From 27c3b5766460767ddc1a65c6e81ebeb88d8375d3 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 7 Aug 2024 17:35:48 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E6=88=90=E5=9F=BA=E6=9C=AC=E6=A1=86?=
 =?UTF-8?q?=E6=9E=B6?=
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---
 usrc/protocol_processer_mgr/protocol_processer_mgr.cpp | 13 ++++++++++++-
 zsdk                                                   |  2 +-
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/usrc/protocol_processer_mgr/protocol_processer_mgr.cpp b/usrc/protocol_processer_mgr/protocol_processer_mgr.cpp
index 61a71dc..b1dcb71 100644
--- a/usrc/protocol_processer_mgr/protocol_processer_mgr.cpp
+++ b/usrc/protocol_processer_mgr/protocol_processer_mgr.cpp
@@ -3,6 +3,14 @@ using namespace iflytop;
 
 #define TAG "ProtocolProcesserMgr"
 
+static osThreadId PacketRxThreadId;
+static void       onPacketRxThreadStart(void const* argument) {
+  while (true) {
+    zcanbus_schedule();
+    osDelay(1);
+  }
+}
+
 static void zcanbus_on_rx(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t len) {  //
   ProtocolProcesserMgr::ins()->onPacket(from, to, rawpacket, len);
 }
@@ -26,9 +34,12 @@ void ProtocolProcesserMgr::startSchedule() {
     processer->initialize();
   }
 
-  zcanbus_init(PublicBoard::ins()->getBoardTypeId());
+  zcanbus_init(PublicBoard::ins()->getBoardId());
   zcanbus_reglistener(zcanbus_on_rx);
   zcanbus_reg_on_connected_listener(zcanbus_on_connected);
+
+  osThreadDef(PacketRxThread, onPacketRxThreadStart, osPriorityNormal, 0, 1024);
+  PacketRxThreadId = osThreadCreate(osThread(PacketRxThread), NULL);
 }
 
 void ProtocolProcesserMgr::onPacket(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t len) {
diff --git a/zsdk b/zsdk
index e3d9e43..18f5f3e 160000
--- a/zsdk
+++ b/zsdk
@@ -1 +1 @@
-Subproject commit e3d9e438176a921b58c8a5b587eda3221a38878d
+Subproject commit 18f5f3e7ee74542a2f6d313a5a82acb5489bf114