update

usrc/hardware.cpp

@@ -71,7 +71,8 @@ void setmotor(TMC5130 *motor, int16_t acc_rpm2, int16_t rpm, int16_t idlepower,
   motor->rotate(ppm);
 }
 
-void Hardware::initialize() {
+void Hardware::initialize(int deviceId) {
+  m_device_id = deviceId;
   IO_PD13_IN.initAsInput(PD13, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
   IO_PC7_IN.initAsInput(PC7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
 
@@ -136,6 +137,15 @@ int32_t Hardware::process_rx_packet(from_where_t fromwhere, uint8_t *packet, int
   Cmdheader_t *cmdheader = (Cmdheader_t *)packet;
 
   /**
+   * @brief Ping
+   */
+  PROCESS_CMD(kcmd_ping, m_device_id) {
+    receipt[0]  = cmdheader->data[0];
+    receiptsize = 1;
+    return 0;
+  }
+
+  /**
    * @brief 获取蒸发仓水浸状态
    */
   PROCESS_CMD(kcmd_proportional_read_water_immersion_sensor, 0) {

usrc/hardware.hpp

@@ -4,9 +4,10 @@ namespace iflytop {
 class Hardware {
  public:
   typedef enum { kcan, kuart } from_where_t;
+  int32_t m_device_id = 0;
 
  public:
-  void    initialize();
+  void    initialize(int deviceId);
   int32_t process_rx_packet(from_where_t fromwhere, uint8_t *packet, int32_t len, uint8_t *receipt, int32_t &receiptsize, bool &matching);
   void    loop();
 };

usrc/main.cpp

@@ -167,7 +167,7 @@ void Main::run() {
   debuglight.initAsOutput(DEBUG_LIGHT_GPIO, ZGPIO::kMode_nopull, false, false);
   ZHAL_CORE_REG(200, { debuglight.toggleState(); });
 
-  m_hardware.initialize();
+  m_hardware.initialize(DEVICE_ID);
 
   static ZUART        uartreceiver;
   static ZUART::cfg_t uartreceiver_cfg = {