✨ feat:CAN接收调通

Firmware/Source/Application/Can_User.c

@@ -15,8 +15,8 @@ void Can_Init(void)
     can_config_st_t Can_Config;
     Can_Config.ch = CAN_CH_0;
     Can_Config.freq = CAN_500Kbps;
-    Can_Config.MASK[0] = 0x001fffffU;
-    Can_Config.MASK[1] = 0x000fffffU;
+    Can_Config.MASK[0] = 0x1fffffffU;
+    Can_Config.MASK[1] = 0x1fffffffU;
     Can_Config.MASK[2] = 0x1fffffffU;
     Can_Config.MASK[3] = 0x1fffffffU;
     Can_Config.rx_callback = Can_Rx_Cak;

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

@@ -6,8 +6,21 @@
 
 CANMSG_Type* CANMSG;
 CanTxRxMsg CAN_RecvMsg;
+CANBuffList_t CanBufList = {0};
 can_rx_callback can_rx_handler = NULL;
 
+uint8_t Read_RingBuff(CanTxRxMsg *data)
+{
+    if (CanBufList.length == 0)
+    {
+        return 0;
+    }
+    *data = CanBufList.data[CanBufList.Head];
+    CanBufList.Head = (CanBufList.Head + 1) % LIST_BUF_MAX_NUM;
+    CanBufList.length--;
+    return 1;
+}
+
 /**
  * @brief CAN就收完成回调
  * 
@@ -20,8 +33,8 @@ static void can_recv_handler(void *msg)
     if (CAN_GetFlagStatus(CAN0, CAN_FLAG_REC) != RESET)
     {
         CAN_ClearFlag(CAN0, CAN_FLAG_REC);
-        // CANMSG = CAN_Get_CANxMSGy(CAN0);
-        // CAN_Receive_IT(CAN0, &CAN_RecvMsg);
+        CAN_Receive_IT(CAN0, &CanBufList);
+        Read_RingBuff(&CAN_RecvMsg);
         
         if (can_rx_handler != NULL)
         {