修复can无法接收到消息的BUG

dep/libiflytop_micro

@@ -1 +1 @@
-Subproject commit 438361fe75b4bb8019f0151ee34682a14ee1d6b4
+Subproject commit cb3492e6d78f90f0d4ed7401ee79a2a59c31848c

src/umain.cpp

@@ -192,6 +192,7 @@ void Main::initializeIflytopCanProtocolStackProcesser() {
   ACTIVE_REG(REG_MOTOR_CTRL_CURRENT_STATE /*              */, icps::kr, 0);
 
   m_protocolStack.initialize(&m_hardware, &IflytopCanStackConfig);
+  m_protocolStack.setDumpPacketFlag(true);
 }
 
 void Main::LncubatorRotatingControlService_onException(exception_id_t exception) {}
@@ -260,11 +261,19 @@ void Main::main(int argc, char const *argv[]) {
     // m_rotatingCtrl.periodicJob();
     // updateRegList();
 
+    m_hardware.debug_light_periodicJob();
 
+    m_protocolStack.periodicJob();
 
-    m_hardware.debug_light_periodicJob();
-    if (m_protocolStack.sendHeart(0, 10) == HAL_OK) {
-      ZLOGI(TAG, "CAN RX HAL_OK");
+
+    {
+      static uint32_t lastprocess = 0;
+      if (sys_haspassedms(lastprocess) > 3000) {
+        lastprocess = HAL_GetTick();
+        if (m_protocolStack.sendHeart(0, 10) == HAL_OK) {
+          ZLOGI(TAG, "CAN RX HAL_OK");
+        }
+      }
     }
   }
 }