#include "by_messy.h"

#include <string.h>
#include "by_stepper.h"
#include "by_can.h"

void by_messy_loop(void)
{
}

void by_messy_int(void)
{
  can_rx_message_type can_rx_message_struct;
  can_message_receive(CAN1, CAN_RX_FIFO0, &can_rx_message_struct);

  // 接收到位置控制帧
  if (0x006 == can_rx_message_struct.standard_id) {
    uint8_t mode        = 0;
    uint8_t speed       = 0;
    float position_temp = 0;

    memcpy(&mode, can_rx_message_struct.data, 1);
    memcpy(&speed, can_rx_message_struct.data + 1, 1);
    memcpy(&position_temp, can_rx_message_struct.data + 2, 4);

    by_stepper_set_speed((stepper_speed_t)speed);

    if (0 == mode) {
      by_stepper_set_position_millimeter(position_temp);
    } else if (1 == mode) {
      by_stepper_add_position_millimeter(position_temp);
    }
  } else if (0x007 == can_rx_message_struct.standard_id) {
    if (CAN_TFT_REMOTE == can_rx_message_struct.frame_type) {
      by_can_send_stdd(0x007, &running_flag, 1, 0);
    }
  }
}