diff --git a/MDK-ARM/bin/infantry.bin b/MDK-ARM/bin/infantry.bin
index b994a44..2cf6a9a 100644
Binary files a/MDK-ARM/bin/infantry.bin and b/MDK-ARM/bin/infantry.bin differ
diff --git a/MDK-ARM/infantry.uvprojx b/MDK-ARM/infantry.uvprojx
index 2958d70..00790e4 100644
--- a/MDK-ARM/infantry.uvprojx
+++ b/MDK-ARM/infantry.uvprojx
@@ -54,7 +54,7 @@
0
0
1
- 0
+ 1
..\build\
1
0
diff --git a/application/infantry_cmd.h b/application/infantry_cmd.h
index aaddd5d..bd64a80 100644
--- a/application/infantry_cmd.h
+++ b/application/infantry_cmd.h
@@ -26,7 +26,7 @@
#include "sys.h"
-#define FIRMWARE_VERSION_0 5u
+#define FIRMWARE_VERSION_0 6u
#define FIRMWARE_VERSION_1 1u
#define FIRMWARE_VERSION_2 0u
#define FIRMWARE_VERSION_3 1u
@@ -37,6 +37,8 @@
#define CHASSIS_ADDRESS 0x01
#define GIMBAL_ADDRESS 0x02
+/* cmd id can not be set 0xffff */
+
#define CMD_MANIFOLD2_HEART (0x0001u)
#define CMD_REPORT_VERSION (0x0002u)
diff --git a/application/protocol/protocol.c b/application/protocol/protocol.c
index 52a96aa..4d496c6 100644
--- a/application/protocol/protocol.c
+++ b/application/protocol/protocol.c
@@ -161,12 +161,21 @@ uint32_t protocol_local_init(uint8_t address)
}
MUTEX_INIT(protocol_local_info.mutex_lock);
-
+
memset(protocol_local_info.route_table, 0xFF, PROTOCOL_ROUTE_TABLE_MAX_NUM);
- memset(protocol_local_info.interface, 0, sizeof(protocol_local_info.interface));
- memset(&boardcast_object, 0, sizeof(boardcast_object_t));
- memset(&protocol_local_info.send_cmd_info, 0, sizeof(protocol_local_info.send_cmd_info));
- memset(&protocol_local_info.rcv_cmd_info, 0, sizeof(protocol_local_info.rcv_cmd_info));
+
+ for(int i; i < PROTOCOL_INTERFACE_MAX; i++)
+ {
+ /* initalization user data is 0xFF */
+ memset(&protocol_local_info.interface[i].user_data, 0xFF, sizeof(union interface_user_data));
+ }
+
+ for(int i; i < PROTOCOL_CMD_MAX_NUM; i++)
+ {
+ /* initalization cmd is 0xFF */
+ memset(&protocol_local_info.send_cmd_info[i].cmd, 0xFFFF, 2);
+ memset(&protocol_local_info.rcv_cmd_info[i].cmd, 0xFFFF, 2);
+ }
protocol_local_info.address = address;
protocol_local_info.rcv_nor_callBack = protocol_rcv_pack_handle;