🐞 fix:50220 ,将can外发放入中断中执行，解决【天鹰TY200】【外发】总线负载量83%，外发周期不稳定

Firmware/Source/Application/CAN_APP/CAN_CH0_CAN_Communication_Matrix.c

@@ -9,9 +9,9 @@ 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,  7ul * 1000ul,    0u,  MSG_STD, 1u, 8u, CAN_MSG_TX_CYCLE, Can_Set_Buff_6EE, (void *)0},
-    {0x6EFul, 100ul * 1000ul,  7ul * 1000ul,    0u,  MSG_STD, 1u, 8u, CAN_MSG_TX_CYCLE, Can_Set_Buff_6EF, (void *)0},
-    {0x450ul, 100ul * 1000ul,  7ul * 1000ul,    0u,  MSG_STD, 1u, 8u, CAN_MSG_TX_CYCLE, Can_Set_Buff_450, (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},
 #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

@@ -310,14 +310,15 @@ uint8_t Get_Busoff_Status(void)
 
 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;
 
     CAN_SendMsg.Id = Msg->MsgID;       /* ID */
     CAN_SendMsg.DLC = Msg->MsgDLC;     /* Len */
@@ -333,23 +334,24 @@ void Can_Write(st_CAN_Msg *Msg)
     switch (CAN_SendMsg.Id)
     {
     case 0x6EE:
-        CAN_Transmit(CAN0MSG08, &CAN_SendMsg);
+        CAN_result = CAN_Transmit(CAN0MSG08, &CAN_SendMsg);
         break;
     case 0x6EF:
-        CAN_Transmit(CAN0MSG12, &CAN_SendMsg);
+        CAN_result = CAN_Transmit(CAN0MSG12, &CAN_SendMsg);
         break;
     case 0x450:
-        CAN_Transmit(CAN0MSG13, &CAN_SendMsg);
+        CAN_result = CAN_Transmit(CAN0MSG13, &CAN_SendMsg);
         break;
     case 0x220:
-        CAN_Transmit(CAN0MSG10, &CAN_SendMsg);
+        CAN_result = CAN_Transmit(CAN0MSG10, &CAN_SendMsg);
         break;
 #if (IC_Current == TY200_080000b_ty)
     case 0x580:
-        CAN_Transmit(CAN0MSG14, &CAN_SendMsg);
+        CAN_result = CAN_Transmit(CAN0MSG14, &CAN_SendMsg);
         break;
 #endif
     default:
         break;
     }
+    return (!CAN_result);
 }

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

@@ -725,7 +725,7 @@ 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--;
         }

Firmware/Source/System/Sys_Task_List.c

@@ -18,7 +18,7 @@ void Sys_Pseudo_Real_Time_Tasks(void)
 void Sys_2ms_Tasks(void)
 {
     Common_Input_Para();
-    Can_Write_Fun(&CAN_CH0_CanMsgTxOp, 2000u);
+    //Can_Write_Fun(&CAN_CH0_CanMsgTxOp, 2000u);
     Sys_Status_Update_Service();
     Analog_Signal_Conv_Service();
     CanMSg_XMS_Analysis(&CAN_CH0_CanMsgOp,2u);
@@ -121,6 +121,7 @@ void Sys_100ms_Tasks(void)
 void Sys_Exact_50us_Tasks(void)
 {
     static uint32_t task_1ms = 0u;
+    Can_Write_Fun(&CAN_CH0_CanMsgTxOp, 50u);
     DoCAN_Timer_Update(50u);
     GenDelay_Tick();
     task_1ms++;