update

components/zcancmder/zcanreceiver.cpp

@@ -196,7 +196,18 @@ int32_t ZCanCmder::sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, int
   sendPacket(txbuff, sizeof(zcr_cmd_header_t) + sizeof(int32_t) * nack);
   return 0;
 }
-int32_t ZCanCmder::sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode) {}
+int32_t ZCanCmder::sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode) {
+  zlock_guard       l(m_lock);
+  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
+  memcpy(txheader, rx_cmd_header, sizeof(zcr_cmd_header_t));
+  txheader->packetType = kptv2_error_ack;
+
+  int32_t *txackcache = (int32_t *)txheader->data;
+  txackcache[0]       = errorcode;
+
+  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + sizeof(int32_t));
+  return 0;
+}
 
 bool ZCanCmder::sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems) {
   zlock_guard l(m_lock);

components/zprotocols/zcancmder_v2

@@ -1 +1 @@
-Subproject commit 9aa75ad06a2eadd5d6656eba7c45af3d359080f1
+Subproject commit 5ca88d73b1481eb8cba888f7d713129dfcbaf235