#include "by_tiny_frame_slave_read_write.h"

#if defined(BY_TF_DEVICE_SLAVE)

#include "by_tiny_frame_config.h"
#include "by_tiny_frame_parse.h"
#include "by_tiny_frame_pack.h"

#include "jj_motion.h"
#include "jj_param.h"

void by_tiny_frame_read_write_run(void)
{
    // empty
}

void by_tiny_frame_read_write_handle(by_tf_parse_frame_t frame_s, uint8_t status)
{
    by_tf_pack_frame_t frame_pack_s;

    frame_pack_s.slave_id = BY_TF_DEVICE_SLAVE_ADDRESS;
    frame_pack_s.cmd      = frame_s.cmd;
    frame_pack_s.reg_addr = frame_s.reg_addr;

    if (status) {
        // 接收出错，一般为 CRC 校验错误
        return;
    }

    switch (frame_s.cmd) {
        case 0x03:
            // 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
            switch (frame_pack_s.reg_addr) {
                case 0x0000:
                    temp_frame_param[0].u32 = frame_s.data;
                    in_angle=temp_frame_param[0].f32;
                    break;
                case 0x0001:
                    in_pos = (float)frame_s.data;
                    break;
                default:
                    break;
            }
            frame_pack_s.data=frame_s.data;
            by_tiny_frame_pack_send(&frame_pack_s);
            break;
        default:
            break;
    }

#if (BY_TF_DEBUG)
    printf("****** EXECUTE CMD SUCCESSFUL ******\r\n");
    printf("Device ID: 0x%0.2X\r\n", BY_TF_DEVICE_SLAVE_ADDRESS);
    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);
#endif
}
#endif