From ac5dbdd30601037dfff6b4702a9a50297493a382 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 26 Jun 2024 19:54:23 +0800
Subject: [PATCH] update

---
 .../xy_robot_ctrl_module/xy_robot_ctrl_module.cpp       | 17 +++++++++++++++--
 .../xy_robot_ctrl_module/xy_robot_ctrl_module.hpp       |  1 +
 2 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
index 3ec2f9f..4354741 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
@@ -65,6 +65,7 @@ int32_t XYRobotCtrlModule::module_active_cfg() {
   m_stepM2->enable(false);
 
   m_stepM1->setIHOLD_IRUN(m_cfg.ihold, m_cfg.irun, m_cfg.iholddelay);
+  m_stepM1->setGlobalScale(m_cfg.iglobalscaler);
   m_stepM1->setScale(m_cfg.one_circle_pulse / 2);
   m_stepM1->setScaleDenominator(m_cfg.one_circle_pulse_denominator);
   m_stepM1->set_vstart(m_cfg.vstart);
@@ -78,6 +79,7 @@ int32_t XYRobotCtrlModule::module_active_cfg() {
   m_stepM1->set_enc_resolution(m_cfg.enc_resolution);
 
   m_stepM2->setIHOLD_IRUN(m_cfg.ihold, m_cfg.irun, m_cfg.iholddelay);
+  m_stepM2->setGlobalScale(m_cfg.iglobalscaler);
   m_stepM2->setScale(m_cfg.one_circle_pulse / 2);
   m_stepM2->setScaleDenominator(m_cfg.one_circle_pulse_denominator);
   m_stepM2->set_vstart(m_cfg.vstart);
@@ -149,8 +151,18 @@ int32_t XYRobotCtrlModule::xymotor_read_pos(int32_t* x, int32_t* y) {
 }
 
 #define UPDATE_CFG(key) PROCESS_REG(kreg_xyrobot_##key, REG_GET(m_cfg.key), REG_SET(m_cfg.key))
-
 int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
+  int32_t ret = __module_xxx_reg(param_id, read, val);
+  if (ret != 0) {
+    return ret;
+  }
+
+  if (!read) {
+    module_active_cfg();
+  }
+}
+
+int32_t XYRobotCtrlModule::__module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
   switch (param_id) {
     UPDATE_CFG(robot_type);
     UPDATE_CFG(one_circle_pulse);
@@ -185,6 +197,7 @@ int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t&
       return err::kmodule_not_find_reg;
       break;
   }
+
   return 0;
 }
 
@@ -423,7 +436,7 @@ void XYRobotCtrlModule::befor_motor_move() {
   creg.module_status    = 1;
   creg.module_errorcode = 0;
 
-  module_active_cfg();
+  // module_active_cfg();
   xymotor_enable(1);
 }
 void XYRobotCtrlModule::after_motor_move() {
diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
index 3a4a3b4..03b9535 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
@@ -86,6 +86,7 @@ class XYRobotCtrlModule : public ZIXYMotor, public ZIModule {
   }
 
   virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val) override;
+  int32_t         __module_xxx_reg(int32_t param_id, bool read, int32_t& val);
   virtual int32_t module_stop() override;
   virtual int32_t module_active_cfg() override;