update

components/zcan_module/zcan_basic_order_module.cpp

@@ -14,6 +14,7 @@ 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::onRceivePacket(CanPacketRxBuffer* rxbuf, uint8_t* packet, size_t len) {  //
 
@@ -71,6 +72,20 @@ void ZCanBasicOrderModule::onRceivePacket(CanPacketRxBuffer* rxbuf, uint8_t* pac
       m_zcanReceiver->sendPacket(txbuff, sizeof(Cmdheader_t) + 2);
       return;
     }
+  } else if (cmdheader->cmdid == kcmd_readadc_raw && cmdheader->subcmdid == 0) {
+    /**
+     * @brief 读取ADC数值
+     */
+    uint8_t id  = cmdheader->data[0];
+    int32_t val = 0;
+    if (m_readfn && m_readadcval(id, val)) {
+      //
+      uint8_t txbuff[2 + 4]   = {0};
+      txbuff[0]               = id;
+      *(int32_t*)(&txbuff[2]) = val;
+      m_zcanReceiver->sendAck(cmdheader, txbuff, sizeof(txbuff));
+      return;
+    }
   }
 }
 

components/zcan_module/zcan_basic_order_module.hpp

@@ -14,11 +14,13 @@ class ZCanBasicOrderModule : public ZCanRceiverListener {
  private:
   ZCanReceiver* m_zcanReceiver;
 
-  typedef function<bool(uint8_t id, bool& val)> readfn_t;
-  typedef function<bool(uint8_t id, bool val)>  writefn_t;
+  typedef function<bool(uint8_t id, bool& val)>    readfn_t;
+  typedef function<bool(uint8_t id, bool val)>     writefn_t;
+  typedef function<bool(uint8_t id, int32_t& val)> readadcval_t;
 
-  readfn_t  m_readfn;
-  writefn_t m_writefn;
+  readfn_t     m_readfn;
+  writefn_t    m_writefn;
+  readadcval_t m_readadcval;
 
   uint8_t txbuff[32];
 
@@ -31,6 +33,7 @@ class ZCanBasicOrderModule : public ZCanRceiverListener {
 
   void regInputCtl(readfn_t fn);
   void regOutCtl(writefn_t fn);
+  void regReadAdcVal(readadcval_t fn);
 
  public:
   virtual void onRceivePacket(CanPacketRxBuffer* rxbuf, uint8_t* packet, size_t len);

components/zcanreceiver/cmd.hpp

@@ -20,9 +20,10 @@ typedef enum {
 } PacketType_t;
 
 typedef enum {
-  kcmd_ping    = 0,
-  kcmd_read_io = 1,
-  kcmd_set_io  = 2,
+  kcmd_ping        = 0,
+  kcmd_read_io     = 1,
+  kcmd_set_io      = 2,
+  kcmd_readadc_raw = 3,
 
   kcmd_m211887_operation             = 1000,  // 维萨拉压力传感器
   kcmd_read_presure_sensor           = 1001,