Merge branch 'CJL' into 'dev'

Cjl

See merge request !92

Firmware/Source/Application/BackLight/BackLight.c

@@ -9,15 +9,15 @@
 #define BACK_LIGHT_DAY 1000
 #define BACK_LIGHT_NIGHT 600
 //_Light g_Light;
-uint8_t LED_Turnoff = 0;
-uint8_t LED_Turnon  = 0;
-void BackLight_Init(void)
-{
-    //g_Light.Light_Day    = 0XFFFF;
-    //g_Light.Light_Night  = 0XFFFF;
-    LED_Turnoff = 0;
-    LED_Turnon  = 0;
-}
+// uint8_t LED_Turnoff = 0;
+// uint8_t LED_Turnon  = 0;
+// void BackLight_Init(void)
+// {
+//     //g_Light.Light_Day    = 0XFFFF;
+//     //g_Light.Light_Night  = 0XFFFF;
+//     LED_Turnoff = 0;
+//     LED_Turnon  = 0;
+// }
 
 void BackLight_Process(void)
 {

Firmware/Source/Application/BackLight/BackLight.h

@@ -2,17 +2,17 @@
 #define _BACKLIGHT_H_
 #include  "common.h"
 #include  "Application.h"
-typedef struct __attribute__((aligned(4)))
-{
-	uint8_t Duty;
-	uint8_t Cycle;
-    uint16_t Light_Night;
-    uint16_t Light_Day;
-} _Light;
+//typedef struct
+//{
+//	uint8_t Duty;
+//	uint8_t Cycle;
+//    uint16_t Light_Night;
+//    uint16_t Light_Day;
+//} _Light;
 
-extern _Light g_Light; 
+//extern _Light g_Light; 
 
-void BackLight_Init(void);
+//void BackLight_Init(void);
 void BackLight_Process(void);
 
 

Firmware/Source/Application/CAN_User/Can_User.c

@@ -19,7 +19,7 @@ void Can_Init(void)
     Can_Config.MASK[1] = 0x000fffffU;
     Can_Config.MASK[2] = 0x1fffffffU;
     Can_Config.MASK[3] = 0x1fffffffU;
-    Can_Config.rx_callback = Can_Rx_Cak;
+    Can_Config.rx_callback = Read_RingBuff;//Can_Rx_Cak;
     COM_CAN_Init();
     rte_can_init(&Can_Config);
 
@@ -35,6 +35,17 @@ void Can_Init(void)
  */
 void Can_RX_Apply_Buff(void)
 {
+    CAN_RecvMsg.DLC = 8;
+    CAN_RecvMsg.Data[0] = 0;
+    CAN_RecvMsg.Data[1] = 0;
+    CAN_RecvMsg.Data[2] = 0;
+    CAN_RecvMsg.Data[3] = 0;
+    CAN_RecvMsg.Data[4] = 0;
+    CAN_RecvMsg.Data[5] = 0;
+    CAN_RecvMsg.Data[6] = 0;
+    CAN_RecvMsg.Data[7] = 0;
+    CAN_RecvMsg.OverWriteConfig = 0;
+
     CAN_RecvMsg.Id = 0x101;
     CAN_RecvMsg.IDE = CAN_Id_Standard;
     CAN_RecvMsg.CacheType = CAN_CacheType_Rx_NoMask;
@@ -222,6 +233,7 @@ void Can_Rx_Cak(CanTxRxMsg *Msg)
         DoCAN_L_Data_Indication((uint16_t)(Msg->Id), Msg->DLC, Msg->Data);
     }
 }
+#if 1
 /**
  * @brief CAN库初始化TX/RX
  *
@@ -245,15 +257,36 @@ 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_Disable);
 
-
-
-
 }
+#endif
+#if 0
+/**
+ * @brief CAN库初始化TX/RX
+ *
+ */
+void COM_CAN_Init(void)
+{
+    memset(pRXBuff, 0, sizeof(pRXBuff));
+    CAN_CH0_CanMsgOp.CAN_MSG_Analysis = (st_CANMsgStruct *)pRXBuff;
+    CAN_CH0_CanMsgOp.pAttrubute = CAN_CH0_CAN_MSG_CONST_ARRAY;
+    CAN_CH0_CanMsgOp.Total_Msg = CAN_CH0_ID_TOTAL_MAX;
+    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);
 
-
+    memset(pTXBuff, 0, sizeof(pTXBuff));
+    CAN_CH0_CanMsgTxOp.CanMsg = (st_CAN_SendOperation *)pTXBuff;
+    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);
+}
+#endif
 
 
 
@@ -282,10 +315,14 @@ void Can_QuickTimer_Init(void)
  * @brief Buff恢复函数
  * @param deltaTime 调用时间 单位ms 10MS调用
  */
+
+uint16_t cjl_cantest = 0;
+uint16_t cjl_canflag = 0;
 void Can_BusOff_Recover(uint8_t deltaTime)
 {
     if (get_can_busoff(CAN_CH_0) == 2)
     {
+        cjl_canflag = 1;
         CAN_TX_Count_Init();
         if (RSCAN0Busoff.Status == RSCAN0_BUS_STABLE)
         {
@@ -341,6 +378,11 @@ void Can_BusOff_Recover(uint8_t deltaTime)
             RSCAN0Busoff.Timer = 0;
             RSCAN0Busoff.Cnt = 0;
         }
+        if(cjl_canflag == 1)
+        {
+            cjl_canflag = 0;
+            Can_RX_Apply_Buff();
+        }
     }
 }
 

Firmware/Source/Application/CommonInterface/CommonInterface.c

@@ -45,7 +45,7 @@ uint16_t Common_Get_Act_V_Speed(void)
 }
 uint16_t Common_Get_Act_V_Speed_ODO(void)
 {
-    return Act_V_Speed * 101 / 100;
+    return Act_V_Speed;// * 101 / 100;
 }
 uint16_t Common_Get_Disp_V_Speed(void)
 {

Firmware/Source/Application/GPIO_USER/GpioUser.c

@@ -159,9 +159,10 @@ void Gpio_Init(_GpioUser_Enum InitMode)
     }
 
     if ((InitMode == Gpio_KL30_Init) || (InitMode == Gpio_WakeUp_Init))
-    {
-        RTE_GPIO_Config(RTE_GPIO_PORT12_PIN00, GpioOut_High);
-        RTE_GPIO_Config(RTE_GPIO_PORT06_PIN02, GpioOut_Low);
+    {   
+        /*为满足I2C时序要求*/
+        RTE_GPIO_Config(RTE_GPIO_PORT12_PIN00, GpioOut_High);//5V切电
+        RTE_GPIO_Config(RTE_GPIO_PORT06_PIN02, GpioOut_Low); //EE存储SCL
         Gen_TimeDelay(100 * 1000u, 50u);
         for (i = 0; i < Gpio_Max; i++)
         {

Firmware/Source/Application/SEG_DISPLAY/SEG_DISPLAY.c

@@ -1069,7 +1069,7 @@ void SEG_SET_FuelDial(uint8_t m_Flag, uint8_t m_SEG)
         IC2_SEG102 = IC_SEG_GREY;
         IC2_SEG101 = IC_SEG_GREY;
 
-        if (((Get_Fuel_Sensor_State() == 2) || (Get_Fuel_Sensor_State() == 1)) && (ClearODO_Flag != 1) && (Common_GetIgnOnTime() >= 3030))
+        if (((Get_Fuel_Sensor_State() == FuelSensorOpenCircuit) || (Get_Fuel_Sensor_State() == FuelSensorShortCircuit)) && (ClearODO_Flag != 1) && (Common_GetIgnOnTime() >= 3000))
         {
             if (FLASH_SYNC_1Hz)
             {

Firmware/Source/Component/Mileage/Services_Mileage_User.c

@@ -222,7 +222,7 @@ uint32_t Get_MileageInit_Status(void)
 
 void Services_Mileage_Callback(void)
 {
-    Data_Mileage_ISR();
+    //Data_Mileage_ISR();
     Data_ODO_Processing();
     Data_Trip_Processing();
     //Trip_Clear_Km_Service();

Firmware/Source/Component/PowerManagement/PowerManag_user.c

@@ -45,18 +45,13 @@ void PwrMemInit(void)
 static void Power_KL30_Init(void)
 {
     ClearODO_Flag = 0;
-    Simulated_IIC_2_Init();
     Gpio_Init(Gpio_KL30_Init);
+    Simulated_IIC_2_Init();
     eeprom_StoreInfo_Init();
     Can_Init();
 
     Data_TPMS_KL30_Init ();
     CAN_TX_Count_Init();
-    
-    CanMSg_XMS_Analysis(&CAN_CH0_CanMsgOp,2u);
-    CanMSg_XMS_Analysis(&CAN_CH0_CanMsgOp,2u);
-    CanMSg_XMS_Analysis(&CAN_CH0_CanMsgOp,2u);
-    Data_TPMS_Processing_Service();
     CAN_TX_Init();
 
 
@@ -112,7 +107,7 @@ static void Power_KL30_Init(void)
     RTE_DEEPSLEEP_GPIO_Interrupt_Enable(WAKEUP_KL15_In,Trigger_Rising);
     FaultCode_Init();
 // Data_TPMS_Processing_Service();
-
+    Common_DataInit();
 
 }
 extern uint32_t PowerIgnOffTimeLine;
@@ -120,8 +115,8 @@ static void Power_Wakeup_Init(void)
 {
     PowerIgnOffTimeLine = 0;
     //RTE_CLOCK_Select_Start();
-    Simulated_IIC_2_Init();
     Gpio_Init(Gpio_WakeUp_Init);
+    Simulated_IIC_2_Init();
     Can_Init();
 
     DFlash_init();
@@ -175,6 +170,7 @@ static void Power_Wakeup_Init(void)
     FaultCode_Init();
     Service_Interval_User_WakeupInit();
 
+    Common_DataInit();
 }
 
 static void Power_LVP_Init(void)
@@ -267,7 +263,7 @@ static Power_Status_em Power_Stay_OFF(void)
     }
     else
     {
-        if ((Common_GetIgnOffTime() < 20000))
+        if ((Common_GetIgnOffTime() < 5000))
         {
             u8PowerSts = EM_IGN_OFF;
         }

Firmware/Source/Device/Cmsemicon/BAT32A239/Library/Driver/include/can.h

@@ -34,9 +34,10 @@
   * @{
   */
 
-/** @addtogroup CAN
+/** @addtogroup CAN   
   * @{
   */
+#define LIST_BUF_MAX_NUM 	23
 
 /* Exported types ------------------------------------------------------------*/
 #define MAX_CAN_MSGCACHE_CNT			((uint8_t)0x10)
@@ -132,8 +133,21 @@ typedef struct
 
 	uint8_t Data[8];	/*!< Contains the data to be transmitted. It ranges from 0 
 						to 0xFF. */
+						
+	uint8_t OverWriteConfig;	/*!< Specifies the CAN message mail cache over write config
+						This parameter can be a value for ENABLE or DISABLE */	
 } CanTxRxMsg;
 
+/** 
+  * @brief  CAN Rx message history list
+  */
+typedef struct
+{
+	uint16_t  Head;
+	uint16_t  Tail;
+	uint16_t	length;
+	CanTxRxMsg data[LIST_BUF_MAX_NUM];
+}CANBuffList_t;
 
 /** @defgroup CAN_InitStatus 
   * @{
@@ -280,14 +294,14 @@ typedef struct
   */
 #define CAN_CacheType_Tx		((uint8_t)0x00)
 #define CAN_CacheType_Rx_NoMask	((uint8_t)0x01)
-#define CAN_CacheType_Rx_1Mask	((uint8_t)0x02)
-#define CAN_CacheType_Rx_2Mask	((uint8_t)0x03)
-#define CAN_CacheType_Rx_3Mask	((uint8_t)0x04)
-#define CAN_CacheType_Rx_4Mask	((uint8_t)0x05)
+#define CAN_CacheType_Rx_Mask1	((uint8_t)0x02)
+#define CAN_CacheType_Rx_Mask2	((uint8_t)0x03)
+#define CAN_CacheType_Rx_Mask3	((uint8_t)0x04)
+#define CAN_CacheType_Rx_Mask4	((uint8_t)0x05)
 
 #define IS_CAN_CACHETYPE(TYPE)	(((TYPE) == CAN_CacheType_Tx) || ((TYPE) == CAN_CacheType_Rx_NoMask) || \
-								((TYPE) == CAN_CacheType_Rx_1Mask) || ((TYPE) == CAN_CacheType_Rx_2Mask) || \
-								((TYPE) == CAN_CacheType_Rx_3Mask) || ((TYPE) == CAN_CacheType_Rx_4Mask))
+								((TYPE) == CAN_CacheType_Rx_Mask1) || ((TYPE) == CAN_CacheType_Rx_Mask2) || \
+								((TYPE) == CAN_CacheType_Rx_Mask3) || ((TYPE) == CAN_CacheType_Rx_Mask4))
 
 /** @defgroup CAN_identifier_type 
   * @{
@@ -364,6 +378,17 @@ typedef struct
 #define CAN_CCTRL_AL_MASK		((uint16_t)0x0040)
 #define CAN_CCTRL_VALID_MASK	((uint16_t)0x0020)
 
+#define CAN_CCTRL_PSMODE_IDLE 				((uint16_t)0x0018U)
+#define CAN_CCTRL_PSMODE_SLEEP 				((uint16_t)0x0810U)//0x0800U
+#define CAN_CCTRL_PSMODE_STOP 				((uint16_t)0x1800U)
+
+#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_ONLY_RX 			((uint16_t)0x0304U)//0x0300U
+#define CAN_CCTRL_OPMODE_SHOT 				((uint16_t)0x0403U)//0x0400U
+#define CAN_CCTRL_OPMODE_TEST 				((uint16_t)0x0502U)//0x0500U
+
 /*******************  Bit definition for CLEC register  ********************/
 #define CAN_CLEC_ERRNONE_MASK	((uint8_t)0x00)
 #define CAN_CLEC_ERRFILL_MASK	((uint8_t)0x01)
@@ -382,6 +407,14 @@ typedef struct
 #define CAN_GET_TECS(CINFO)		((uint8_t)(((CINFO) & CAN_CINFO_TECS_MASK) >> 2))
 #define CAN_GET_RECS(CINFO)		((uint8_t)(((CINFO) & CAN_CINFO_RECS_MASK) >> 0))
 
+/*******************  Bit definition for INTS register  ********************/
+#define CAN_INTS_TX_READ 			((uint8_t)0x0001U)
+#define CAN_INTS_RX_READ 			((uint8_t)0x0002U)
+#define CAN_INTS_ERR_READ 		((uint8_t)0x0004U)
+#define CAN_INTS_PERR_READ	  ((uint8_t)0x0008U)
+#define CAN_INTS_AL_READ 			((uint8_t)0x0010U)
+#define CAN_INTS_WK_READ 			((uint8_t)0x0020U)
+
 /*******************  Bit definition for CERC register  ********************/
 #define CAN_CERC_REPS_MASK		((uint16_t)0x8000)
 #define CAN_CERC_REC_MASK		((uint16_t)0x7F00)
@@ -512,8 +545,11 @@ void CAN_MessageCache_OverWriteConfig(CANMSG_Type *CANxMSGy, FunctionalState New
 uint8_t CAN_Transmit(CANMSG_Type *CANxMSGy, CanTxRxMsg* TxMessage);
 
 /* Function used to receive CAN frame data from message cache to RxMessage, timeout unit is system clock tick */
-uint8_t CAN_Receive(CAN_Type* CANx, CANMSG_Type *CANxMSGy, CanTxRxMsg* RxMessage, uint32_t Timeout);
-uint8_t CAN_Receive_IT(CAN_Type* CANx, CANMSG_Type *CANxMSGy, CanTxRxMsg* RxMessage);
+uint8_t CAN_Receive(CAN_Type* CANx, CanTxRxMsg* RxMessage, uint32_t Timeout);
+
+void CAN_Receive_IT(CAN_Type* CANx, CANBuffList_t *listbuf);
+
+uint8_t CANErr_Recover(CAN_Type* CANx);
 
 /* CAN Bus Error management functions *****************************************/
 uint8_t CAN_GetLastErrorCode(CAN_Type* CANx);

Firmware/Source/Device/Cmsemicon/BAT32A239/Library/Driver/src/can.c

@@ -2,8 +2,8 @@
   ******************************************************************************
   * @file    can.c
   * @author  MCD Application Team
-  * @version V1.0.0
-  * @date    27-January-2022
+  * @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:
   *           + Initialization and Configuration 
@@ -92,7 +92,7 @@
 #define SMODE_TIMEOUT       ((uint32_t)0x0000FFFF)
 
 /* Time out for cache init */
-#define CACHE_TIMEOUT       ((uint32_t)0x000000FF)
+#define CACHE_TIMEOUT       ((uint32_t)0x0000FFFF)
 
 /**
   * @brief  Deinitializes the CAN peripheral registers to their default reset values.
@@ -645,6 +645,16 @@ uint8_t CAN_MessageCache_Init(CANMSG_Type *CANxMSGy, CanTxRxMsg *TxRxMessage)
         CANxMSGy->CMCONF &= ~CAN_MCONF_RTR;
     }
 	
+    /* message cache overwrite config */	
+	if (TxRxMessage->OverWriteConfig != DISABLE)
+	{
+		CANxMSGy->CMCONF |=  CAN_MCONF_OWS;
+	}
+	else
+	{
+		CANxMSGy->CMCONF &= ~CAN_MCONF_OWS;
+	}
+	
 	/* When frame type is tx type, set frame data and length */
 	if (TxRxMessage->CacheType == CAN_CacheType_Tx)
 	{
@@ -679,7 +689,7 @@ uint8_t CAN_MessageCache_Init(CANMSG_Type *CANxMSGy, CanTxRxMsg *TxRxMessage)
 }
 
 /**
-  * @brief  CAN periphal for nessage cache over write config.
+  * @brief  CAN periphal for message cache over write config.
   * @param  CANxMSGy: where x can be 0 to select the CAN peripheral.
   *                   where y can be 0 to 15 to select the cache.
   * @param  NewState: new state of the CAN interrupts.
@@ -725,7 +735,7 @@ uint8_t CAN_Transmit(CANMSG_Type *CANxMSGy, CanTxRxMsg* TxMessage)
         CANxMSGy->CMCTRL = CAN_MCTRL_CLR_RDY;
 		
         /* Wait the operate complete */
-        //while (((CANxMSGy->CMCTRL & CAN_MCTRL_RDY_MASK) != 0x00) && (timeout != 0))
+        while (((CANxMSGy->CMCTRL & CAN_MCTRL_RDY_MASK) != 0x00) && (timeout != 0))
         {
             timeout--;
         }
@@ -778,13 +788,13 @@ uint8_t CAN_Transmit(CANMSG_Type *CANxMSGy, CanTxRxMsg* TxMessage)
   * @retval 0 is failed and true value is success for receive data length.
   * @note   This function is used by polling type.
   */
-uint8_t CAN_Receive(CAN_Type* CANx, CANMSG_Type *CANxMSGy, CanTxRxMsg* RxMessage, uint32_t Timeout)
+uint8_t CAN_Receive(CAN_Type* CANx, CanTxRxMsg* RxMessage, uint32_t Timeout)
 {
 	uint32_t timeout_temp = Timeout;
 	uint16_t reg_crgpt = 0;
-    volatile uint8_t cache_num = 0;
+    uint8_t cache_num = 0;
     uint8_t recv_flag = 0;
-	int i = 0;
+	CANMSG_Type *CANxMSGy;
 	
     /* Check the parameters */
 	assert_param(IS_CAN_ALL_PERIPH(CANx));
@@ -803,6 +813,7 @@ uint8_t CAN_Receive(CAN_Type* CANx, CANMSG_Type *CANxMSGy, CanTxRxMsg* RxMessage
 			/* clear interrupt status flag */
             CANx->CINTS = CAN_FLAG_REC;
             recv_flag = 1;
+            break;
         }
     }
 
@@ -824,11 +835,18 @@ uint8_t CAN_Receive(CAN_Type* CANx, CANMSG_Type *CANxMSGy, CanTxRxMsg* RxMessage
         return 0;
     }
 
-	/* clear DN register to enable next frame data cache */
-    CANxMSGy->CMCTRL = CAN_MCTRL_CLR_DN;
-
 	/* Get cache number and receive data length and valid data */
     cache_num = (((reg_crgpt) & CAN_CRGPT_RGPT_MASK) >> 8) & 0x0F;
+	if(CANx == CAN0)
+	{
+		CANxMSGy = (CANMSG_Type*)CAN0MSG00 + cache_num;
+	}
+	else if(CANx == CAN1)
+	{
+		CANxMSGy = (CANMSG_Type*)CAN1MSG00 + cache_num;		
+	}	
+	/* clear DN register to enable next frame data cache */
+    CANxMSGy->CMCTRL = CAN_MCTRL_CLR_DN;
 	
 	/* judge frame type is standard or extended */
 	if (CANxMSGy->CMIDH & 0x8000)
@@ -848,8 +866,7 @@ uint8_t CAN_Receive(CAN_Type* CANx, CANMSG_Type *CANxMSGy, CanTxRxMsg* RxMessage
     RxMessage->DLC = CANxMSGy->CMDLC;
 	
 	/* Get receive frame valid data to memory */
-		
-    for(i = 0; i < RxMessage->DLC; i++)
+    for(int i = 0; i < RxMessage->DLC; i++)
     {
         RxMessage->Data[i] = *(((uint8_t *)&(CANxMSGy->CMDB0)) + i);
     }
@@ -889,55 +906,154 @@ CANMSG_Type* CAN_Get_CANxMSGy(CAN_Type* CANx)
   * @retval 0 is failed and true value is success for receive data length.
   * @note   This function is used by interrupt type.
   */
-uint8_t CAN_Receive_IT(CAN_Type* CANx, CANMSG_Type *CANxMSGy, CanTxRxMsg* RxMessage)
+void CAN_Receive_IT(CAN_Type* CANx, CANBuffList_t *listbuf)
 {
 	uint16_t reg_crgpt = 0;
-    // uint8_t cache_num = 0;
-	int i=0;
+	uint8_t cache_num = 0;
+	CANMSG_Type *CANxMSGy;
+	CanTxRxMsg canMsgRec;
+	
+
     /* Check the parameters */
 	assert_param(IS_CAN_ALL_PERIPH(CANx));
-    assert_param(IS_CAN_ALL_MSGCACHE(CANxMSGy));
-	assert_param(RxMessage == NULL);
 
+    /* Read CRGPT register value to memory */
+    reg_crgpt = CANx->CRGPT;
+	
 	/* check ROVF register set or not and to clear it */
     if (reg_crgpt & CAN_CRGPT_ROVF_MASK)
     {
         CANx->CRGPT = CAN_CRGPT_CLR_ROVF;
     }
+		
+	while(!(reg_crgpt & CAN_CRGPT_RHPM_MASK))
+	{
+	
+		/* Get cache number and receive data length and valid data */
+		cache_num = (((reg_crgpt) & CAN_CRGPT_RGPT_MASK) >> 8) & 0x0F;
+		if(CANx == CAN0)
+		{
+			CANxMSGy = (CANMSG_Type*)CAN0MSG00 + cache_num;
+		}
+		else if(CANx == CAN1)
+		{
+			CANxMSGy = (CANMSG_Type*)CAN1MSG00 + cache_num;		
+		}
+		
+		/* clear DN register to enable next frame data cache */
+		CANxMSGy->CMCTRL = CAN_MCTRL_CLR_DN;
 
-	/* clear DN register to enable next frame data cache */
-    CANxMSGy->CMCTRL = CAN_MCTRL_CLR_DN;
+	
+		/* judge frame type is standard or extended */
+		if (CANxMSGy->CMIDH & 0x8000)
+		{
+			/* Extended frame to fetch ID0~ID28 */
+			canMsgRec.IDE = CAN_Id_Extended;
+			canMsgRec.Id = ((CANxMSGy->CMIDH & 0x1FFF) << 16) | (CANxMSGy->CMIDL);
+		}
+		else
+		{
+			/* Standard frame to fetch ID18~ID28 */
+			canMsgRec.IDE = CAN_Id_Standard;
+			canMsgRec.Id  = (CANxMSGy->CMIDH & 0x1FFC) >> 2;
+		}
+	
+		/* Get receive frame data length */
+			canMsgRec.DLC = CANxMSGy->CMDLC;
+	
+		/* Get receive frame valid data to memory */
+			for(int i = 0; i < canMsgRec.DLC; i++)
+			{
+				canMsgRec.Data[i] = *(((uint8_t *)&(CANxMSGy->CMDB0)) + i);
+			}
+			
+			/* Start user code. Do not edit comment generated here */
+			if(listbuf->length >= LIST_BUF_MAX_NUM)
+			{
+				listbuf->length = 0;
+			}
+			listbuf->data[listbuf->Tail] = canMsgRec;
+			listbuf->Tail = (listbuf->Tail+1)%LIST_BUF_MAX_NUM;
+			listbuf->length++;
+			
+			/* End user code. Do not edit comment generated here */
+			
+			reg_crgpt = CANx->CRGPT;
+		}
+}
+
+/***********************************************************************************************************************
+* Function Name: CAN0Err_recover
+* @brief  CAN error interrupt service routine
+* @param  None
+* @return None
+***********************************************************************************************************************/
+uint8_t CANErr_Recover(CAN_Type* CANx)
+{
+	uint8_t i;
+	uint16_t can0ints;
+	CANMSG_Type* pMsg;
+	uint8_t canerr = 0;	
+	/* Check the parameters */
+	assert_param(IS_CAN_ALL_PERIPH(CANx));
 
+	can0ints = CANx->CINTS&0x001C;//read error interrupt flag
+	CANx->CINTS = can0ints;	//clear error interrupt flag
 	
-	/* judge frame type is standard or extended */
-	if (CANxMSGy->CMIDH & 0x8000)
+	if((can0ints & CAN_INTS_ERR_READ) && (can0ints & CAN_INTS_PERR_READ))
 	{
-		/* Extended frame to fetch ID0~ID28 */
-		RxMessage->IDE = CAN_Id_Extended;
-		RxMessage->Id  = ((CANxMSGy->CMIDH & 0x1FFF) << 16) | (CANxMSGy->CMIDL);
+		canerr = 1;
 	}
-	else
+	
+#if 1	
+	if(can0ints & CAN_INTS_ERR_READ)//ERR interrrupt?
 	{
-		/* Standard frame to fetch ID18~ID28 */
-		RxMessage->IDE = CAN_Id_Standard;
-		RxMessage->Id  = (CANxMSGy->CMIDH & 0x1FFC) >> 2;
+		if(CANx->CINFO & CAN_CINFO_BOFF_MASK)//bus off?
+		{
+			//recovery bus
+			//clear all TRQ
+			if(CANx == CAN0)
+			{
+				pMsg = (CANMSG_Type*)CAN0MSG00_BASE;
+			}
+			else
+			{
+				pMsg = (CANMSG_Type*)CAN1MSG00_BASE;			
+			}
+			
+			for(i=0;i<16;i++)//clear all msg buffer TRQ
+			{
+				while(pMsg->CMCTRL & CAN_MCTRL_RDY_MASK)
+				{
+					pMsg->CMCTRL = CAN_MCTRL_CLR_RDY;//clear RDY
+				}
+				pMsg->CMCTRL = CAN_MCTRL_CLR_TRQ;//clear TRQ
+				
+				pMsg++;
+			}
+			
+			CANx->CCTRL = CAN_CCTRL_CLR_CCERC| CAN_CCTRL_CLR_AL| CAN_CCTRL_CLR_VALID| CAN_CCTRL_PSMODE_IDLE| CAN_CCTRL_OPMODE_IDLE;//CAN initialize
+			//Read can registor
+			if(CANx->CLEC)
+			{
+				CANx->CLEC = 0x00;//clear CLEC
+			}
+			
+			//set CCERC
+			CANx->CCTRL = CAN_CCTRL_SET_CCERC;//clear CCERC
+			
+			CANx->CCTRL = CAN_CCTRL_OPMODE_NORMAL;//CAN resume
+		}
 	}
 	
-	/* Get receive frame data length */
-    RxMessage->DLC = CANxMSGy->CMDLC;
+	if(can0ints & CAN_INTS_PERR_READ)//PERR interrrupt?
+	{
+		if(CANx->CLEC)
+		{
+			CANx->CLEC = 0x00;//clear CLEC
+		}
+	}
 	
-	/* Get receive frame valid data to memory */
-    for(i = 0; i < RxMessage->DLC; i++)
-    {
-        RxMessage->Data[i] = *(((uint8_t *)&(CANxMSGy->CMDB0)) + i);
-    }
-
-	/* when DN or MUC register bit is set, the frame cache data is invalid */
-    if ((CANxMSGy->CMCTRL & CAN_MCTRL_DN_MASK) || (CANxMSGy->CMCTRL & CAN_MCTRL_MUC_MASK))
-    {
-        return 0;
-    }
-
-    return RxMessage->DLC;
+	return canerr;
+#endif		
 }
-

Firmware/Source/Device/Cmsemicon/BAT32A239/RTE/CAN/rte_can.c

@@ -3,33 +3,51 @@
 #include "isr.h"
 #include "rte_can.h"
 
-
+CANBuffList_t CanBufList = {0};
 CANMSG_Type* CANMSG;
 CanTxRxMsg CAN_RecvMsg;
 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
  * 
  * @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);
-        CANMSG = CAN_Get_CANxMSGy(CAN0);
-        CAN_Receive_IT(CAN0, CANMSG, &CAN_RecvMsg);
-        
+
+        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);
+            Can_Rx_Cak(&CAN_RecvMsg);
         }
     }
 }
+static void can_error_handler(void)
+{
+    INTC_ClearPendingIRQ(CAN0ERR_IRQn);
 
+    //CANErr_Recover(CAN0);
+}
 /**
  * @brief CAN初始�?
  * 
@@ -51,7 +69,7 @@ uint8_t rte_can_init(can_config_st_t *config)
     GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT;
     GPIO_InitStruct.GPIO_Level = GPIO_Level_HIGH;
     GPIO_InitStruct.GPIO_Ctrl = GPIO_Control_DIG;
-    GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
+//GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
     GPIO_Init(GPIO_PORT5, &GPIO_InitStruct);
 
     /* CRXD pin init */
@@ -85,11 +103,13 @@ 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/BAT32A239/RTE/CAN/rte_can.h

@@ -11,8 +11,8 @@
 #include "can.h"
 
 
-typedef void (* can_rx_callback)(CanTxRxMsg*);
-
+//typedef void (* can_rx_callback)(CanTxRxMsg*);
+typedef uint8_t (* can_rx_callback)(CanTxRxMsg*);
 typedef enum
 {
     CAN_500Kbps = 4,
@@ -44,5 +44,5 @@ extern uint8_t rte_can_init(can_config_st_t *config);
 extern uint8_t rte_can_deinit(CAN_CH ch);
 extern uint8_t get_can_busoff(CAN_CH ch);
 extern uint8_t reset_busoff(CAN_CH ch);
-
+extern uint8_t Read_RingBuff(CanTxRxMsg *data);
 #endif /* RTE_CAN_H_ */

Firmware/Source/System/Sys_Task_List.c

@@ -129,9 +129,20 @@ void Sys_100ms_Tasks(void)
 void Sys_Exact_50us_Tasks(void)
 {
     static uint32_t task_1ms = 0u;
+    static uint32_t task_100ms = 0u;
     Can_Write_Fun(&CAN_CH0_CanMsgTxOp, 50u);
     DoCAN_Timer_Update(50u);
     GenDelay_Tick();
+    task_100ms++;
+    if(task_100ms >= 2000)
+    {
+        task_100ms = 0u;
+        if(Milleage_InitFlag == 0X5AA53AA3UL)
+        {
+            Data_Mileage_ISR();
+        }
+        
+    }
     task_1ms++;
     if ( task_1ms >=20U )   
     {

Firmware/Source/UDS/UDS_ISO14229_Services.h

@@ -312,13 +312,13 @@
 #define CheckSumErr       7    // Checksum Error
 #define UnknownPartID     8    // Unknown Part ID
 
-#define SWV 0x119 // 0x100 = 1.00 software version 软件版本号
+#define SWV 0x120 // 0x100 = 1.00 software version 软件版本号
 #define HWV 0x103 // 0x100 = 1.00 hardware version 硬件版本号
 #define BTV 0x100 // 0x100 = 1.00 bootloader version boot程序版本号
-#define INTLV 0x119 // 0x100 = 1.00 internal version 内部版本号
+#define INTLV 0x120 // 0x100 = 1.00 internal version 内部版本号
 #define PROG_Y 0x24 // 0x24 = 2024年, program year
-#define PROG_M 0x08 // 0x03 = 3月, program month
-#define PROG_D 0x21 // 0x19 = 19日, program day
+#define PROG_M 0x09 // 0x03 = 3月, program month
+#define PROG_D 0x10 // 0x19 = 19日, program day
 
 /******************************************************************************
  Bootloader Variable