add new api

components/zcan_module/zcan_pump_ctrl_module.cpp

@@ -41,7 +41,33 @@ void ZCanPumpCtrlModule::onRceivePacket(CanPacketRxBuffer* rxbuf, uint8_t* packe
       int16_t acc = *(int16_t*)(&cmdheader->data[2]);
       int16_t rpm = *(int16_t*)(&cmdheader->data[4]);
 
-      subm->m_pumprun_fn(acc, rpm);
+      subm->m_pumprun_fn(acc, rpm, -1, -1);
+
+      uint8_t txbuff[1] = {};
+      txbuff[0]         = id;
+      m_zcanReceiver->sendAck(cmdheader, txbuff, sizeof(txbuff));
+      return;
+    }
+  }
+
+  if (cmdheader->cmdid == kcmd_peristaltic_pump_ctl && cmdheader->subcmdid == 1) {
+    /**
+     * @brief
+     *  cmd:
+     *      [0]:蠕动泵ID
+     *      [2:3]:acc  [4:5]:转速rpm [6]: 功率
+     *  ack         : b0:pumpid
+     *  ack_datalen : 1
+     */
+    uint8_t    id   = cmdheader->data[0];
+    Submodule* subm = find(id);
+    if (subm) {
+      int16_t acc       = *(int16_t*)(&cmdheader->data[2]);
+      int16_t rpm       = *(int16_t*)(&cmdheader->data[4]);
+      int16_t idlepower = cmdheader->data[6];
+      int16_t power     = cmdheader->data[7];
+
+      subm->m_pumprun_fn(acc, rpm, idlepower, power);
 
       uint8_t txbuff[1] = {};
       txbuff[0]         = id;

components/zcan_module/zcan_pump_ctrl_module.hpp

@@ -12,7 +12,7 @@ namespace iflytop {
 
 class ZCanPumpCtrlModule : public ZCanRceiverListener {
  public:
-  typedef function<void(int16_t acc, int16_t rpm)> pumprun_t;
+  typedef function<void(int16_t acc, int16_t rpm, int16_t idlepower, int16_t power)> pumprun_t;
 
   class Submodule {
    public: