update

dep/libiflytop_micro

@@ -1 +1 @@
-Subproject commit ffc78e8dc163fe8baea44325f3aeaca9ee05c146
+Subproject commit 353a1158b633a08a4cf1c47940c698c494b9e978

src/board/hardware.cpp

@@ -3,7 +3,7 @@
 #include "i2c.h"
 using namespace iflytop;
 #define TAG        "hardware"
-#define ENABLE_CAN 0
+#define ENABLE_CAN 1
 extern "C" {
 int fputc(int ch, FILE *stream) {
   uint8_t c = ch;
@@ -42,7 +42,7 @@ void Hardware::hardwareinit() {
  *******************************************************************************/
 #if ENABLE_CAN
   IflytopCanSlave::iflytop_can_slave_config_t *config = canSlaveService.createDefaultConfig(DEVICE_ID);
-  canSlaveService.initialize(m_os, config);
+  canSlaveService.initialize(this, config);
   canSlaveService.activateRxIT();
   canSlaveService.registerListener(this);
 #endif
@@ -65,7 +65,7 @@ void Hardware::hardwareinit() {
   /*******************************************************************************
    *                                 电机初始化                                  *
    *******************************************************************************/
-#if 1
+#if 0
   tmc_init();
   tmc_extern_clk_enable();
   // 4361初始化
@@ -137,7 +137,7 @@ void Hardware::periodicJob() {
 #endif
   do_debug_light_state();
 #if ENABLE_CAN
-  // testCanSlaveTxAndRx();
+  testCanSlaveTxAndRx();
 #endif
 }
 void Hardware::do_debug_light_state() {
@@ -174,7 +174,8 @@ void Hardware::testCanSlaveTxAndRx() {
     static uint8_t  tx[8] = {1, 2, 3, 4, 5, 6, 7, 8};
     if (hasPassedMS(lastcall) > 1000) {
       lastcall = getTicket();
-      canSlaveService.translate(0x01, tx, 8, 2);
+      // canSlaveService.translate(0x01, tx, 8, 2);
+      canSlaveService.sendReport(1, 2, 3, 100);
       if (canSlaveService.getLastTransmitStatus() == HAL_OK) {
         ZLOGI(TAG, "send ok");
       } else {
@@ -190,12 +191,19 @@ void Hardware::testCanSlaveTxAndRx() {
     m_canOnRxDataFlag = false;
     static CAN_RxHeaderTypeDef packetHeader;
     static uint8_t             packetData[8];
-    while (canSlaveService.getRxMessage(&packetHeader, packetData)) {
+    // while (canSlaveService.getRxMessage(&packetHeader, packetData)) {
+    //   ZLOGI(TAG, "rx packet:");
+    //   ZLOGI(TAG, "\tid:%x  len:%d", packetHeader.StdId, packetHeader.DLC);
+    //   ZLOGI_HEX(TAG, packetData, packetHeader.DLC);
+    // }
+
+    static IflytopCanSlave::packet_t packet;
+    while (canSlaveService.getRxPacket(&packet)) {
       ZLOGI(TAG, "rx packet:");
-      ZLOGI(TAG, "\tid:%x  len:%d", packetHeader.StdId, packetHeader.DLC);
-      ZLOGI_HEX(TAG, packetData, packetHeader.DLC);
+      ZLOGI(TAG, "\ttype:%01x, targetId:%01x, sourceId:%02x, seq:%02x, regAdd:%02x, regValue:%04x",  //
+            packet.type, packet.targetId, packet.sourceId, packet.seq, packet.regAdd, packet.regValue);
     }
-    // canSlaveService.activateRxIT();
+    canSlaveService.activateRxIT();
   }
 }
 void Hardware::TMC4361APort_setResetPinState(uint16_t channel, bool state) { tmc_nRESET_pin_set_state(channel, state); }

src/umain.cpp

@@ -28,21 +28,15 @@ class Main {
   bool canOnRxDataFlag;
 
   Main() { canOnRxDataFlag = false; }
-  void initialize();
   void main(int argc, char const *argv[]);
 };
 
-void Main::initialize() {
-  zsignal_init(zsignal_listener, ZARRAY_SIZE(zsignal_listener));
-  m_hardware.hardwareinit();
-  // canSlaveService = &m_hardware.canSlaveService;
-}
-
 void Main::main(int argc, char const *argv[]) {
   sys_loggger_enable(true);
   ZLOGI(TAG, "VERSION:%s", VERSION);
   // port_peltier_set_pwm(0);
-  initialize();
+  zsignal_init(zsignal_listener, ZARRAY_SIZE(zsignal_listener));
+  m_hardware.hardwareinit();
   while (true) {
     m_hardware.periodicJob();
     // m_hardware.testCanSlaveTxAndRx(canOnRxDataFlag);