V2

iflytop_canbus_protocol

@@ -1 +1 @@
-Subproject commit 4ff540143bbaea7da71f4eacc1e1dd72f4dcd26e
+Subproject commit 85c0e8a9af9990eab8ac9ae9378f48d502e687d3

usrc/protocol_impl/protocol_impl_service.cpp

@@ -275,7 +275,7 @@ static void others_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_
   }
 
   // 压力传感器数据上报
-  else if (packet->function_id == kcmd_read_pressure_data) {
+  else if (packet->function_id == kcmd_pressure_sensor_bus_read_data) {
     CHECK_PARAM_LEN(paramNum, 1);
     int32_t index = GET_PARAM(packet->params, 0);
 
@@ -293,7 +293,7 @@ static void others_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_
 
   }
   // 压力传感器数据上报
-  else if (packet->function_id == kcmd_set_pressure_data_report_period_ms) {
+  else if (packet->function_id == kcmd_pressure_sensor_bus_set_report_period_ms) {
     CHECK_PARAM_LEN(paramNum, 1);
     int32_t period = GET_PARAM(packet->params, 0);
 
@@ -381,6 +381,7 @@ static void onMotorMonitorTimer(void const* argument) {
     } else {
       auto gstate = Hardware::ins().motor(i)->getGState();
       bool flag   = gstate.reset || gstate.drv_err || gstate.uv_cp;
+      // flag        = true;
       if (!flag && motorErrorFlagCache[i]) {
         motorErrorFlagCache[i] = false;
       } else if (flag && !motorErrorFlagCache[i]) {
@@ -391,8 +392,11 @@ static void onMotorMonitorTimer(void const* argument) {
           data.ecode = kerr_motor_undervoltage_error;
         } else if (gstate.drv_err) {
           data.ecode = kerr_motor_driver_error;
+        } else {
+          data.ecode = kerr_motor_unkown_error;
         }
         data.subid = i;
+        motorErrorFlagCache[i] = true;
         zcanbus_send_emergency_report(kreport_exception_error, (uint8_t*)&data, sizeof(data), 100);
       }
     }