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update

master
zhaohe 2 years ago
parent
commit
33a356be49
  1. 1
      components/cmdscheduler/cmd_scheduler_v2.cpp
  2. 8
      components/zcan_module/zcan_basic_order_module.cpp
  3. 3
      components/zcan_module/zcan_basic_order_module.hpp

1
components/cmdscheduler/cmd_scheduler_v2.cpp

@ -55,6 +55,7 @@ void CmdSchedulerV2::initialize(ZUART* receiver) {
m_dataisready = true;
// on data ,in irq context
});
m_uart->startRxIt();
regbasiccmd();
}
// int32_t getAckInt32Val(int index) {

8
components/zcan_module/zcan_basic_order_module.cpp

@ -15,6 +15,14 @@ void ZCanBasicOrderModule::initialize(ZCanReceiver* zcanReceiver) {
void ZCanBasicOrderModule::regInputCtl(readfn_t fn) { m_readfn = fn; }
void ZCanBasicOrderModule::regOutCtl(writefn_t fn) { m_writefn = fn; }
void ZCanBasicOrderModule::regReadAdcVal(readadcval_t fn) { m_readadcval = fn; }
void ZCanBasicOrderModule::write_io(int32_t index, bool state) {
if (m_writefn) m_writefn(index, state);
}
int32_t ZCanBasicOrderModule::read_adc(int32_t index) {
int32_t val = 0;
if (m_readadcval) m_readadcval(index, val);
return val;
}
void ZCanBasicOrderModule::onRceivePacket(CanPacketRxBuffer* rxbuf, uint8_t* packet, size_t len) { //

3
components/zcan_module/zcan_basic_order_module.hpp

@ -35,6 +35,9 @@ class ZCanBasicOrderModule : public ZCanRceiverListener {
void regOutCtl(writefn_t fn);
void regReadAdcVal(readadcval_t fn);
void write_io(int32_t index,bool state);
int32_t read_adc(int32_t index);
public:
virtual void onRceivePacket(CanPacketRxBuffer* rxbuf, uint8_t* packet, size_t len);

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