feat: 增加复位动作

app/by_motion.c

@@ -16,6 +16,7 @@ PID_TypeDef pid_m1;
 PID_TypeDef pid_m2;
 uint8_t motion_enable_flag;
 uint8_t motion_busy_flag;
+uint8_t motion_reset_flag;
 int16_t time_via;
 float position_abs;
 
@@ -113,6 +114,15 @@ void by_motion_set_distance2(float distance, int16_t speed)
   distance = distance - position_abs;
   position_abs += distance;
 
+  if (5.0 >= position_abs) {
+    position_abs = 0;
+    by_motion_set_speed_m1(-4);
+    motion_busy_flag  = 1;
+    motion_reset_flag = 1;
+    LOGD("RESET position_abs = %f\r\n", position_abs);
+    return;
+  }
+
   if (distance < 0.0f) {
     distance = -distance;
     by_motion_set_speed_m1(-1 * speed);
@@ -225,6 +235,15 @@ void by_motion_tmr_handle(void)
     return;
   }
 
+  if (motion_reset_flag) {
+    if (!gpio_input_data_bit_read(GPIOB, GPIO_PINS_3)) {
+      motion_reset_flag = 0;
+      motion_busy_flag  = 0;
+      by_motion_set_speed_m1(0);
+    }
+    return;
+  }
+
   if (time_via > 0) {
     time_via--;
   } else {