修改zcanreceiver 兼容最新的zcanprotocol

zcanreceiver/zcanreceiver.cpp

@@ -11,7 +11,6 @@
 #define HEART_OVERTIME     (30 * 1000)
 
 using namespace iflytop;
-using namespace zscanprotocol;
 
 static uint8_t                m_deviceId;
 static zcanbus_on_rx_t        m_rxlistener[30];
@@ -53,7 +52,7 @@ void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan) { ZLOGI(TAG, "HAL_CAN_ErrorC
 }
 
 /***********************************************************************************************************************
- *                                                    中断消�处�                                                     *
+ *                                                    ��消�处�                                                     *
  ***********************************************************************************************************************/
 
 static void _oncanpacket(CAN_HandleTypeDef *hcan) {
@@ -67,7 +66,7 @@ static void _oncanpacket(CAN_HandleTypeDef *hcan) {
 
 static bool _getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/) {
   /**
-   * @brief 读�当�FIFO中缓存了多少帧的数�
+   * @brief 读�当�FIFO�缓存了�少帧的数�
    */
   uint32_t level = HAL_CAN_GetRxFifoFillLevel(CANHANDLER, CAN_FIFO_NUM);
   if (level == 0) {
@@ -100,7 +99,7 @@ static void _processOneCanPacket(CAN_RxHeaderTypeDef *pHeader, uint8_t *aData) {
     return;
   }
 
-  // �接收主机消�
+  // �接收主机消�
   if (from != 1) {
     return;
   }
@@ -109,7 +108,7 @@ static void _processOneCanPacket(CAN_RxHeaderTypeDef *pHeader, uint8_t *aData) {
     return;
   }
 
-  // 上次接收到的消�还没有�的急处�
+  // 上�接收到的消�还没有�的急��
   if (m_rxbufcache.dataIsReady) {
     ZLOGI(TAG, "discard rx packet ,last packet not processed");
     return;
@@ -195,7 +194,7 @@ HAL_StatusTypeDef initializeFilter() {
   sFilterConfig.SlaveStartFilterBank = CAN_MAX_FILTER_NUM;     // slave filter start index
 
   /*******************************************************************************
-   *                        接收所有消�                                          *
+   *                        接收所有消�                                          *
    *******************************************************************************/
   filterId                       = (0);                            //
   mask                           = (0);                            //
@@ -219,7 +218,7 @@ void zcanbus_init(uint8_t deviceId) {
   HAL_StatusTypeDef hal_status;
 
   m_rxbufcache.dataIsReady  = false;
-  m_rxbufcache.id           = 0;  // �接收�自主机的消�
+  m_rxbufcache.id           = 0;  // �接收�自主机的消�
   m_rxbufcache.canPacketNum = 0;
 
   hal_status = initializeFilter();
@@ -342,8 +341,8 @@ bool zcanbus_send_ack(zcanbus_packet_t *rxpacket, uint8_t *param, size_t len) {
   return zcanbus_send_packet(1 /*mainboard*/, (uint8_t *)&txpacket[0], sizeof(zcanbus_packet_t) + len);
 }
 
-bool zcanbus_send_ack(iflytop::zscanprotocol::zcanbus_packet_t *rxpacket, int32_t val) { return zcanbus_send_ack(rxpacket, (uint8_t *)&val, sizeof(val)); }
-bool zcanbus_send_ack(iflytop::zscanprotocol::zcanbus_packet_t *rxpacket, bool _val) {
+bool zcanbus_send_ack(zcanbus_packet_t *rxpacket, int32_t val) { return zcanbus_send_ack(rxpacket, (uint8_t *)&val, sizeof(val)); }
+bool zcanbus_send_ack(zcanbus_packet_t *rxpacket, bool _val) {
   int32_t val = _val ? 1 : 0;
   return zcanbus_send_ack(rxpacket, (uint8_t *)&val, sizeof(val));
 }

zcanreceiver/zcanreceiver.hpp

@@ -5,7 +5,7 @@
 #pragma once
 #include "project_configs.h"
 #include "stm32basic/stm32basic.hpp"
-#include "zscanprotocol/zscanprotocol.hpp"
+#include "zscanprotocol/zscanprotocol.h"
 
 typedef void (*zcanbus_on_rx_t)(uint8_t from, uint8_t to, uint8_t *packet, size_t len);
 typedef void (*zcanbus_on_connected_t)(bool connected);
@@ -37,9 +37,9 @@ bool zcanbus_send_packet(uint8_t to, uint8_t *packet, size_t len);
 bool zcanbus_send_packet(uint8_t to, uint8_t *packet, size_t len, int overtimems);
 bool zcanbus_send_sub_packet(uint8_t to, int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems);
 
-bool zcanbus_send_ack(iflytop::zscanprotocol::zcanbus_packet_t *rxpacket, uint8_t *param, size_t len);
-bool zcanbus_send_ack(iflytop::zscanprotocol::zcanbus_packet_t *rxpacket, int32_t val);
-bool zcanbus_send_ack(iflytop::zscanprotocol::zcanbus_packet_t *rxpacket, bool _val);
-bool zcanbus_send_errorack(iflytop::zscanprotocol::zcanbus_packet_t *rxpacket, int32_t errcode);
+bool zcanbus_send_ack(zcanbus_packet_t *rxpacket, uint8_t *param, size_t len);
+bool zcanbus_send_ack(zcanbus_packet_t *rxpacket, int32_t val);
+bool zcanbus_send_ack(zcanbus_packet_t *rxpacket, bool _val);
+bool zcanbus_send_errorack(zcanbus_packet_t *rxpacket, int32_t errcode);
 bool zcanbus_send_report(uint16_t function_id, uint8_t *param, size_t len, int32_t overtime);
 bool zcanbus_send_emergency_report(uint16_t function_id, uint8_t *param, size_t len, int32_t overtime);