update

components/eq_20_asb_motor/eq20_servomotor.cpp

@@ -9,7 +9,7 @@ using namespace iflytop;
 
 #define TAG "Eq20ServoMotor"
 
-void Eq20ServoMotor::init(int moduleid, ModbusBlockHost *modbusBlockHost, int motorid ) {
+void Eq20ServoMotor::init(int moduleid, ModbusBlockHost *modbusBlockHost, int motorid) {
   //  this->com = com;
   m_modbusBlockHost = modbusBlockHost;
   m_deviceId        = motorid;
@@ -154,14 +154,14 @@ int32_t Eq20ServoMotor::get_servo_internal_state(servo_internal_status_t &state)
   return 0;
 }
 
-#define AUTO_RESEND(exptr)                          \
-  int32_t ret = 0;                                  \
+#define AUTO_RESEND(exptr)                       \
+  int32_t ret = 0;                               \
   for (int i = 0; i < m_auto_resendtimes; i++) { \
-    ret = exptr;                                    \
-    if (ret == 0) {                                 \
-      return 0;                                     \
-    }                                               \
-  }                                                 \
+    ret = exptr;                                 \
+    if (ret == 0) {                              \
+      return 0;                                  \
+    }                                            \
+  }                                              \
   return ret;
 
 int32_t Eq20ServoMotor::write_reg(uint32_t regadd, int32_t value) {  //
@@ -240,6 +240,9 @@ int32_t Eq20ServoMotor::module_get_status(int32_t *status) {
   if (!internal_state.data.sbit.is_reach_target) {
     *status = 1;
   }
+  if (!internal_state.data.sbit.is_zero_complete) {
+    *status = 1;
+  }
   return 0;
 }
 int32_t Eq20ServoMotor::module_get_error(int32_t *iserror) {
@@ -263,8 +266,7 @@ int32_t Eq20ServoMotor::module_writeio(int32_t io) { return err::koperation_not_
 
 int32_t Eq20ServoMotor::module_read_adc(int32_t adcindex, int32_t *adc) { return err::koperation_not_support; }
 
-int32_t Eq20ServoMotor::motor_enable(int32_t varenable) {
-   return enable(varenable); }
+int32_t Eq20ServoMotor::motor_enable(int32_t varenable) { return enable(varenable); }
 
 int32_t Eq20ServoMotor::motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
 int32_t Eq20ServoMotor::motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }