModule::do_step_motor_easy_rotate(int32_t direction) {
   m_thread.stop();
@@ -492,3 +498,5 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_move_to_io(int32_t ioindex, int3
 
   return 0;
 }
+
+int32_t StepMotorCtrlModule::do_step_motor_easy_move_to_end_point() { return do_step_motor_easy_move_to_io(1, 1); }
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 1b0e3e9..5462660 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
@@ -2,8 +2,8 @@
 //
 #include "sdk/os/zos.hpp"
 #include "sdk\components\tmc\basic\tmc_ic_interface.hpp"
-#include "sdk\components\zcancmder\zcanreceiver.hpp"
 #include "sdk\components\tmc\ic\ztmc5130.hpp"
+#include "sdk\components\zcancmder\zcanreceiver.hpp"
 namespace iflytop {
 class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
   ENABLE_MODULE(StepMotorCtrlModule, ktmc_step_motor, PC_VERSION);
@@ -31,10 +31,10 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
   } config_t;
 
   typedef struct {
-    int32_t  dpos;
-    int32_t  after_move_pos;
-    int32_t  before_move_pos;
-    int32_t  enable;
+    int32_t dpos;
+    int32_t after_move_pos;
+    int32_t before_move_pos;
+    int32_t enable;
   } state_t;
 
  private:
@@ -77,6 +77,7 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
   virtual int32_t step_motor_easy_move_to(int32_t position) override;
   virtual int32_t step_motor_easy_move_to_zero() override;
   virtual int32_t step_motor_easy_move_to_io(int32_t ioindex, int32_t direction) override;
+  virtual int32_t step_motor_easy_move_to_end_point() override;
 
   virtual int32_t step_motor_easy_set_current_pos(int32_t pos) override;
   virtual int32_t step_motor_active_cfg() override;
@@ -96,6 +97,7 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
   int32_t do_step_motor_easy_move_to(int32_t position);
   int32_t do_step_motor_easy_move_to_zero();
   int32_t do_step_motor_easy_move_to_io(int32_t ioindex, int32_t direction);
+  int32_t do_step_motor_easy_move_to_end_point();
 
  private:
   void inter_inverse_kinematics(int32_t motor_pos, int32_t& x);
diff --git a/components/zcancmder/zcan_protocol_parser.cpp b/components/zcancmder/zcan_protocol_parser.cpp
index 9be0dd3..5ed1725 100644
--- a/components/zcancmder/zcan_protocol_parser.cpp
+++ b/components/zcancmder/zcan_protocol_parser.cpp
@@ -34,6 +34,7 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
   REGFN(step_motor_stop);
   REGFN(step_motor_read_io_state);
   REGFN(step_motor_read_tmc5130_status);
+  REGFN(step_motor_easy_move_to_end_point);
 
   REGFN(mini_servo_enable);
   REGFN(mini_servo_read_pos);
@@ -253,6 +254,10 @@ int32_t ZCanProtocolParser::step_motor_read_tmc5130_status(cmdcontxt_t* cxt) {
   cxt->acklen  = 4;
   return module->step_motor_read_tmc5130_status(&ack[0]);
 }
+int32_t ZCanProtocolParser::step_motor_easy_move_to_end_point(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->step_motor_easy_move_to_end_point();
+}
 
 #undef MODULE_CLASS
 #define MODULE_CLASS ZIMiniServo
diff --git a/components/zcancmder/zcan_protocol_parser.hpp b/components/zcancmder/zcan_protocol_parser.hpp
index b48da31..e096023 100644
--- a/components/zcancmder/zcan_protocol_parser.hpp
+++ b/components/zcancmder/zcan_protocol_parser.hpp
@@ -69,6 +69,7 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   static int32_t step_motor_active_cfg(cmdcontxt_t* cxt);
   static int32_t step_motor_read_io_state(cmdcontxt_t* cxt);
   static int32_t step_motor_read_tmc5130_status(cmdcontxt_t* cxt);
+  static int32_t step_motor_easy_move_to_end_point(cmdcontxt_t* cxt);
   
 
   static int32_t mini_servo_enable(cmdcontxt_t* cxt);