🐞 fix:根据最新驱动，调通CAN功能

Firmware/Source/Application/CAN_APP/CAN_CH0_CAN_Communication_Matrix.c

@@ -507,7 +507,7 @@ const st_CANMsgAttribute CAN_CH0_CAN_MSG_CONST_ARRAY[CAN_CH0_ID_TOTAL_MAX] =
         1000ul,
         0x225ul,
         (( void * )0),
-        (( void * )0),
+        (CAN_0x225_Receive),
         (( void * )0),
     },
     {
@@ -667,7 +667,7 @@ const st_CANMsgAttribute CAN_CH0_CAN_MSG_CONST_ARRAY[CAN_CH0_ID_TOTAL_MAX] =
         1000ul,
         0x234ul,
         (( void * )0),
-        (( void * )0),
+        (CAN_0x234_Receive),
         (( void * )0),
     },
     {

Firmware/Source/Application/CAN_User/Can_User.c

@@ -26,7 +26,7 @@ void Can_Init(void)
         Can_Config.MASK[2] = 0x3FFU;
         Can_Config.MASK[3] = 0x7FFU;
     #endif
-    Can_Config.rx_callback = Can_Rx_Cak;
+    Can_Config.rx_callback = Read_RingBuff;//Can_Rx_Cak;
     COM_CAN_Init();
     rte_can_init(&Can_Config);
 
@@ -295,22 +295,42 @@ void COM_CAN_Init(void)
     CAN_CH0_CanMsgOp.u8CAN_RX_ENABLE = CAN_N_RX_Enable;
     Can_RX_BuffInit(&CAN_CH0_CanMsgOp, CAN_CH0_CAN_MSG_CONST_ARRAY, CAN_CH0_ID_TOTAL_MAX);
     CAN_RX_SetEnable(&CAN_CH0_CanMsgOp, CAN_N_RX_Enable);
+}
+
+void CAN_TX_Init(void)
+{
 
     memset(pTXBuff, 0, sizeof(pTXBuff));
     CAN_CH0_CanMsgTxOp.CanMsg = (st_CAN_SendOperation *)pTXBuff;
+    CAN_CH0_CanMsgTxOp.pCAN_SendAttribute = CAN_CH0_CANSendAttr;
+    CAN_CH0_CanMsgTxOp.Total_Msg = CAN_CH0_ID_SEND_TOTAL;
+    CAN_CH0_CanMsgTxOp.Can_Write = COM_APP_Process;
+    CAN_CH0_CanMsgTxOp.u8CAN_TX_ENABLE = CAN_N_TX_Disable;
     Can_TX_BuffInit(&CAN_CH0_CanMsgTxOp, CAN_CH0_CANSendAttr, CAN_CH0_ID_SEND_TOTAL, COM_APP_Process);
     CAN_TX_SetEnable(&CAN_CH0_CanMsgTxOp, CAN_N_TX_Enable);
+
 }
 
 
+void Can_QuickTimer_Init(void)
+{
+    uint32_t i = 0u;
+    for (i = 0u; i < CAN_CH0_ID_SEND_TOTAL; i++)
+    {
+        Can_Msg_TX_FastInitCycle(&CAN_CH0_CanMsgTxOp, i, CAN_CH0_CANSendAttr[i].u32MsgCycleOffset);
+    }
+}
+
 /**
  * @brief Buff恢复函数
  * @param deltaTime 调用时间 单位ms 10MS调用
  */
+uint16_t CanRxInitflag = 0;
 void Can_BusOff_Recover(uint8_t deltaTime)
 {
     if (get_can_busoff(CAN_CH_0) == 2)
     {
+        CanRxInitflag = 1;
         if (RSCAN0Busoff.Status == RSCAN0_BUS_STABLE)
         {
             RSCAN0Busoff.Status = RSCAN0_BUS_OFF_LV1;
@@ -319,18 +339,20 @@ void Can_BusOff_Recover(uint8_t deltaTime)
         if (RSCAN0Busoff.Status == RSCAN0_BUS_OFF_LV1)
         {
             RSCAN0Busoff.Timer++;
-            if (RSCAN0Busoff.Timer >= RSCAN0_BUS_OFF_LV1_RECOVERY_TIME / deltaTime)
+            if (RSCAN0Busoff.Timer >= RSCAN0_BUS_OFF_LV1_RECOVERY_TIME / deltaTime)/**/
             {
                 RSCAN0Busoff.Timer = 0U;
 
                 RSCAN0Busoff.Cnt++;
-                if (RSCAN0Busoff.Cnt >= 10U)
+                if (RSCAN0Busoff.Cnt >= 10U)/**/
                 {
 
                     RSCAN0Busoff.Cnt = 0U;
 
                     RSCAN0Busoff.Status = RSCAN0_BUS_OFF_LV2;
                 }
+                //需调用CAN中止函数，中止所有硬件buf内要发送的数据
+                Can_QuickTimer_Init();
                 reset_busoff(CAN_CH_0);
             }
         }
@@ -338,9 +360,11 @@ void Can_BusOff_Recover(uint8_t deltaTime)
         {
             RSCAN0Busoff.Timer++;
 
-            if (RSCAN0Busoff.Timer >= RSCAN0_BUS_OFF_LV2_RECOVERY_TIME / deltaTime)
+            if (RSCAN0Busoff.Timer >= RSCAN0_BUS_OFF_LV2_RECOVERY_TIME / deltaTime)/**/
             {
                 RSCAN0Busoff.Timer = 0U;
+                //需调用CAN中止函数，中止所有硬件buf内要发送的数据
+                Can_QuickTimer_Init();
                 reset_busoff(CAN_CH_0);
             }
         }
@@ -350,7 +374,20 @@ void Can_BusOff_Recover(uint8_t deltaTime)
     }
     else /* 总线正常,没有Bus-off发生*/
     {
-        
+        RSCAN0Busoff.RecoverTimer++;
+        if (RSCAN0Busoff.RecoverTimer >= 4)
+        {
+            RSCAN0Busoff.RecoverTimer = 0;
+
+            RSCAN0Busoff.Status = RSCAN0_BUS_STABLE;
+            RSCAN0Busoff.Timer = 0;
+            RSCAN0Busoff.Cnt = 0;
+        }
+        if(CanRxInitflag == 1)
+        {
+            CanRxInitflag = 0;
+            Can_RX_Apply_Buff();
+        }
     }
 }
 

Firmware/Source/Application/CAN_User/Can_User.h

@@ -27,18 +27,18 @@ typedef struct
     uint8_t  Status;
     uint8_t  Timer;
     uint8_t  Cnt;
-    uint8_t  ReportDTCCnt;
+    uint8_t  RecoverTimer;
 } RSCAN0BusoffMonitorStruct;
 
 
 
+extern void CAN_TX_Init(void);
 extern void Can_Tx_Apply_Buff(void);
 extern void Can_RX_Apply_Buff(void);
 extern void Can_BusOff_Recover(uint8_t deltaTime);
 extern void COM_CAN_Init(void);
 extern void Can_Init(void);
 extern void Can_Rx_Cak(CanTxRxMsg *Msg);
-extern void Busoff(void);
 extern uint8_t COM_APP_Process(st_CAN_Msg *Msg);
 extern void Can_Write(st_CAN_Msg *Msg);
 

Firmware/Source/Component/PowerManagement/PowerManag_user.c

@@ -47,6 +47,7 @@ static void Power_KL30_Init(void)
     eeprom_StoreInfo_Init();
     Can_Init();
     DFlash_init();
+    CAN_TX_Init();
     Analog_Signal_Conv_Init();
     BU98R10_Init();
     Sys_KL30_Init();
@@ -83,6 +84,7 @@ static void Power_Wakeup_Init(void)
     Simulated_IIC_2_Init();
     Gpio_Init(Gpio_WakeUp_Init);
     Can_Init();
+    CAN_TX_Init();
     eeprom_StoreInfo_Init();
     Analog_Signal_Conv_Init();
     BU98R10_Init();