🐞 fix:52817 AliveCounter信号，仪表重新上电，第一帧发送到数据错误

Firmware/Source/Application/CAN_APP/CAN_CH0_CAN_Communication_Matrix.c

@@ -8,10 +8,10 @@ st_CanMsgTxOp CAN_CH0_CanMsgTxOp;
 
 const st_CAN_SendAttribute    CAN_CH0_CANSendAttr[CAN_CH0_ID_SEND_TOTAL] =
 {
-    {0x220ul, 50ul * 1000ul,  7ul * 1000ul,    0u,  MSG_STD, 1u, 8u, CAN_MSG_TX_CYCLE, Can_Set_Buff_220, (void *)0},
-    {0x6EEul, 100ul * 1000ul,  8ul * 1000ul,    0u,  MSG_STD, 2u, 8u, CAN_MSG_TX_CYCLE, Can_Set_Buff_6EE, (void *)0},
-    {0x6EFul, 100ul * 1000ul,  9ul * 1000ul,    0u,  MSG_STD, 3u, 8u, CAN_MSG_TX_CYCLE, Can_Set_Buff_6EF, (void *)0},
-    {0x450ul, 100ul * 1000ul,  10ul * 1000ul,    0u,  MSG_STD, 4u, 8u, CAN_MSG_TX_CYCLE, Can_Set_Buff_450, (void *)0},
+    {0x220ul, 50ul * 1000ul,  49ul * 1000ul,    0u,  MSG_STD, 1u, 8u, CAN_MSG_TX_CYCLE, Can_Set_Buff_220, (void *)0},
+    {0x6EEul, 100ul * 1000ul,  98ul * 1000ul,    0u,  MSG_STD, 2u, 8u, CAN_MSG_TX_CYCLE, Can_Set_Buff_6EE, (void *)0},
+    {0x6EFul, 100ul * 1000ul,  97ul * 1000ul,    0u,  MSG_STD, 3u, 8u, CAN_MSG_TX_CYCLE, Can_Set_Buff_6EF, (void *)0},
+    {0x450ul, 100ul * 1000ul,  96ul * 1000ul,    0u,  MSG_STD, 4u, 8u, CAN_MSG_TX_CYCLE, Can_Set_Buff_450, (void *)0},
 #if (IC_Current == TY200_080000b_ty)
     {0x580ul, 8ul * 1000ul,  0ul * 1000ul,    0u,  MSG_STD, 1u, 8u, CAN_MSG_TX_CYCLE, Can_Set_Buff_580, (void *)0},
 #endif

Firmware/Source/Application/CAN_User/Can_User.c

@@ -6,7 +6,7 @@
 #include "RTE.h"
 
 __align(4)
-uint32_t pRXBuff[CAN_RX_MSG_Block * CAN_CH0_ID_TOTAL_MAX];
+    uint32_t pRXBuff[CAN_RX_MSG_Block * CAN_CH0_ID_TOTAL_MAX];
 uint32_t pTXBuff[CAN_TX_MSG_Block * CAN_CH0_ID_SEND_TOTAL];
 static RSCAN0BusoffMonitorStruct RSCAN0Busoff;
 
@@ -26,8 +26,7 @@ void Can_Init(void)
     Can_Tx_Apply_Buff();
     Can_RX_Apply_Buff();
 
-    RTE_GPIO_Set_Level(RTE_GPIO_PORT05_PIN02,RTE_GPIO_LEVEL_LOW);
-
+    RTE_GPIO_Set_Level(RTE_GPIO_PORT05_PIN02, RTE_GPIO_LEVEL_LOW);
 }
 
 /**
@@ -196,8 +195,6 @@ void Can_Tx_Apply_Buff(void)
     CAN_MessageCache_DeInit(CAN0MSG14);
     CAN_MessageCache_Init(CAN0MSG14, &CAN_SendMsg);
 
-
-    
     CAN_SendMsg_Diag_Tx.Id = DIAG_ID_Tx;
     CAN_SendMsg_Diag_Tx.IDE = CAN_Id_Standard;
     CAN_SendMsg_Diag_Tx.CacheType = CAN_CacheType_Tx;
@@ -244,7 +241,14 @@ void COM_CAN_Init(void)
     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);
 }
-
+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
@@ -254,6 +258,7 @@ void Can_BusOff_Recover(uint8_t deltaTime)
 {
     if (get_can_busoff(CAN_CH_0) == 2)
     {
+        CAN_TX_Count_Init();
         if (RSCAN0Busoff.Status == RSCAN0_BUS_STABLE)
         {
             RSCAN0Busoff.Status = RSCAN0_BUS_OFF_LV1;
@@ -262,18 +267,21 @@ 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_TX_Count_Init();
+                Can_QuickTimer_Init();
                 reset_busoff(CAN_CH_0);
             }
         }
@@ -281,9 +289,12 @@ 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_TX_Count_Init();
+                Can_QuickTimer_Init();
                 reset_busoff(CAN_CH_0);
             }
         }
@@ -293,7 +304,15 @@ 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;
+        }
     }
 }
 
@@ -310,12 +329,12 @@ uint8_t Get_Busoff_Status(void)
 extern uint8_t Can_341_Flg;
 uint8_t COM_APP_Process(st_CAN_Msg *Msg)
 {
-//     Can_Write((st_CAN_Msg *)Msg);
-//     return 0;
-// }
+    //     Can_Write((st_CAN_Msg *)Msg);
+    //     return 0;
+    // }
 
-// void Can_Write(st_CAN_Msg *Msg)
-// {
+    // void Can_Write(st_CAN_Msg *Msg)
+    // {
     uint32_t i = 0;
     CanTxRxMsg CAN_SendMsg;
     uint8_t CAN_result = 0;
@@ -341,7 +360,7 @@ uint8_t COM_APP_Process(st_CAN_Msg *Msg)
         break;
     case 0x450:
 
-    //if(Can_341_Flg == 1 || Common_GetIgnOnTime() > 2000)
+        // if(Can_341_Flg == 1 || Common_GetIgnOnTime() > 2000)
         {
             CAN_result = CAN_Transmit(CAN0MSG13, &CAN_SendMsg);
         }
@@ -349,7 +368,7 @@ uint8_t COM_APP_Process(st_CAN_Msg *Msg)
         break;
     case 0x220:
         CAN_result = CAN_Transmit(CAN0MSG10, &CAN_SendMsg);
-        if(AliveCountTimer < 7)
+        if (AliveCountTimer < 7)
         {
             AliveCountTimer++;
         }
@@ -360,7 +379,7 @@ uint8_t COM_APP_Process(st_CAN_Msg *Msg)
         break;
 #if (IC_Current == TY200_080000b_ty)
     case 0x580:
-    if(Get_Tpms_TX_Flag() != 0 )
+        if (Get_Tpms_TX_Flag() != 0)
         {
             CAN_result = CAN_Transmit(CAN0MSG14, &CAN_SendMsg);
         }

Firmware/Source/Application/CAN_User/Can_User.h

@@ -27,7 +27,7 @@ typedef struct
     uint8_t  Status;
     uint8_t  Timer;
     uint8_t  Cnt;
-    uint8_t  ReportDTCCnt;
+    uint8_t   RecoverTimer;
 } RSCAN0BusoffMonitorStruct;