update

components/step_motor_45/step_motor_45.cpp

@@ -33,7 +33,7 @@ stepmotor_control_matrix_t onestepsq2[] = {
 
 #define MAX_STEP_TABLE_OFF (ZARRAY_SIZE(onestepsq1) - 1)
 
-void StepMotor45::initialize(cfg_t cfg) {
+void StepMotor45::initialize(StepMotor45Scheduler* scheduler, cfg_t cfg) {
   m_cfg = cfg;
 
   //   ³õʼ»¯GPIO
@@ -54,6 +54,7 @@ void StepMotor45::initialize(cfg_t cfg) {
     m_zeroPinZGPIO->initAsInput(cfg.zeroPin, ZGPIO::kMode_pullup, ZGPIO::kIRQ_noIrq, cfg.zeroPinMirror);
   }
   setdriverpinstate(1, 1, 1, 1);
+  scheduler->addMotor(this);
   return;
 }
 
@@ -221,7 +222,7 @@ int32_t StepMotor45::move_to(int to, int speed) {
   CriticalContext cc;
 
   if (to == m_pos) {
-	  return (int32_t)0;
+    return (int32_t)0;
   }
 
   if (to <= m_pos) {

components/step_motor_45/step_motor_45.hpp

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "sdk/os/zos.hpp"
+#include "sdk\components\step_motor_45\step_motor_45_scheduler.hpp"
 
 namespace iflytop {
 using namespace std;
@@ -59,7 +60,7 @@ class StepMotor45 {
   int defaultspeed = 1000;
 
  public:
-  void initialize(cfg_t cfg);
+  void initialize(StepMotor45Scheduler *scheduler, cfg_t cfg);
 
   int32_t rotate(int direction) { rotate(direction, defaultspeed); }
   int32_t rotate(int direction, int speed);

components/step_motor_45/step_motor_45_scheduler.cpp

@@ -1,5 +1,6 @@
 #include "step_motor_45_scheduler.hpp"
 
+#include "step_motor_45.hpp"
 using namespace iflytop;
 
 void StepMotor45Scheduler::initialize(zchip_tim_t* tim, int freq) {

components/step_motor_45/step_motor_45_scheduler.hpp

@@ -1,10 +1,10 @@
 #pragma once
 
 #include "sdk/os/zos.hpp"
-#include "step_motor_45.hpp"
+// #include "step_motor_45.hpp"
 namespace iflytop {
 using namespace std;
-
+class StepMotor45;
 class StepMotor45Scheduler {
  public:
   zchip_tim_t* m_htim;