init

components/zcancmder/basic.cpp

@@ -1,5 +1,8 @@
 #include "basic.hpp"
 
+#include <stdio.h>
+#include <string.h>
+
 using namespace iflytop;
 using namespace std;
 uint16_t CanPacketRxBuffer::get_packetindex() {
@@ -23,9 +26,21 @@ uint8_t *CanPacketRxBuffer::get_data() {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
   return cmdheader->data;
 }
-uint16_t CanPacketRxBuffer::get_datalen() {
-  return rxdataSize - sizeof(zcr_cmd_header_t);
+uint16_t CanPacketRxBuffer::get_datalen() { return rxdataSize - sizeof(zcr_cmd_header_t); }
+void     CanPacketRxBuffer::clear() {
+  id = 0;
+  memset(&m_canPacket, 0, sizeof(m_canPacket) * sizeof(m_canPacket[0]));
+  m_canPacketNum = 0;
+  m_npacket      = 0;
+  memset(rxdata, 0, sizeof(rxdata));
+  rxdataSize = 0;
+
+  dataIsReady = false;
+  isOnReceive = false;
+  isUsed      = false;
+  lostpacket  = false;
 }
+
 bool CanPacketRxBuffer::iscmd(int32_t id) {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
   uint16_t          maincmdid = ((uint32_t)id >> 8) & 0xFFFF;

components/zcancmder/basic.hpp

@@ -14,11 +14,10 @@ typedef enum {
   kpacketTail   = 2,
 } packet_type_t;
 
-class CANPacket {
- public:
+typedef struct {
   CAN_RxHeaderTypeDef pHeader;
   uint8_t             aData[8]; /*8byte table*/
-};
+} CANPacket;
 
 };  // namespace zcr
 using namespace zcr;
@@ -44,6 +43,7 @@ class CanPacketRxBuffer {
   uint8_t  get_packetType();
   uint8_t *get_data();
   uint16_t get_datalen();
+  void     clear();
 
   zcr_cmd_header_t *get_cmdheader();
 

components/zcancmder/zcan_board_module.cpp

@@ -24,7 +24,10 @@ void ZCanBoardModule::initialize(int32_t moduleId, hardware_config_t *hcfg) {
     m_output_num++;
   }
 }
-int32_t ZCanBoardModule::getid(int32_t *id) { *id = module_id; };
+int32_t ZCanBoardModule::getid(int32_t *id) {
+  *id = module_id;
+  return 0;
+};
 int32_t ZCanBoardModule::module_readio(int32_t *io) {
   *io = readinput();
   return 0;

components/zcancmder/zcanreceiver_master.cpp

@@ -374,7 +374,8 @@ bool ZCanCommnaderMaster::getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aDa
   return false;
 }
 void ZCanCommnaderMaster::initCanPacketRxBuffer(CanPacketRxBuffer *buf, uint16_t id) {
-  memset(buf, 0, sizeof(CanPacketRxBuffer));
+  if (buf == nullptr) return;
+  buf->clear();
   buf->id = id;
 }
 

os/zthread.hpp

@@ -13,7 +13,7 @@ class ZThread {
   } status_t;
 
   const char* m_name;
-  size_t      m_stacksize;
+  uint32_t      m_stacksize;
   osPriority  m_uxPriority;
 
   status_t m_status = kidle;