update

components/zcancmder/zcan_protocol_parser.cpp

@@ -33,6 +33,18 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
   REGFN(step_motor_stop);
   REGFN(step_motor_read_io_state);
 
+  REGFN(mini_servo_enable);
+  REGFN(mini_servo_read_pos);
+  REGFN(mini_servo_active_cfg);
+  REGFN(mini_servo_stop);
+  REGFN(mini_servo_rotate);
+  REGFN(mini_servo_move_to);
+  REGFN(mini_servo_set_mid_point);
+  REGFN(mini_servo_read_io_state);
+
+  REGFN(board_read_ext_io);
+  REGFN(board_write_ext_io);
+
 #if 0
   REGFN(xymotor_enable);
   REGFN(xymotor_move_by);
@@ -143,7 +155,6 @@ int32_t ZCanProtocolParser::module_get_reg(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(1);
   int32_t* ack = (int32_t*)cxt->ackbuf;
   cxt->acklen  = 4;
-  ZLOGI(TAG, "module_get_reg %d", cxt->params[0]);
   return module->module_get_reg(cxt->params[0], &ack[0]);
 }
 
@@ -274,6 +285,20 @@ int32_t ZCanProtocolParser::mini_servo_read_io_state(cmdcontxt_t* cxt) {
   cxt->acklen  = 4;
   return module->mini_servo_read_io_state(cxt->params[0], ack);
 }
+#undef MODULE_CLASS
+
+#define MODULE_CLASS ZIBoard
+int32_t ZCanProtocolParser::board_read_ext_io(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->board_read_ext_io(cxt->params[0], ack);
+}
+int32_t ZCanProtocolParser::board_write_ext_io(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->board_write_ext_io(cxt->params[0], cxt->params[1]);
+}
+#undef MODULE_CLASS
 
 #if 0
 

components/zcancmder/zcan_protocol_parser.hpp

@@ -77,6 +77,12 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   static int32_t mini_servo_set_mid_point(cmdcontxt_t* cxt);
   static int32_t mini_servo_read_io_state(cmdcontxt_t* cxt);
 
+  //   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;
+
+  static int32_t board_read_ext_io(cmdcontxt_t* cxt);
+  static int32_t board_write_ext_io(cmdcontxt_t* cxt);
+
 #if 0
   static int32_t xymotor_enable(cmdcontxt_t* cxt);
   static int32_t xymotor_move_by(cmdcontxt_t* cxt);