update

iflytop_canbus_protocol

@@ -1 +1 @@
-Subproject commit 7cf64770e1e06e66488e778a994d128870852a37
+Subproject commit 26cce0d53b0e3332d7a658f0032779a18ce97128

usrc/protocol_impl/protocol_impl_service.cpp

@@ -106,8 +106,7 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
       zcanbus_send_errorack(packet, kerr_invalid_param);
       return;
     }
-
-    m_motor[subindex].rotate(GET_PARAM(packet->params, velocity));
+    m_motor[subindex].rotate(velocity);
     zcanbus_send_ack(packet, NULL, 0);
   }
 
@@ -127,12 +126,12 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
   }
 
   // 设置电流/保持电流/IDELAY
-  else if (packet->function_id == kcmd_pump_set_irun_ihold) {
+  else if (packet->function_id == kcmd_pump_set_ihold_irun_idelay) {
     CHECK_PARAM_LEN(paramNum, 4);
 
     int32_t subindex = GET_PARAM(packet->params, 0);
-    int32_t irun     = GET_PARAM(packet->params, 1);
-    int32_t ihold    = GET_PARAM(packet->params, 2);
+    int32_t ihold    = GET_PARAM(packet->params, 1);
+    int32_t irun     = GET_PARAM(packet->params, 2);
     int32_t idelay   = GET_PARAM(packet->params, 3);
 
     if (subindex > ZARRAY_SIZE(m_motor)) {
@@ -140,7 +139,7 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
       return;
     }
 
-    m_motor[subindex].setIHOLD_IRUN(irun, ihold, idelay);
+    m_motor[subindex].setIHOLD_IRUN(ihold, irun, idelay);
     zcanbus_send_ack(packet, NULL, 0);
   } else if (packet->function_id == kcmd_pump_set_acc) {
     CHECK_PARAM_LEN(paramNum, 2);
@@ -203,10 +202,12 @@ static void onPacketRxThreadStart(void const* argument) {
 }
 static void zcanbus_on_rx(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t len) {  //
   zcanbus_packet_t* packet = (zcanbus_packet_t*)rawpacket;
-  ZLOGI(TAG, "rx packet from %d to %d, function_id %d, len %d", from, to, packet->function_id, len);
+  ZLOGI(TAG, "process packet from %d to %d, function_id %d, len %d", from, to, packet->function_id, len);
 
   basic_func_impl(from, to, rawpacket, len);
   pump_func_impl(from, to, rawpacket, len);
+
+  ZLOGI(TAG, "process end");
 }
 
 static void zcanbus_on_connected(bool connected) {