63 lines
1.8 KiB
C
63 lines
1.8 KiB
C
#include "by_tiny_frame_slave_read_write.h"
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#if defined(BY_TF_DEVICE_SLAVE)
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#include "by_tiny_frame_config.h"
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#include "by_tiny_frame_parse.h"
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#include "by_tiny_frame_pack.h"
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#include "jj_motion.h"
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#include "jj_param.h"
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void by_tiny_frame_read_write_run(void)
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{
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// empty
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}
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void by_tiny_frame_read_write_handle(by_tf_parse_frame_t frame_s, uint8_t status)
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{
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by_tf_pack_frame_t frame_pack_s;
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frame_pack_s.slave_id = BY_TF_DEVICE_SLAVE_ADDRESS;
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frame_pack_s.cmd = frame_s.cmd;
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frame_pack_s.reg_addr = frame_s.reg_addr;
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if (status) {
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// 接收出错，一般为 CRC 校验错误
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return;
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}
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switch (frame_s.cmd) {
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case 0x03:
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// 添加查询接口，操作完成后应答,主机读取，这个是从机
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frame_pack_s.data = 0XFFFFFFFF; //it's useless just now
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by_tiny_frame_pack_send(&frame_pack_s);
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break;
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case 0x06:
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// 添加写入接口，操作完成后应答
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switch (frame_pack_s.reg_addr) {
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case 0x0000:
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temp_frame_param[0].u32 = frame_s.data;
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in_angle=temp_frame_param[0].f32;
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break;
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case 0x0001:
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in_pos = (float)frame_s.data;
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break;
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default:
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break;
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}
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frame_pack_s.data=frame_s.data;
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by_tiny_frame_pack_send(&frame_pack_s);
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break;
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default:
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break;
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}
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#if (BY_TF_DEBUG)
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printf("****** EXECUTE CMD SUCCESSFUL ******\r\n");
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printf("Device ID: 0x%0.2X\r\n", BY_TF_DEVICE_SLAVE_ADDRESS);
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printf("\t--cmd: %0.2X\n\t--reg_addr: 0x%0.4X\n\t--data: 0x%0.8X\r\n", frame_s.cmd, frame_s.reg_addr, frame_s.data);
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#endif
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}
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#endif
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