From a796f5c582eef8b06107d7558b3dfafe6be0f639 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sun, 15 Oct 2023 20:07:04 +0800
Subject: [PATCH] update

---
 components/step_motor_45/script_cmder_step_motor_45.cpp | 1 +
 components/step_motor_45/step_motor_45.cpp              | 8 +++++++-
 components/step_motor_45/step_motor_45.hpp              | 7 +++++--
 3 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/components/step_motor_45/script_cmder_step_motor_45.cpp b/components/step_motor_45/script_cmder_step_motor_45.cpp
index dad93a2..c6188a3 100644
--- a/components/step_motor_45/script_cmder_step_motor_45.cpp
+++ b/components/step_motor_45/script_cmder_step_motor_45.cpp
@@ -46,6 +46,7 @@ void ScriptCmderStepMotor45::regcmd() {
   REG_CMD___NO_ACK(PREFIX, zero_calibration, "(id)", 1);
   REG_CMD_WITH_ACK(PREFIX, get_pos, "(id)", 1, int32_t, ack);
   REG_CMD___NO_ACK(PREFIX, set_pos, "(id,pos)", 2, con->getInt(2));
+  REG_CMD_WITH_ACK(PREFIX, get_zero_pin_state, "(id,pos)", 1, int32_t, ack);
 
   // REG_CMD___NO_ACK(PREFIX, initialize, "(id,driverPin1,driverPin2,driverPin3,driverPin4,zeroPin)", 6, con->getInt(2), con->getInt(3), con->getInt(4), con->getInt(5), con->getInt(6), con->getInt(7));
 }
\ No newline at end of file
diff --git a/components/step_motor_45/step_motor_45.cpp b/components/step_motor_45/step_motor_45.cpp
index f732a46..538aa2e 100644
--- a/components/step_motor_45/step_motor_45.cpp
+++ b/components/step_motor_45/step_motor_45.cpp
@@ -51,7 +51,7 @@ void StepMotor45::initialize(StepMotor45Scheduler* scheduler, cfg_t cfg) {
   if (cfg.zeroPin != PinNull) {
     m_zeroPinZGPIO = new ZGPIO();
     ZASSERT(m_zeroPinZGPIO != NULL);
-    m_zeroPinZGPIO->initAsInput(cfg.zeroPin, ZGPIO::kMode_pullup, ZGPIO::kIRQ_noIrq, cfg.zeroPinMirror);
+    m_zeroPinZGPIO->initAsInput(cfg.zeroPin, cfg.ioPollType, ZGPIO::kIRQ_noIrq, cfg.zeroPinMirror);
   }
   setdriverpinstate(1, 1, 1, 1);
   scheduler->addMotor(this);
@@ -101,6 +101,12 @@ void StepMotor45::onTimIRQ1ms() {
   schedule();
 }
 
+int32_t StepMotor45::get_zero_pin_state(int32_t& state) {
+  CriticalContext cc;
+  state = getzeropinstate();
+  return (int32_t)0;
+}
+
 void StepMotor45::schedule() {
   /**
    * @brief 执行零点校准逻辑
diff --git a/components/step_motor_45/step_motor_45.hpp b/components/step_motor_45/step_motor_45.hpp
index 42ecaa3..e848274 100644
--- a/components/step_motor_45/step_motor_45.hpp
+++ b/components/step_motor_45/step_motor_45.hpp
@@ -25,8 +25,9 @@ class StepMotor45 {
     bool enable_max_pos_limit = false;      // 是否启用最大位置限位
     bool mirror               = false;      // 是否镜像
 
-    Pin_t zeroPin       = PinNull;
-    bool  zeroPinMirror = false;
+    Pin_t             zeroPin       = PinNull;
+    ZGPIO::GPIOMode_t ioPollType    = ZGPIO::kMode_nopull;
+    bool              zeroPinMirror = false;
 
     Pin_t driverPin[4]    = {PinNull, PinNull, PinNull, PinNull};
     bool  driverPinMirror = false;
@@ -79,6 +80,8 @@ class StepMotor45 {
   int32_t zero_calibration();
   int32_t set_pos(int32_t pos) { m_pos = pos; }
 
+  int32_t get_zero_pin_state(int32_t &state);
+
   int32_t get_pos(int32_t &pos) {
     pos = m_pos;
     return (int32_t)0;