update

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -394,8 +394,9 @@ void StepMotorCtrlModule::create_default_cfg(flash_config_t& cfg) {
   cfg.base_param.motor_one_circle_pulse             = 10000;
   cfg.base_param.motor_one_circle_pulse_denominator = 1;
   cfg.base_param.stepmotor_ihold                    = 1;
-  cfg.base_param.stepmotor_irun                     = 3;
+  cfg.base_param.stepmotor_irun                     = 31;
   cfg.base_param.stepmotor_iholddelay               = 100;
+  cfg.base_param.stepmotor_iglobalscaler            = 1;
   cfg.base_param.motor_default_acc                  = 300;
   cfg.base_param.motor_default_dec                  = 300;
   cfg.base_param.motor_default_velocity             = 500;
@@ -430,6 +431,7 @@ int32_t StepMotorCtrlModule::factory_reset() {
 }
 void StepMotorCtrlModule::active_cfg() {
   m_stepM1->setIHOLD_IRUN(m_param.stepmotor_ihold, m_param.stepmotor_irun, m_param.stepmotor_iholddelay);
+  // stepmotor_iglobalscaler
   m_stepM1->setScale(m_param.motor_one_circle_pulse);
   m_stepM1->setScaleDenominator(m_param.motor_one_circle_pulse_denominator);
   m_stepM1->setMotorShaft(m_param.motor_shaft);
@@ -475,6 +477,7 @@ int32_t StepMotorCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t
     PROCESS_REG(kreg_stepmotor_ihold, REG_GET(m_param.stepmotor_ihold), REG_SET(m_param.stepmotor_ihold));
     PROCESS_REG(kreg_stepmotor_irun, REG_GET(m_param.stepmotor_irun), REG_SET(m_param.stepmotor_irun));
     PROCESS_REG(kreg_stepmotor_iholddelay, REG_GET(m_param.stepmotor_iholddelay), REG_SET(m_param.stepmotor_iholddelay));
+    PROCESS_REG(kreg_stepmotor_iglobalscaler, REG_GET(m_param.stepmotor_iglobalscaler), REG_SET(m_param.stepmotor_iglobalscaler));
     PROCESS_REG(kreg_motor_max_d, REG_GET(m_param.max_d), REG_SET(m_param.max_d));
     PROCESS_REG(kreg_motor_min_d, REG_GET(m_param.min_d), REG_SET(m_param.min_d));
     PROCESS_REG(kreg_module_input_state, module_readio(&val), ACTION_NONE);
@@ -733,7 +736,7 @@ int32_t StepMotorCtrlModule::_exec_move_to_io_task_fn(int32_t ioindex, int32_t d
 int32_t StepMotorCtrlModule::_exec_move_to_zero_task(int32_t& dx) {
   int32_t pos1 = 0;
   int32_t pos2 = 0;
-  int32_t ret = 0;
+  int32_t ret  = 0;
   getnowpos(pos1);
   ret = _exec_move_to_zero_task();
   getnowpos(pos2);

components/step_motor_ctrl_module/step_motor_ctrl_module.hpp

@@ -15,7 +15,7 @@ class StepMotorCtrlModule : public ZIModule, public ZIMotor {
     int32_t stepmotor_ihold;
     int32_t stepmotor_irun;
     int32_t stepmotor_iholddelay;
-
+    int32_t stepmotor_iglobalscaler;
     int32_t motor_default_acc;
     int32_t motor_default_dec;
     int32_t motor_default_velocity;

components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp

@@ -35,6 +35,9 @@ void MicroComputerModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder,
     do_scan_module(paramN, paraV, ack);
   });
 
+  cancmder->regCMD("reboot", "()", 0, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) {  //
+    NVIC_SystemReset();
+  });
   /*******************************************************************************
    *                                    ½Ó¿Ú                                     *
    *******************************************************************************/
@@ -233,6 +236,7 @@ void MicroComputerModuleDeviceScriptCmderPaser::app_dump_reg(int32_t moduleId, i
   DUMP_CONFIG("stepmotor_ihold", kreg_stepmotor_ihold);
   DUMP_CONFIG("stepmotor_irun", kreg_stepmotor_irun);
   DUMP_CONFIG("stepmotor_iholddelay", kreg_stepmotor_iholddelay);
+  DUMP_CONFIG("stepmotor_iglobalscaler", kreg_stepmotor_iglobalscaler);
   DUMP_CONFIG("motor_run_to_zero_max_d", kreg_motor_run_to_zero_max_d);
   DUMP_CONFIG("motor_look_zero_edge_max_d", kreg_motor_look_zero_edge_max_d);
   DUMP_CONFIG("motor_run_to_zero_speed", kreg_motor_run_to_zero_speed);

components/zprotocols/zcancmder_v2

@@ -1 +1 @@
-Subproject commit e9e173b2cc1d43a6946ab7de8f21169e680e3b8f
+Subproject commit d06f09d8b3724156381c36d0cc5d0d9a0b098cc4