🐞 fix:替换can的厂家库

Firmware/Source/Device/Cmsemicon/BAT32A279/Library/Driver/include/can.h

@@ -384,7 +384,7 @@ typedef struct
 
 #define CAN_CCTRL_OPMODE_IDLE 				((uint16_t)0x0007U)
 #define CAN_CCTRL_OPMODE_NORMAL 			((uint16_t)0x0106U)//0x0100U
-#define CAN_CCTRL_OPMODE_NORMAL_ABT 		((uint16_t)0x0205U)//0x0200U
+#define CAN_CCTRL_OPMODE_NORMAL_ABT 	((uint16_t)0x0205U)//0x0200U
 #define CAN_CCTRL_OPMODE_ONLY_RX 			((uint16_t)0x0304U)//0x0300U
 #define CAN_CCTRL_OPMODE_SHOT 				((uint16_t)0x0403U)//0x0400U
 #define CAN_CCTRL_OPMODE_TEST 				((uint16_t)0x0502U)//0x0500U

Firmware/Source/Device/Cmsemicon/BAT32A279/Library/Driver/src/can.c

@@ -2,7 +2,7 @@
   ******************************************************************************
   * @file    can.c
   * @author  MCD Application Team
-  * @version V1.0.2
+  * @version V1.0.1
   * @date    2-April-2024
   * @brief   This file provides firmware functions to manage the following 
   *          functionalities of the Controller area network (CAN) peripheral:

Firmware/Source/Device/Cmsemicon/BAT32A279/RTE/CAN/rte_can.c

@@ -3,10 +3,9 @@
 #include "isr.h"
 #include "rte_can.h"
 
-
+CANBuffList_t CanBufList = {0};
 CANMSG_Type* CANMSG;
 CanTxRxMsg CAN_RecvMsg;
-CANBuffList_t CanBufList = {0};
 can_rx_callback can_rx_handler = NULL;
 
 uint8_t Read_RingBuff(CanTxRxMsg *data)
@@ -20,29 +19,34 @@ uint8_t Read_RingBuff(CanTxRxMsg *data)
     CanBufList.length--;
     return 1;
 }
-
 /**
  * @brief CAN就收完成回调
  * 
  * @param msg 
  */
-static void can_recv_handler(void *msg)
+static void can_recv_handler(void)
 {
     INTC_ClearPendingIRQ(CAN0REC_IRQn);
 
     if (CAN_GetFlagStatus(CAN0, CAN_FLAG_REC) != RESET)
     {
         CAN_ClearFlag(CAN0, CAN_FLAG_REC);
+
         CAN_Receive_IT(CAN0, &CanBufList);
         Read_RingBuff(&CAN_RecvMsg);
-
+        CAN_Receive(CAN0,&CAN_RecvMsg,100);
         if (can_rx_handler != NULL)
         {
             can_rx_handler(&CAN_RecvMsg);
         }
     }
 }
+static void can_error_handler(void)
+{
+    INTC_ClearPendingIRQ(CAN0ERR_IRQn);
 
+    CANErr_Recover(CAN0);
+}
 /**
  * @brief CAN初始�?
  * 
@@ -97,11 +101,13 @@ uint8_t rte_can_init(can_config_st_t *config)
 
     CAN_OperatingModeRequest(CAN0, CAN_OpMode_Normal);
 
-    CAN_ITConfig(CAN0, CAN_IT_REC, ENABLE);
+    CAN_ITConfig(CAN0, CAN_IT_REC | CAN_IT_ERR_STATE | CAN_IT_ERR_PROTO, ENABLE); // |CAN_IT_TRX
 
     ISR_Register(CAN0REC_IRQn, can_recv_handler);
 
-    INTC_EnableIRQ(CAN0REC_IRQn);
+    //	ISR_Register(CAN0TRX_IRQn, can_tx_handler);
+
+    ISR_Register(CAN0ERR_IRQn, can_error_handler);
 
 //    ISR_DisRegister(CAN0REC_IRQn, can_recv_handler);
 

Firmware/Source/Device/Cmsemicon/BAT32A279/RTE/CAN/rte_can.h

@@ -31,7 +31,7 @@ typedef enum
 } CAN_CH;
 
 #pragma pack(4)
-typedef struct
+typedef struct  __attribute__((aligned(4)))
 {
     CAN_CH ch;
     CAN_freq freq;