优化内存使用

components/zcancmder/basic.hpp

@@ -15,8 +15,9 @@ typedef enum {
 } packet_type_t;
 
 typedef struct {
-  CAN_RxHeaderTypeDef pHeader;
-  uint8_t             aData[8]; /*8byte table*/
+  // CAN_RxHeaderTypeDef pHeader;
+  uint8_t dlc;
+  uint8_t aData[8]; /*8byte table*/
 } CANPacket;
 
 };  // namespace zcr

components/zcancmder/zcanreceiver.cpp

@@ -322,7 +322,7 @@ void ZCanCmder::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandle)
     }
 
     if (rxbuf->m_canPacketNum < 255) {
-      rxbuf->m_canPacket[rxbuf->m_canPacketNum].pHeader = pHeader;
+      rxbuf->m_canPacket[rxbuf->m_canPacketNum].dlc = pHeader.DLC;
       memcpy(rxbuf->m_canPacket[rxbuf->m_canPacketNum].aData, aData, 8);
       rxbuf->m_canPacketNum++;
     }
@@ -344,8 +344,8 @@ void ZCanCmder::loop() {
   if (rxbuf->dataIsReady) {
     int dataoff = 0;
     for (size_t i = 0; i < rxbuf->m_canPacketNum; i++) {
-      memcpy(rxbuf->rxdata + dataoff, rxbuf->m_canPacket[i].aData, rxbuf->m_canPacket[i].pHeader.DLC);
-      dataoff += rxbuf->m_canPacket[i].pHeader.DLC;
+      memcpy(rxbuf->rxdata + dataoff, rxbuf->m_canPacket[i].aData, rxbuf->m_canPacket[i].dlc);
+      dataoff += rxbuf->m_canPacket[i].dlc;
     }
     rxbuf->rxdataSize = dataoff;
 

components/zcancmder/zcanreceiver_master.cpp

@@ -166,6 +166,9 @@ int32_t ZCanCommnaderMaster::sendCmdAndReceiveBuf(int32_t cmdid, int32_t subModu
   return errocode;
 }
 
+void ZCanCommnaderMaster::sendRawPacket(uint8_t *packet, size_t len) { sendPacket(packet, len); }
+void ZCanCommnaderMaster::regRawPacketListener(rawpacket_t rawpacketcb) { m_rawpacketcb = rawpacketcb; }
+
 int32_t ZCanCommnaderMaster::sendCmd(int32_t cmdid, int32_t subModuleid, int32_t *param, size_t npara, int32_t *ack, size_t nack, int overtime_ms) {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)txbuff;
   cmdheader->packetType       = kptv2_cmd;
@@ -263,6 +266,10 @@ bool ZCanCommnaderMaster::isListenerReg(uint16_t index) {
 void ZCanCommnaderMaster::callListener(CanPacketRxBuffer *report) {
   uint16_t index = report->get_cmdheader()->packetindex;
 
+  if (m_rawpacketcb) {
+    m_rawpacketcb(report->get_data(), report->get_datalen());
+  }
+
   if (report->get_cmdheader()->packetType == kptv2_ack || report->get_cmdheader()->packetType == kptv2_error_ack) {
     zlock_guard l(m_on_packet_map_lock);
     auto        it = m_on_packet_map.find(index);
@@ -454,7 +461,7 @@ void ZCanCommnaderMaster::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *c
     rxbuf->lastrxtime = zos_get_tick();
 
     if (rxbuf->m_canPacketNum < ZARRAY_SIZE(rxbuf->m_canPacket)) {
-      rxbuf->m_canPacket[rxbuf->m_canPacketNum].pHeader = pHeader;
+      rxbuf->m_canPacket[rxbuf->m_canPacketNum].dlc = pHeader.DLC;
       memcpy(rxbuf->m_canPacket[rxbuf->m_canPacketNum].aData, aData, 8);
       rxbuf->m_canPacketNum++;
     }
@@ -479,8 +486,8 @@ void ZCanCommnaderMaster::STM32_HAL_onCAN_Error(CAN_HandleTypeDef *canHandle) {
 void ZCanCommnaderMaster::processReadyPacket(CanPacketRxBuffer *rxbuf) {
   int dataoff = 0;
   for (size_t i = 0; i < rxbuf->m_canPacketNum; i++) {
-    memcpy(rxbuf->rxdata + dataoff, rxbuf->m_canPacket[i].aData, rxbuf->m_canPacket[i].pHeader.DLC);
-    dataoff += rxbuf->m_canPacket[i].pHeader.DLC;
+    memcpy(rxbuf->rxdata + dataoff, rxbuf->m_canPacket[i].aData, rxbuf->m_canPacket[i].dlc);
+    dataoff += rxbuf->m_canPacket[i].dlc;
     rxbuf->rxdataSize = dataoff;
   }
   if (rxbuf->lostpacket) {

components/zcancmder/zcanreceiver_master.hpp

@@ -17,6 +17,8 @@ class ZCanCommnaderMasterListener {
   zcan_commnader_master_onpacket_t on_ack;
 };
 
+typedef function<void(uint8_t *packet, size_t len)> rawpacket_t;
+
 class ZCanCommnaderMaster : public ZCanIRQListener, public IZcanCmderMaster {
  public:
   class CFG {
@@ -58,6 +60,8 @@ class ZCanCommnaderMaster : public ZCanIRQListener, public IZcanCmderMaster {
   uint16_t                                   m_index_off = 0;
   onpacket_t                                 m_on_event;
 
+  rawpacket_t m_rawpacketcb = nullptr;
+
   zmutex txlock;
 
  public:
@@ -70,6 +74,9 @@ class ZCanCommnaderMaster : public ZCanIRQListener, public IZcanCmderMaster {
   virtual int32_t sendCmdAndReceiveBuf(int32_t cmdid, int32_t moduleid, int32_t *param, size_t npara, uint8_t *ack, int32_t *rxsize, int overtime_ms) override;
   virtual void    regEventPacketListener(onpacket_t on_event) override;
 
+  void sendRawPacket(uint8_t *packet, size_t len);
+  void regRawPacketListener(rawpacket_t rawpacketcb);
+
  public:
   virtual void STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *can);
   virtual void STM32_HAL_onCAN_Error(CAN_HandleTypeDef *can);

components/zprotocols/zcancmder_v2

@@ -1 +1 @@
-Subproject commit 445108a21644b9b770452e7f463615e248f5c504
+Subproject commit 222df2f465a817d54f5d0589d167ac3690c5716e