From 1414e175573b86bd79b1fe3c8edda50b3d5d6c2b Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Thu, 18 Apr 2024 21:10:57 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8DCAN=E6=8E=A5=E5=8F=97?=
 =?UTF-8?q?=E5=B0=8F=E5=86=85=E5=AD=98=E6=BA=A2=E5=87=BA=E7=9A=84BUG?=
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---
 components/zcancmder/zcanreceiver.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/components/zcancmder/zcanreceiver.cpp b/components/zcancmder/zcanreceiver.cpp
index 44afaa5..f52d485 100644
--- a/components/zcancmder/zcanreceiver.cpp
+++ b/components/zcancmder/zcanreceiver.cpp
@@ -321,6 +321,11 @@ void ZCanCmder::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandle)
       rxbuf->m_canPacketNum = 0;
     }
 
+    if (rxbuf->m_canPacketNum != frameId) {
+      rxbuf->m_canPacketNum = 0;
+      continue;
+    }
+
     if (rxbuf->m_canPacketNum < ZARRAY_SIZE(rxbuf->m_canPacket)) {
       rxbuf->m_canPacket[rxbuf->m_canPacketNum].dlc = pHeader.DLC;
       memcpy(rxbuf->m_canPacket[rxbuf->m_canPacketNum].aData, aData, 8);