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update

master
zhaohe 2 years ago
parent
commit
bdeb54581a
  1. 6
      components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

6
components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@ -386,7 +386,7 @@ int32_t StepMotorCtrlModule::exec_move_to_zero_task() {
xreach_zero = true;
_motor_stop(-1);
while (!m_stepM1->isStoped()) { // 等待电机停止
while (!m_stepM1->isStoped() && !m_thread.getExitFlag()) { // 等待电机停止
_motor_stop(-1);
vTaskDelay(10);
}
@ -417,6 +417,9 @@ int32_t StepMotorCtrlModule::exec_move_to_zero_task() {
if (m_thread.getExitFlag()) break;
if (!m_Xgpio->getState()) {
_motor_stop(-1);
while (!m_stepM1->isStoped() && !m_thread.getExitFlag()) { // 等待电机停止
vTaskDelay(1);
}
break;
}
vTaskDelay(1);
@ -432,6 +435,7 @@ int32_t StepMotorCtrlModule::exec_move_to_zero_task() {
return err::kxymotor_x_find_zero_edge_fail;
}
}
if (m_thread.getExitFlag()) {
ZLOGI(TAG, "break move to zero thread exit");
return 0;

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