From c0f611576a9c54e8d65f48de38c7ed5bdb21f1c8 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sat, 8 Jun 2024 17:42:05 +0800 Subject: [PATCH] update --- api/apibasic/cmdid.hpp | 13 +++++++------ api/zi_board.hpp | 8 +++++--- 2 files changed, 12 insertions(+), 9 deletions(-) diff --git a/api/apibasic/cmdid.hpp b/api/apibasic/cmdid.hpp index 798516f..8fcf752 100644 --- a/api/apibasic/cmdid.hpp +++ b/api/apibasic/cmdid.hpp @@ -64,12 +64,13 @@ typedef enum { kstep_motor_read_io_state = CMDID(2, 42), // para:{4}, ack:{} kstep_motor_easy_move_to_end_point = CMDID(2, 44), // - kstep_motor_read_tmc5130_status = CMDID(2, 50), // - kstep_motor_read_tmc5130_state = CMDID(2, 51), // 调试使用 - kstep_motor_read_tmc4361a_status = CMDID(2, 52), // 调试使用 - kstep_motor_read_tmc4361a_state = CMDID(2, 53), // 调试使用 - kstep_motor_read_tmc2160_status = CMDID(2, 54), // 调试使用 - kstep_motor_read_tmc2160_state = CMDID(2, 55), // 调试使用 + kstep_motor_read_tmc5130_status = CMDID(2, 50), // + kstep_motor_read_tmc5130_state = CMDID(2, 51), // 调试使用 + kstep_motor_read_tmc4361a_status = CMDID(2, 52), // 调试使用 + kstep_motor_read_tmc4361a_state = CMDID(2, 53), // 调试使用 + kstep_motor_read_tmc2160_status = CMDID(2, 54), // 调试使用 + kstep_motor_read_tmc2160_state = CMDID(2, 55), // 调试使用 + kstep_motor_read_io_index_in_stm32 = CMDID(2, 56), // 调试使用 /*********************************************************************************************************************** * MINI_SERVO * diff --git a/api/zi_board.hpp b/api/zi_board.hpp index 822e3d7..bbb45d0 100644 --- a/api/zi_board.hpp +++ b/api/zi_board.hpp @@ -10,8 +10,10 @@ using namespace std; class ZIBoard { public: virtual ~ZIBoard() {} - virtual int32_t board_read_ext_io(int32_t ioindex, int32_t *val) = 0; - virtual int32_t board_write_ext_io(int32_t ioindex, int32_t val) = 0; - virtual int32_t board_read_muti_io(int32_t *val) = 0; + virtual int32_t board_read_ext_io(int32_t ioindex, int32_t *val) = 0; + virtual int32_t board_write_ext_io(int32_t ioindex, int32_t val) = 0; + virtual int32_t board_read_muti_io(int32_t *val) = 0; + virtual int32_t board_read_inio_index_in_stm32(int32_t ioindex, int32_t *val) = 0; + virtual int32_t board_read_outio_index_in_stm32(int32_t ioindex, int32_t *val) = 0; }; } // namespace iflytop \ No newline at end of file