From cbb2803d81b20679a6769ff38defc1b13feb2a2a Mon Sep 17 00:00:00 2001
From: bmy <2583236812@qq.com>
Date: Mon, 20 May 2024 12:20:21 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E5=A2=9E=E5=8A=A0=E5=A4=8D=E4=BD=8D?=
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---
 app/by_motion.c | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/app/by_motion.c b/app/by_motion.c
index d808986..1e68553 100644
--- a/app/by_motion.c
+++ b/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 {