update

components/zcancmder/zcanreceiver.cpp

@@ -41,7 +41,7 @@ bool CanPacketRxBuffer::iscmd(CmdID_t id, uint8_t subcmdid) {
   return cmdheader->cmdid == (uint16_t)id && cmdheader->subcmdid == subcmdid;
 }
 
-Cmdheader_t* CanPacketRxBuffer::get_cmdheader() {
+Cmdheader_t *CanPacketRxBuffer::get_cmdheader() {
   Cmdheader_t *cmdheader = (Cmdheader_t *)rxdata;
   return cmdheader;
 }
@@ -185,6 +185,7 @@ void ZCanCmder::sendErrorAck(Cmdheader_t *cmdheader, int16_t errcode) {
 }
 
 bool ZCanCmder::sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems) {
+  // ZLOGI(TAG, "sendPacketSub(%d:%d)", npacket, packetIndex);
   CAN_TxHeaderTypeDef pHeader;
   uint8_t             aData[8] /*8byte table*/;
   uint32_t            txMailBox = 0;
@@ -216,6 +217,9 @@ bool ZCanCmder::sendPacketSub(int npacket, int packetIndex, uint8_t *packet, siz
     }
     // m_os->sleepMS(1);
   }
+  if (txPacketInterval_ms > 0) {
+    osDelay(txPacketInterval_ms);
+  }
   return true;
 }
 

components/zcancmder/zcanreceiver.hpp

@@ -91,6 +91,8 @@ class ZCanCmder : public ZCanIRQListener {
   list<zcan_cmder_listener_t> m_listenerList2;
   CanPacketRxBuffer           m_canPacketRxBuffer[1];
 
+  int txPacketInterval_ms = 0;
+
  public:
   ZCanCmder() {}
   CFG *createCFG(uint8_t deviceId);
@@ -105,6 +107,7 @@ class ZCanCmder : public ZCanIRQListener {
   void    sendErrorAck(Cmdheader_t *rxcmdheader, int16_t errcode);
   bool    sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems);
   uint8_t getDeviceId() { return m_config->deviceId; }
+  void    setTxPacketInterval(int interval_ms) { txPacketInterval_ms = interval_ms; }
 
   void loop();
 

components/zcancmder_module/zcan_basic_order_module.cpp

@@ -12,13 +12,13 @@ void ZCanBasicOrderModule::initialize(ZCanCmder* zcanReceiver) {
   m_zcanReceiver = zcanReceiver;
 }
 #if 0
-void ZCanBasicOrderModule::regInputCtl(readfn_t fn) { m_readfn = fn; }
-void ZCanBasicOrderModule::regOutCtl(writefn_t fn) { m_writefn = fn; }
-void ZCanBasicOrderModule::regReadAdcVal(readadcval_t fn) { m_readadcval = fn; }
+void ZCanBasicOrderModule::reg_read_io(readfn_t fn) { m_readfn = fn; }
+void ZCanBasicOrderModule::reg_set_io(writefn_t fn) { m_writefn = fn; }
+void ZCanBasicOrderModule::reg_read_adc(readadcval_t fn) { m_readadcval = fn; }
 #endif
-void ZCanBasicOrderModule::regInputCtl(uint8_t id, readfn_t fn) { m_inputCtlMap[id] = fn; }
-void ZCanBasicOrderModule::regOutCtl(uint8_t id, writefn_t fn) { m_outCtlMap[id] = fn; }
-void ZCanBasicOrderModule::regReadAdcVal(uint8_t id, readadcval_t fn) { m_readAdcValMap[id] = fn; }
+void ZCanBasicOrderModule::reg_read_io(uint8_t id, readfn_t fn) { m_inputCtlMap[id] = fn; }
+void ZCanBasicOrderModule::reg_set_io(uint8_t id, writefn_t fn) { m_outCtlMap[id] = fn; }
+void ZCanBasicOrderModule::reg_read_adc(uint8_t id, readadcval_t fn) { m_readAdcValMap[id] = fn; }
 
 void ZCanBasicOrderModule::onRceivePacket(CanPacketRxBuffer* rxbuf) {
   if (rxbuf->iscmd(kcmd_ping, 0)) {
@@ -46,14 +46,7 @@ void ZCanBasicOrderModule::onRceivePacket(CanPacketRxBuffer* rxbuf) {
     kcmd_set_io_t*    cmd = rxbuf->get_data_as<kcmd_set_io_t>();
     kcmd_set_io_ack_t ack;
     bool              val = cmd->val;
-#if 0
-    if (m_writefn && m_writefn(cmd->ioid, val)) {
-      ack.ioid = cmd->ioid;
-      ack.val  = val;
-      m_zcanReceiver->sendAck(rxbuf->get_cmdheader(), (uint8_t*)&ack, sizeof(ack));
-      return;
-    }
-#endif
+
     if (m_outCtlMap.find(cmd->ioid) != m_outCtlMap.end()) {
       m_outCtlMap[cmd->ioid](val);
       ack.ioid = cmd->ioid;
@@ -66,14 +59,6 @@ void ZCanBasicOrderModule::onRceivePacket(CanPacketRxBuffer* rxbuf) {
     kcmd_readadc_raw_t*    cmd = rxbuf->get_data_as<kcmd_readadc_raw_t>();
     kcmd_readadc_raw_ack_t ack;
     int32_t                val = 0;
-#if 0
-    if (m_readadcval && m_readadcval(cmd->sensorid, val)) {
-      ack.sensorid = cmd->sensorid;
-      ack.val      = val;
-      m_zcanReceiver->sendAck(rxbuf->get_cmdheader(), (uint8_t*)&ack, sizeof(ack));
-      return;
-    }
-#endif
     if (m_readAdcValMap.find(cmd->sensorid) != m_readAdcValMap.end()) {
       val          = m_readAdcValMap[cmd->sensorid]();
       ack.sensorid = cmd->sensorid;

components/zcancmder_module/zcan_basic_order_module.hpp

@@ -37,9 +37,9 @@ class ZCanBasicOrderModule : public ZCanCmderListener {
  public:
   void initialize(ZCanCmder* zcanReceiver);
 
-  void regInputCtl(uint8_t id, readfn_t fn);
-  void regOutCtl(uint8_t id, writefn_t fn);
-  void regReadAdcVal(uint8_t id, readadcval_t fn);
+  void reg_read_io(uint8_t id, readfn_t fn);
+  void reg_set_io(uint8_t id, writefn_t fn);
+  void reg_read_adc(uint8_t id, readadcval_t fn);
 
  public:
   virtual void onRceivePacket(CanPacketRxBuffer* rxbuf);