update

components/zcanreceiver/zcanreceiver.cpp

@@ -107,7 +107,66 @@ HAL_StatusTypeDef ZCanReceiver::initializeFilter() {
 }
 
 void ZCanReceiver::registerListener(ZCanRceiverListener *listener) { m_listenerList.push_back(listener); }
-void ZCanReceiver::sendPacket(uint8_t *packet, size_t len) {}
+void ZCanReceiver::sendPacket(uint8_t *packet, size_t len) {
+  /**
+   * @brief
+   */
+  int npacket = len / 8 + (len % 8 == 0 ? 0 : 1);
+  if (npacket > 255) {
+    ZLOGE(TAG, "sendPacket fail, len:%d", len);
+    return;
+  }
+  int finalpacketlen = len % 8 == 0 ? 8 : len % 8;
+
+  for (uint8_t i = 0; i < npacket; i++) {
+    bool suc = false;
+    if (i == npacket - 1) {
+      suc = sendPacketSub(npacket, i, packet + i * 8, finalpacketlen, OVER_TIME_MS);
+    } else {
+      suc = sendPacketSub(npacket, i, packet + i * 8, 8, OVER_TIME_MS);
+    }
+    if (!suc) {
+      ZLOGE(TAG, "sendPacket fail, packet(%d:%d)", npacket, i);
+      return;
+    }
+  }
+}
+
+bool ZCanReceiver::sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems) {
+  CAN_TxHeaderTypeDef pHeader;
+  uint8_t             aData[8] /*8byte table*/;
+  uint32_t            txMailBox = 0;
+
+  uint32_t enterticket = chip_get_ticket();
+
+  memset(&pHeader, 0, sizeof(pHeader));
+  memset(aData, 0, sizeof(aData));
+  pHeader.StdId              = 0x00;
+  pHeader.ExtId              = (m_config->deviceId << 16) | (npacket << 8) | packetIndex;
+  pHeader.IDE                = CAN_ID_EXT;
+  pHeader.RTR                = CAN_RTR_DATA;
+  pHeader.DLC                = len;
+  pHeader.TransmitGlobalTime = DISABLE;
+
+  memcpy(aData, packet, len);
+
+  m_lastTransmitStatus = HAL_CAN_AddTxMessage(m_config->canHandle, &pHeader, aData, &txMailBox);
+  if (m_lastTransmitStatus != HAL_OK) {
+    ZLOGE(TAG, "HAL_CAN_AddTxMessage fail");
+    return false;
+  }
+
+  while (HAL_CAN_IsTxMessagePending(m_config->canHandle, txMailBox)) {
+    if (haspassedms(enterticket) > (uint32_t)overtimems) {
+      m_lastTransmitStatus = HAL_TIMEOUT;
+      HAL_CAN_AbortTxRequest(m_config->canHandle, txMailBox);
+      return false;
+    }
+    // m_os->sleepMS(1);
+  }
+  return true;
+}
+
 bool ZCanReceiver::getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/) {
   /**
    * @brief 读取当前FIFO中缓存了多少帧的数据
@@ -170,7 +229,7 @@ void ZCanReceiver::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandl
       memcpy(rxbuf->m_canPacket[rxbuf->m_canPacketNum].aData, aData, 8);
       rxbuf->m_canPacketNum++;
     }
-    if (nframe == frameId) {
+    if (nframe == frameId+1) {
       rxbuf->dataIsReady = true;
     }
   }

components/zcanreceiver/zcanreceiver.hpp

@@ -74,6 +74,7 @@ class ZCanReceiver : public ZCanIRQListener {
 
   void registerListener(ZCanRceiverListener *listener);
   void sendPacket(uint8_t *packet, size_t len);
+  bool sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems);
 
  public:
   virtual void STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *can);

hal/zhal_core.hpp

@@ -53,6 +53,6 @@ class ZHALCORE {
   void loop();
 };
 
-#define ZHAL_CORE_REG(period_ms, job) ZHALCORE::getInstance()->regPeriodJob([this](ZHALCORE::Context& context) { job }, period_ms);
+#define ZHAL_CORE_REG(period_ms, job) ZHALCORE::getInstance()->regPeriodJob([&](ZHALCORE::Context& context) { job }, period_ms);
 
 }  // namespace iflytop