update

components/zcancmder/zcan_protocol_parser.cpp

@@ -56,8 +56,8 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
   REGFN(mini_servo_rotate_with_torque);
 
   REGFN(board_read_ext_io);
-  REGFN(board_write_ext_io);
-  REGFN(board_read_muti_io);
+  REGFN(board_write_ext_outio);
+  REGFN(board_read_muti_inio);
   REGFN(board_read_inio_index_in_stm32);
   REGFN(board_read_outio_index_in_stm32);
 
@@ -387,16 +387,16 @@ int32_t ZCanProtocolParser::board_read_ext_io(cmdcontxt_t* cxt) {
   cxt->acklen  = 4;
   return module->board_read_ext_io(cxt->params[0], ack);
 }
-int32_t ZCanProtocolParser::board_write_ext_io(cmdcontxt_t* cxt) {
+int32_t ZCanProtocolParser::board_write_ext_outio(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(2);
-  return module->board_write_ext_io(cxt->params[0], cxt->params[1]);
+  return module->kboard_write_ext_outio(cxt->params[0], cxt->params[1]);
 }
 
-int32_t ZCanProtocolParser::board_read_muti_io(cmdcontxt_t* cxt) {
+int32_t ZCanProtocolParser::board_read_muti_inio(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(0);
   int32_t* ack = (int32_t*)cxt->ackbuf;
   cxt->acklen  = 4;
-  return module->board_read_muti_io(ack);
+  return module->board_read_muti_inio(ack);
 }
 
 int32_t ZCanProtocolParser::board_read_inio_index_in_stm32(cmdcontxt_t* cxt) {
@@ -412,6 +412,13 @@ int32_t ZCanProtocolParser::board_read_outio_index_in_stm32(cmdcontxt_t* cxt) {
   return module->board_read_outio_index_in_stm32(cxt->params[0], ack);
 }
 
+int32_t ZCanProtocolParser::board_read_outio(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->board_read_outio(cxt->params[0], ack);
+}
+
 #undef MODULE_CLASS
 
 /***********************************************************************************************************************

components/zcancmder/zcan_protocol_parser.hpp

@@ -89,10 +89,11 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   static int32_t mini_servo_rotate_with_torque(cmdcontxt_t* cxt);
 
   static int32_t board_read_ext_io(cmdcontxt_t* cxt);
-  static int32_t board_write_ext_io(cmdcontxt_t* cxt);
-  static int32_t board_read_muti_io(cmdcontxt_t* cxt);
+  static int32_t board_write_ext_outio(cmdcontxt_t* cxt);
+  static int32_t board_read_muti_inio(cmdcontxt_t* cxt);
   static int32_t board_read_inio_index_in_stm32(cmdcontxt_t* cxt);
   static int32_t board_read_outio_index_in_stm32(cmdcontxt_t* cxt);
+  static int32_t board_read_outio(cmdcontxt_t* cxt);
 
   static int32_t code_scaner_start_scan(cmdcontxt_t* cxt);
   static int32_t code_scaner_stop_scan(cmdcontxt_t* cxt);