38 lines
1000 B
C
38 lines
1000 B
C
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#include "by_messy.h"
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#include <string.h>
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#include "by_stepper.h"
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#include "by_can.h"
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void by_messy_loop(void)
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{
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}
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void by_messy_int(void)
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{
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can_rx_message_type can_rx_message_struct;
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can_message_receive(CAN1, CAN_RX_FIFO0, &can_rx_message_struct);
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// 接收到位置控制帧
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if (0x006 == can_rx_message_struct.standard_id) {
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uint8_t mode = 0;
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uint8_t speed = 0;
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float position_temp = 0;
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memcpy(&mode, can_rx_message_struct.data, 1);
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memcpy(&speed, can_rx_message_struct.data + 1, 1);
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memcpy(&position_temp, can_rx_message_struct.data + 2, 4);
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by_stepper_set_speed((stepper_speed_t)speed);
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if (0 == mode) {
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by_stepper_set_position_millimeter(position_temp);
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} else if (1 == mode) {
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by_stepper_add_position_millimeter(position_temp);
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}
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} else if (0x007 == can_rx_message_struct.standard_id) {
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if (CAN_TFT_REMOTE == can_rx_message_struct.frame_type) {
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by_can_send_stdd(0x007, &running_flag, 1, 0);
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}
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}
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}
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