From bdeb54581af522c50023a27609853ee50a78fcfc Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sat, 4 Nov 2023 19:41:50 +0800
Subject: [PATCH] update

---
 components/step_motor_ctrl_module/step_motor_ctrl_module.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
index 4bab63a..00cea79 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/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;