update

chip/basic/basic_h/pin.hpp

@@ -117,5 +117,5 @@ typedef enum {
 } Pin_t;
 
 namespace iflytop {
- const char* pinname(Pin_t pin);
+const char* pinname(Pin_t pin);
 }

chip/basic/chip_helper.cpp

@@ -21,38 +21,38 @@ GPIO_TypeDef* chip_get_gpio(Pin_t pin) {
   int port = pin >> 4;
 
   switch (port) {
-    case 1:
+    case (PA0 >> 4):
 #ifdef GPIOA
       return GPIOA;
 #endif
       break;
-    case 2:
+    case (PB0 >> 4):
 #ifdef GPIOB
       return GPIOB;
 #endif
       break;
-    case 3:
+    case (PC0 >> 4):
 #ifdef GPIOC
       return GPIOC;
 #endif
       break;
-    case 4:
+    case (PD0 >> 4):
 #ifdef GPIOD
       return GPIOD;
 #endif
       break;
 
-    case 5:
+    case (PE0 >> 4):
 #ifdef GPIOE
       return GPIOE;
 #endif
       break;
-    case 6:
+    case (PF0 >> 4):
 #ifdef GPIOF
       return GPIOF;
 #endif
       break;
-    case 7:
+    case (PG0 >> 4):
 #ifdef GPIOG
       return GPIOG;
 #endif
@@ -408,8 +408,8 @@ bool chip_calculate_prescaler_and_autoreload_by_expect_freq(uint32_t timerInClk,
   int   psc_x_arr_real = arr * psc;
   float realfreq       = timerInClk / psc_x_arr_real;
 
-  arr                   = arr - 1;
-  psc                   = psc - 1;
+  arr = arr - 1;
+  psc = psc - 1;
   // uint16_t comparevalue = 50 / 100.0 * arr;
 
   *prescaler  = psc;

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -214,6 +214,7 @@ int32_t StepMotorCtrlModule::step_motor_read_io_index_in_stm32(int32_t ioindex,
   if (ioindex < 0 || ioindex >= m_nio) {
     return err::kstep_motor_ioindex_out_of_range;
   }
+  *index_in_stm32 = m_iotable[ioindex].getPin();
   return 0;
 }
 

components/zcancmder/zcan_protocol_parser.cpp

@@ -42,6 +42,7 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
   REGFN(step_motor_read_tmc4361a_state);
   REGFN(step_motor_read_tmc2160_status);
   REGFN(step_motor_read_tmc2160_state);
+  REGFN(step_motor_read_io_index_in_stm32);
 
   REGFN(mini_servo_enable);
   REGFN(mini_servo_read_pos);
@@ -57,6 +58,8 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
   REGFN(board_read_ext_io);
   REGFN(board_write_ext_io);
   REGFN(board_read_muti_io);
+  REGFN(board_read_inio_index_in_stm32);
+  REGFN(board_read_outio_index_in_stm32);
 
   REGFN(code_scaner_start_scan);
   REGFN(code_scaner_stop_scan);
@@ -311,6 +314,12 @@ int32_t ZCanProtocolParser::step_motor_read_tmc2160_state(cmdcontxt_t* cxt) {
   cxt->acklen  = 4;
   return module->step_motor_read_tmc2160_state(&ack[0]);
 }
+int32_t ZCanProtocolParser::step_motor_read_io_index_in_stm32(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->step_motor_read_io_index_in_stm32(cxt->params[0], ack);
+}
 
 #undef MODULE_CLASS
 #define MODULE_CLASS ZIMiniServo
@@ -390,6 +399,19 @@ int32_t ZCanProtocolParser::board_read_muti_io(cmdcontxt_t* cxt) {
   return module->board_read_muti_io(ack);
 }
 
+int32_t ZCanProtocolParser::board_read_inio_index_in_stm32(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->board_read_inio_index_in_stm32(cxt->params[0], ack);
+}
+int32_t ZCanProtocolParser::board_read_outio_index_in_stm32(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->board_read_outio_index_in_stm32(cxt->params[0], ack);
+}
+
 #undef MODULE_CLASS
 
 /***********************************************************************************************************************

components/zcancmder/zcan_protocol_parser.hpp

@@ -75,6 +75,7 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   static int32_t step_motor_read_tmc4361a_state(cmdcontxt_t* cxt);
   static int32_t step_motor_read_tmc2160_status(cmdcontxt_t* cxt);
   static int32_t step_motor_read_tmc2160_state(cmdcontxt_t* cxt);
+  static int32_t step_motor_read_io_index_in_stm32(cmdcontxt_t* cxt);
 
   static int32_t mini_servo_enable(cmdcontxt_t* cxt);
   static int32_t mini_servo_read_pos(cmdcontxt_t* cxt);
@@ -90,6 +91,8 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   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_read_inio_index_in_stm32(cmdcontxt_t* cxt);
+  static int32_t board_read_outio_index_in_stm32(cmdcontxt_t* cxt);
 
   static int32_t code_scaner_start_scan(cmdcontxt_t* cxt);
   static int32_t code_scaner_stop_scan(cmdcontxt_t* cxt);