update

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -7,8 +7,8 @@
 #include "sdk\components\flash\znvs.hpp"
 using namespace iflytop;
 #define TAG "SMCM"
-void StepMotorCtrlModule::initialize(int id, IStepperMotor* stepM, ZGPIO iotable[], int nio, const char* flashmark) {
-  m_id      = id;
+void StepMotorCtrlModule::initialize(int moduleid, IStepperMotor* stepM, ZGPIO iotable[], int nio, const char* flashmark, flash_config_t* defaultcfg) {
+  m_id      = moduleid;
   m_stepM1  = stepM;
   m_iotable = iotable;
   m_nio     = nio;
@@ -22,9 +22,14 @@ void StepMotorCtrlModule::initialize(int id, IStepperMotor* stepM, ZGPIO iotable
   m_flashmark = flashmark;
 
   if (m_flashmark) {
-    ZASSERT(ZNVS::ins().get_config(m_flashmark, (uint8_t*)&m_flash_config, sizeof(m_flash_config)));
+    ZASSERT(ZNVS::ins().get_config(m_flashmark, (uint8_t*)&m_cfg, sizeof(m_cfg)));
+    if (!m_cfg.configInited) {
+      m_cfg.configInited = true;
+      m_cfg              = m_factory_config;
+      flush();
+    }
   } else {
-    create_default_cfg(m_flash_config);
+    m_cfg = m_factory_config;
   }
   active_cfg();
 
@@ -47,28 +52,28 @@ bool StepMotorCtrlModule::isbusy() { return m_thread.isworking(); }
 
 int32_t StepMotorCtrlModule::move_to_logic_point(int32_t logic_point_num, action_cb_status_t status_cb) {
   ZLOGI(TAG, "move_to_logic_point %d", logic_point_num);
-  if (logic_point_num >= ZARRAY_SIZE(m_flash_config.logic_point)) {
+  if (logic_point_num >= ZARRAY_SIZE(m_cfg.logic_point)) {
     return err::kparam_out_of_range;
   }
-  logic_point_t logic_point = m_flash_config.logic_point[logic_point_num];
+  logic_point_t logic_point = m_cfg.logic_point[logic_point_num];
   return move_to(logic_point.x, logic_point.velocity, status_cb);
 }
 int32_t StepMotorCtrlModule::set_logic_point(int logic_point_num, int32_t x, int32_t vel, s32 acc, s32 dec) {
   ZLOGI(TAG, "set_logic_point %d %d %d %d %d", logic_point_num, x, vel, acc, dec);
-  if (logic_point_num >= ZARRAY_SIZE(m_flash_config.logic_point)) return err::kparam_out_of_range;
+  if (logic_point_num >= ZARRAY_SIZE(m_cfg.logic_point)) return err::kparam_out_of_range;
   if (logic_point_num < 0) logic_point_num = 0;
-  // memset(&m_flash_config, 0, sizeof(m_flash_config));
-  m_flash_config.logic_point[logic_point_num].x        = x;
-  m_flash_config.logic_point[logic_point_num].velocity = vel;
-  m_flash_config.logic_point[logic_point_num].acc      = acc;
-  m_flash_config.logic_point[logic_point_num].dec      = dec;
+  // memset(&m_cfg, 0, sizeof(m_cfg));
+  m_cfg.logic_point[logic_point_num].x        = x;
+  m_cfg.logic_point[logic_point_num].velocity = vel;
+  m_cfg.logic_point[logic_point_num].acc      = acc;
+  m_cfg.logic_point[logic_point_num].dec      = dec;
   return 0;
 }
 int32_t StepMotorCtrlModule::get_logic_point(int logic_point_num, logic_point_t& logic_point) {
-  if (logic_point_num >= ZARRAY_SIZE(m_flash_config.logic_point)) {
+  if (logic_point_num >= ZARRAY_SIZE(m_cfg.logic_point)) {
     return err::kparam_out_of_range;
   }
-  logic_point = m_flash_config.logic_point[logic_point_num];
+  logic_point = m_cfg.logic_point[logic_point_num];
   return 0;
 }
 
@@ -591,7 +596,7 @@ void StepMotorCtrlModule::create_default_cfg(flash_config_t& cfg) {
 int32_t StepMotorCtrlModule::flush() {
   ZLOGI(TAG, "flush");
   if (m_flashmark) {
-    ZNVS::ins().set_config(m_flashmark, (uint8_t*)&m_flash_config, sizeof(m_flash_config));
+    ZNVS::ins().set_config(m_flashmark, (uint8_t*)&m_cfg, sizeof(m_cfg));
     ZNVS::ins().flush();
   }
   return 0;
@@ -599,9 +604,9 @@ int32_t StepMotorCtrlModule::flush() {
 int32_t StepMotorCtrlModule::factory_reset() {
   //
   ZLOGI(TAG, "factory_reset");
-  create_default_cfg(m_flash_config);
+  m_cfg = m_factory_config;
   if (m_flashmark) {
-    ZNVS::ins().set_config(m_flashmark, (uint8_t*)&m_flash_config, sizeof(m_flash_config));
+    ZNVS::ins().set_config(m_flashmark, (uint8_t*)&m_cfg, sizeof(m_cfg));
     ZNVS::ins().flush();
   }
   active_cfg();

components/step_motor_ctrl_module/step_motor_ctrl_module.hpp

@@ -21,11 +21,10 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule, public ZIModule, publi
   zmutex m_lock;
   zmutex m_statu_lock;
 
-  flash_config_t m_flash_config;
-  base_param_t&  m_param = m_flash_config.base_param;
-  // bool m_x_shaft = false;
-  // int32_t m_lastexecstatus = 0;
-  int32_t m_default_speed = 0;
+  flash_config_t m_cfg;
+  flash_config_t m_factory_config;
+  base_param_t&  m_param         = m_cfg.base_param;
+  int32_t        m_default_speed = 0;
 
   ZGPIO* m_iotable;
   int    m_nio;
@@ -37,8 +36,9 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule, public ZIModule, publi
   // int32_t m_enable = 0;
 
  public:
-  void        initialize(int moduleid, IStepperMotor* stepM, ZGPIO iotable[], int nio, const char* flashmark);
-  static void create_default_cfg(flash_config_t& cfg);
+  void            initialize(int moduleid, IStepperMotor* stepM, ZGPIO iotable[], int nio, const char* flashmark, flash_config_t* defaultcfg);
+  static void     create_default_cfg(flash_config_t& cfg);
+  static uint32_t get_flash_cfg_size() { return sizeof(flash_config_t); }
 
   virtual bool    isbusy() override;
   virtual int32_t get_last_exec_status() override { return m_com_reg.module_last_cmd_exec_status; };

components/zprotocols/zcancmder

@@ -1 +1 @@
-Subproject commit 6652d159d875cc4645ec045d05f0f9f8e906bcd1
+Subproject commit 6ae11da71aeb4cb0e959b9dabb66c50043d20d03