btl143/QD4C-firmware
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Merge branch 'master' of http://git.brisky.space:441/btl143/firmware_zinnia

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bmy
2024-03-02 16:13:54 +08:00
parent c03d2ddc74 0b9db20066
commit f1c0b63d21
42 changed files with 575 additions and 2161 deletions
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17
app/tiny_frame/by_tiny_frame_slave_read_write.c
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@@ -6,6 +6,8 @@
#include "by_tiny_frame_parse.h"
#include "by_tiny_frame_pack.h"
#include "jj_motion.h"
void by_tiny_frame_read_write_run(void)
{
// empty
@@ -26,13 +28,22 @@ void by_tiny_frame_read_write_handle(by_tf_parse_frame_t frame_s, uint8_t status
switch (frame_s.cmd) {
case 0x03:
// 添加查询接口，操作完成后应答
frame_pack_s.data = 0XFFFFFFFF; // 示例
// 添加查询接口，操作完成后应答,主机读取，这个是从机
frame_pack_s.data = 0XFFFFFFFF; //it's useless just now
by_tiny_frame_pack_send(&frame_pack_s);
break;
case 0x06:
// 添加写入接口，操作完成后应答
frame_pack_s.data = frame_s.data;
switch (frame_pack_s.reg_addr) {
case 0x00:
in_angle = (float)frame_s.data;
break;
case 0x01:
in_pos = (float)frame_s.data;
break;
default:
break;
}
by_tiny_frame_pack_send(&frame_pack_s);
break;
default: