CN113126823A - Interface compatible method and electronic equipment - Google Patents
Interface compatible method and electronic equipment Download PDFInfo
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- CN113126823A CN113126823A CN202110426755.8A CN202110426755A CN113126823A CN 113126823 A CN113126823 A CN 113126823A CN 202110426755 A CN202110426755 A CN 202110426755A CN 113126823 A CN113126823 A CN 113126823A
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- 230000006870 function Effects 0.000 claims description 4
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0416—Control or interface arrangements specially adapted for digitisers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/40—Bus structure
- G06F13/4063—Device-to-bus coupling
- G06F13/4068—Electrical coupling
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
- G06F13/4282—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2213/00—Indexing scheme relating to interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F2213/0016—Inter-integrated circuit (I2C)
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Abstract
The invention relates to the field of computers, and discloses an interface compatibility method and electronic equipment, wherein the method is applied to a controller, the controller is connected with a touch pad through a system management bus, the controller is connected with the touch pad through a switch integrated circuit, and a singlechip is installed on the touch pad, and the method comprises the following steps: reading the description of a register in a singlechip on a touch panel; determining an interface of the touch pad according to the description of a register in the singlechip on the touch pad; the switch integrated circuit is controlled to switch according to the interface of the touch pad, so that the touch pad works in different interface protocols, and the touch pad can simultaneously support at least two interfaces.
Description
Technical Field
The present invention relates to the field of computers, and in particular, to an interface compatibility method and an electronic device.
Background
The touch pad is an input device widely used in notebook computers, that is, the touch pad is an input device that can move a cursor by using a sliding operation of a finger on a smooth touch pad, and can be regarded as a substitute of a mouse.
The existing notebook product only supports a touch pad with a single interface, and is not compatible with related products.
Disclosure of Invention
The embodiment of the invention provides an interface compatible method and electronic equipment, which can enable a touch panel to simultaneously support at least two interfaces.
In a first aspect, an embodiment of the present invention provides an interface compatibility method, which is applied to a controller, where the controller is connected to a touch panel through a system management bus, and the controller is connected to the touch panel through a switch integrated circuit, and a single chip is installed on the touch panel, where the method includes:
reading the description of a register in the singlechip on the touch panel;
determining an interface of the touch pad according to the description of a register in a singlechip on the touch pad;
and controlling the switch integrated circuit to switch according to the interface of the touch pad so as to enable the touch pad to work in different interface protocols.
In some embodiments, the method further comprises:
receiving a level signal sent by the touch panel;
determining an interface of the touch pad according to the level signal;
and controlling the switch integrated circuit to switch according to the interface of the touch pad so as to enable the touch pad to work in different interface protocols.
In some embodiments, the interfaces of the touchpad are an I2C interface and a PS2 interface.
In some embodiments, the determining the interface of the touch panel according to the description of the register in the singlechip on the touch panel includes:
reading the equipment identification number and the manufacturer identification number of a register in the singlechip on the touch pad;
and determining the interface of the touch pad according to the equipment identification number and the manufacturer identification number.
In some embodiments, the PS2 interface of the touchpad is predefined to correspond to a device identification number, the I2C interface corresponds to a vendor identification number,
determining the interface of the touch pad according to the device identification number and the manufacturer identification number comprises:
when the device identification number is read, determining that the interface of the touchpad is a PS2 interface;
when the manufacturer identification number is read, the interface of the touchpad is determined to be an I2C interface.
In some embodiments, the determining the interface of the touch panel according to the level signal includes:
when the level signal is a first level signal, the interface of the touch panel is a PS2 interface;
when the level signal is the second level signal, the interface of the touch panel is an I2C interface.
In some embodiments, the first level signal is a high level signal and the second level signal is a low level signal.
In some embodiments, the controlling the switching integrated circuit to switch according to the interface of the touch panel so that the touch panel operates in different interface protocols includes:
when the interface of the touch panel is a PS2 interface, the output selection is controlled to be low, so that the switch integrated circuit is switched to a PS2 interface, and the touch panel works in a PS2 protocol;
when the interface of the touch panel is the I2C interface, the output selection control is high, so that the switch integrated circuit is switched to the I2C interface, and the touch panel works in the I2C protocol.
In a second aspect, an embodiment of the present invention further provides an electronic device, including:
a switch integrated circuit;
the touch panel is provided with a single chip microcomputer;
the controller is connected with the touch pad through a system management bus and connected with the touch pad through a switch integrated circuit;
wherein the controller includes:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the interface compatible methods described above.
In a third aspect, the present invention also provides a non-transitory computer-readable storage medium, which stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the processor is caused to execute the interface compatibility method.
According to the interface compatible method in the embodiment of the invention, the controller is connected with the touch pad through the system management bus, the controller is connected with the touch pad through the switch integrated circuit, the single chip microcomputer is installed on the touch pad, the controller determines the interface of the touch pad according to the read description by reading the description of the register in the single chip microcomputer on the touch pad, and then the switch integrated circuit is controlled to switch according to the interface of the touch pad, so that the touch pad works in different interface protocols, and therefore the touch pad can simultaneously support at least two interfaces.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a diagram of a hardware configuration of an electronic device in one embodiment of the invention;
FIG. 2 is a schematic diagram of the control logic of the switch integrated circuit in one embodiment of the present invention;
FIG. 3 is a diagram illustrating the hardware configuration of a controller according to one embodiment of the present invention;
FIG. 4 is a flow chart illustrating an interface compatibility method according to an embodiment of the present invention;
FIG. 5 is a flow chart illustrating an interface compatibility method according to another embodiment of the present invention;
fig. 6 is a schematic structural diagram of an interface compatible device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. The terms "first", "second", "third", and the like used in the present invention do not limit data and execution order, but distinguish the same items or similar items having substantially the same function and action.
An embodiment of the present invention provides an electronic device, please refer to fig. 1, where the electronic device includes a Controller 10, a Switch integrated circuit 20 and a touch pad 30, the Controller 10 corresponds to an EC Controller in fig. 1, the Switch integrated circuit 20 corresponds to a Switch IC in fig. 1, the touch pad 30 corresponds to a TP in fig. 1, a single chip microcomputer (not shown) is installed on the touch pad 30, specifically, the single chip microcomputer may be installed on a touch pad module, the Controller 10 is connected to the touch pad 30 through a system management bus, and the Controller 10 may also be connected to the touch pad 30 through the Switch integrated circuit 20. The electronic device 1 may be any type of device having a computing function, such as a notebook computer or a tablet computer.
The control logic of the switch integrated circuit 20 is shown in fig. 2, and the switch integrated circuit is configured to switch to different interfaces according to the selected control state output by the controller, so that the touch panel operates in different interface protocols.
As shown in fig. 3, the controller 10 includes one or more processors 102 and memory 104. One processor 102 is illustrated in fig. 3. The processor 102 and the memory 104 may be connected by a bus or other means, such as by a bus connection in fig. 3.
The memory 104, which is a non-volatile computer-readable storage medium, may be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, such as programs, instructions, and modules corresponding to the interface compatibility method in the embodiments of the present invention. The processor 102 executes various functional applications of the controller and data processing by executing nonvolatile software programs, instructions, and modules stored in the memory 104, that is, implements the interface compatibility method in the embodiments described below.
The memory 104 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the interface compatible device usage, and the like. Further, the memory 104 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 104 may optionally include memory located remotely from the processor 102, which may be connected to the interface compatible device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
As shown in fig. 4, an embodiment of the present invention provides an interface compatibility method, where the method is performed by a controller in an electronic device, and the method includes:
and step 402, reading the description of the register in the singlechip on the touch panel.
In the embodiment of the invention, when the electronic equipment is started, the controller reads the description of the register in the singlechip on the touch panel through the system management bus.
And step 404, determining an interface of the touch pad according to the description of the register in the singlechip on the touch pad.
In an embodiment of the present invention, the interface of the touchpad includes an I2C interface and a PS2 interface. The PS2 interface is used for modern mouse and keyboard, and the I2C interface is composed of serial data line, serial clock line and pull-up resistor. Specifically, after the controller reads the description of the register in the singlechip on the touch panel, the interface of the touch panel can be determined according to the description of the register in the singlechip on the touch panel.
In some embodiments, as an implementation of step 403, the method includes: reading the equipment identification number and the manufacturer identification number of a register in the singlechip on the touch pad; and determining the interface of the touch pad according to the equipment identification number and the manufacturer identification number.
In the embodiment of the invention, the PS2 interface of the touchpad is predefined to correspond to the device identification number DID, and the I2C interface of the touchpad corresponds to the vendor identification number VID. Specifically, the controller reads the description of the register in the singlechip on the touch pad, determines that the interface of the touch pad is a PS2 interface when the read description of the register in the singlechip on the touch pad is a device identification number DID, and determines that the interface of the touch pad is an I2C interface when the read description of the register in the singlechip on the touch pad is a manufacturer identification number.
And 406, controlling the switch integrated circuit to switch according to the interface of the touch pad, so that the touch pad works in different interface protocols.
In the embodiment of the invention, the touch pad works in different interface protocols by switching the switch integrated circuit, when the controller determines the interface of the touch pad, the controller can output a state of selective control, and the switch integrated circuit performs interface switching according to the state of selective control, so that the touch pad works in different interface protocols.
In some embodiments, as an implementation of step 406, the method includes: when the interface of the touch panel is a PS2 interface, the output selection is controlled to be low, so that the switch integrated circuit is switched to a PS2 interface, and the touch panel works in a PS2 protocol; when the interface of the touch panel is the I2C interface, the output selection control is high, so that the switch integrated circuit is switched to the I2C interface, and the touch panel works in the I2C protocol.
The switch integrated circuit determines which interface to switch to according to the selection control state output by the controller. When the controller determines that the interface of the touch pad is the PS2 interface according to the description of the register in the singlechip on the touch pad, a selection control state is output. Specifically, when the interface of the touch panel is the PS2 interface, the controller output selection control is low, and the switch integrated circuit is switched to the PS2 interface so that the touch panel operates in the PS2 protocol. When the interface of the touch pad is the I2C interface, the controller output selection control is high, and the switch integrated circuit switches to the I2C interface so that the touch pad operates in the I2C protocol.
In the embodiment of the invention, the controller is connected with the touch pad through the system management bus, the controller is connected with the touch pad through the switch integrated circuit, the touch pad is provided with the single chip microcomputer, the controller reads the description of the register in the single chip microcomputer on the touch pad, then determines the interface of the touch pad according to the read description, and then controls the switch integrated circuit to switch according to the interface of the touch pad so as to enable the touch pad to work in different interface protocols, thereby enabling the touch pad to simultaneously support at least two interfaces.
In some other embodiments, in addition to determining the interface of the touch panel by reading the description of the register, the interface of the touch panel may be determined by a level signal, as shown in fig. 5, and the method further includes:
In the embodiment of the invention, the touch panel sends the level signal to the controller to inform the controller of the current interface used by the touch panel, namely the controller receives the level signal sent by the touch panel.
And step 504, determining the interface of the touch pad according to the level signal.
Specifically, the level signal includes a first level signal and a second level signal, and when the level signal is the first level signal, the interface of the touch panel is a PS2 interface; when the level signal is the second level signal, the interface of the touch panel is an I2C interface. Wherein the first level is a high level and the second level is a low level. Specifically, when the level signal received by the controller is a first level signal, that is, a high level signal, it is determined that the interface of the touch panel is a PS2 interface; when the controller receives a low level signal when the level signal is the second level signal, the interface of the touch panel is determined to be the I2C interface.
In the embodiment of the invention, the touch pad works in different interface protocols by switching the switch integrated circuit, when the controller determines the interface of the touch pad, the controller can output a state of selective control, and the switch integrated circuit performs interface switching according to the state of selective control, so that the touch pad works in different interface protocols.
In some embodiments, as an implementation of step 506, the method comprises: when the interface of the touch panel is a PS2 interface, the output selection is controlled to be low, so that the switch integrated circuit is switched to a PS2 interface, and the touch panel works in a PS2 protocol; when the interface of the touch panel is the I2C interface, the output selection control is high, so that the switch integrated circuit is switched to the I2C interface, and the touch panel works in the I2C protocol.
The switch integrated circuit determines which interface to switch to according to the selection control state output by the controller. When the controller determines that the interface of the touch pad is the PS2 interface according to the description of the register in the singlechip on the touch pad, a selection control state is output. Specifically, when the interface of the touch panel is the PS2 interface, the controller output selection control is low, and the switch integrated circuit is switched to the PS2 interface so that the touch panel operates in the PS2 protocol. When the interface of the touch pad is the I2C interface, the controller output selection control is high, and the switch integrated circuit switches to the I2C interface so that the touch pad operates in the I2C protocol.
In the embodiment of the invention, the controller receives the level signal sent by the touch panel, then determines the interface of the touch panel according to the level signal, and then controls the switch integrated circuit to switch according to the interface of the touch panel, so that the touch panel works in different interface protocols, thereby enabling the touch panel to simultaneously support at least two interfaces.
Accordingly, an embodiment of the present invention further provides an interface compatible apparatus 600, as shown in fig. 6, the apparatus 600 includes:
a reading module 602, configured to read descriptions of a register in the single chip microcomputer on the touch panel;
the first determining module 604 is configured to determine an interface of the touch panel according to a description of a register in the single chip microcomputer on the touch panel;
the first switching module 606 is configured to control the switch integrated circuit to switch according to the interface of the touch panel, so that the touch panel operates in different interface protocols.
In the embodiment of the invention, the description of the register in the singlechip on the touch pad is read by the reading module, then the interface of the touch pad is determined by the determining module according to the description of the register in the singlechip on the touch pad, and then the switching module controls the switch integrated circuit to switch according to the interface of the touch pad, so that the touch pad works in different interface protocols, thereby enabling the touch pad to simultaneously support at least two interfaces.
Optionally, in some embodiments of the apparatus, the first determining module 604 is specifically configured to:
reading the equipment identification number and the manufacturer identification number of a register in the singlechip on the touch pad;
and determining the interface of the touch pad according to the equipment identification number and the manufacturer identification number.
When the device identification number is read, determining that the interface of the touchpad is a PS2 interface;
when the manufacturer identification number is read, the interface of the touchpad is determined to be an I2C interface.
Optionally, in some embodiments of the apparatus, the first switching module 606 is specifically configured to:
when the interface of the touch panel is a PS2 interface, the output selection is controlled to be low, so that the switch integrated circuit is switched to a PS2 interface, and the touch panel works in a PS2 protocol;
when the interface of the touch panel is the I2C interface, the output selection control is high, so that the switch integrated circuit is switched to the I2C interface, and the touch panel works in the I2C protocol.
Optionally, in other embodiments of the apparatus, the interfaces of the touchpad are an I2C interface and a PS2 interface.
Optionally, in another embodiment of the apparatus, the PS2 interface of the touchpad is predefined to correspond to a device identification number, and the I2C interface of the touchpad corresponds to a vendor identification number.
Optionally, in some embodiments of the apparatus, as shown in fig. 6, the apparatus 600 further includes:
a receiving module 608, configured to receive the level signal sent by the touch panel;
a second determining module 610, configured to determine an interface of the touch panel according to the level signal;
the second switching module 612 is configured to control the switch integrated circuit to switch according to the interface of the touch panel, so that the touch panel operates in different interface protocols.
In the embodiment of the invention, the receiving module receives the level signal sent by the touch panel, the second determining module determines the interface of the touch panel according to the level signal, and the second switching module controls the switch integrated circuit to switch according to the interface of the touch panel, so that the touch panel works in different interface protocols, and the touch panel can simultaneously support at least two interfaces.
Optionally, in other embodiments of the apparatus, the second determining module 610 is specifically configured to:
when the level signal is a first level signal, the interface of the touch panel is a PS2 interface;
when the level signal is the second level signal, the interface of the touch panel is an I2C interface.
Optionally, in other embodiments of the apparatus, the second switching module 612 is specifically configured to:
when the interface of the touch panel is a PS2 interface, the output selection is controlled to be low, so that the switch integrated circuit is switched to a PS2 interface, and the touch panel works in a PS2 protocol;
when the interface of the touch panel is the I2C interface, the output selection control is high, so that the switch integrated circuit is switched to the I2C interface, and the touch panel works in the I2C protocol.
Optionally, in another embodiment of the apparatus, the first level signal is a high level signal, and the second level signal is a low level signal.
It should be noted that the interface compatible device may execute the interface compatible method provided by the embodiment of the present invention, and has a corresponding functional module and a beneficial effect of the execution method, and reference may be made to the interface compatible method provided by the embodiment of the present invention without detailed technical details in the embodiment of the interface compatible device.
Embodiments of the present invention also provide a non-transitory computer-readable storage medium, where computer-executable instructions are stored, and when executed by one or more processors, may cause the one or more processors to perform an interface compatibility method in any of the above method embodiments.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An interface compatible method is characterized in that the interface compatible method is applied to a controller, the controller is connected with a touch pad through a system management bus, the controller is connected with the touch pad through a switch integrated circuit, a single chip microcomputer is installed on the touch pad, and the method comprises the following steps:
reading the description of a register in the singlechip on the touch panel;
determining an interface of the touch pad according to the description of a register in a singlechip on the touch pad;
and controlling the switch integrated circuit to switch according to the interface of the touch pad so as to enable the touch pad to work in different interface protocols.
2. The method of claim 1, further comprising:
receiving a level signal sent by the touch panel;
determining an interface of the touch pad according to the level signal;
and controlling the switch integrated circuit to switch according to the interface of the touch pad so as to enable the touch pad to work in different interface protocols.
3. The method of claim 1 or 2, wherein the interface of the touchpad is an I2C interface and a PS2 interface.
4. The method of claim 3, wherein determining the interface of the touch panel according to the description of the register in the singlechip on the touch panel comprises:
reading the equipment identification number and the manufacturer identification number of a register in the singlechip on the touch pad;
and determining the interface of the touch pad according to the equipment identification number and the manufacturer identification number.
5. The method of claim 4, wherein the PS2 interface of the touchpad is predefined to correspond to a device identification number, the I2C interface corresponds to a vendor identification number,
determining the interface of the touch pad according to the device identification number and the manufacturer identification number comprises:
when the device identification number is read, determining that the interface of the touchpad is a PS2 interface;
when the manufacturer identification number is read, the interface of the touchpad is determined to be an I2C interface.
6. The method of claim 3, wherein determining the interface of the touchpad as a function of the level signal comprises:
when the level signal is a first level signal, the interface of the touch panel is a PS2 interface;
when the level signal is the second level signal, the interface of the touch panel is an I2C interface.
7. The method of claim 6, wherein the first level signal is a high level signal and the second level signal is a low level signal.
8. The method of claim 3, wherein the controlling the switching integrated circuit to switch according to the interface of the touch pad to operate the touch pad in different interface protocols comprises:
when the interface of the touch panel is a PS2 interface, the output selection is controlled to be low, so that the switch integrated circuit is switched to a PS2 interface, and the touch panel works in a PS2 protocol;
when the interface of the touch panel is the I2C interface, the output selection control is high, so that the switch integrated circuit is switched to the I2C interface, and the touch panel works in the I2C protocol.
9. An electronic device, comprising:
a switch integrated circuit;
the touch panel is provided with a single chip microcomputer;
the controller is connected with the touch pad through a system management bus and connected with the touch pad through a switch integrated circuit;
wherein the controller includes:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.
10. A non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by a processor, cause the processor to perform the method of any one of claims 1-8.
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| CN202110426755.8A CN113126823A (en) | 2021-04-20 | 2021-04-20 | Interface compatible method and electronic equipment |
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| CN109376105A (en) * | 2018-11-09 | 2019-02-22 | 加弘科技咨询(上海)有限公司 | M.2 interface module, device and the control method of compatible multiple interfaces agreement |
| CN112131160A (en) * | 2020-09-27 | 2020-12-25 | 北京海益同展信息科技有限公司 | Working mode switching circuit, working mode switching method and robot |
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