Merge remote-tracking branch 'origin/master'

components/zcancmder/basic.hpp

@@ -26,7 +26,7 @@ using namespace zcr;
 class CanPacketRxBuffer {
  public:
   uint16_t  id               = 0;
-  CANPacket m_canPacket[125] = {0};  // 用于接收can消息
+  CANPacket m_canPacket[100] = {0};  // 用于接收can消息
   uint8_t   m_canPacketNum   = 0;
   uint8_t   m_npacket        = 0;
   uint8_t   rxdata[1000]     = {0};

components/zcancmder/zcanreceiver.cpp

@@ -321,7 +321,12 @@ void ZCanCmder::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandle)
       rxbuf->m_canPacketNum = 0;
     }
 
-    if (rxbuf->m_canPacketNum < 255) {
+    if (rxbuf->m_canPacketNum != frameId) {
+      rxbuf->m_canPacketNum = 0;
+      continue;
+    }
+
+    if (rxbuf->m_canPacketNum < ZARRAY_SIZE(rxbuf->m_canPacket)) {
       rxbuf->m_canPacket[rxbuf->m_canPacketNum].dlc = pHeader.DLC;
       memcpy(rxbuf->m_canPacket[rxbuf->m_canPacketNum].aData, aData, 8);
       rxbuf->m_canPacketNum++;