【调通打标】】CAN的自发自收调通

Spoolend/Spoolend.c

@@ -50,7 +50,7 @@ TComCtrl *g_ptFDCAN1;
  * 宏定义                                       *
  *----------------------------------------------*/
 
-int RS485_1_Send(char *_pBuffer, uint32_t _iSize)
+static int RS485_1_Send(char *_pBuffer, uint32_t _iSize)
 {
     HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_SET);
     TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_1->m_pUserData;
@@ -59,7 +59,7 @@ int RS485_1_Send(char *_pBuffer, uint32_t _iSize)
     return iRet;
 }
 
-int RS485_2_Send(char *_pBuffer, uint32_t _iSize)
+static int RS485_2_Send(char *_pBuffer, uint32_t _iSize)
 {
     HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_SET);
     TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_2->m_pUserData;
@@ -94,11 +94,35 @@ static int check_RS485_2(char *_pBuffer, uint32_t _iSize)
 	return _iSize;
 }
 
-int FDCAN1_Send(char *_pBuffer, uint32_t _iSize)
+static int check_Spoolend(char *_pBuffer, uint32_t _iSize)
+{
+	TCANUserData *ptCANUserData = (TCANUserData *)g_ptFDCAN1->m_pUserData;
+	uint32_t iCANId = (uint8_t)ptCANUserData->m_canrx->Identifier;
+	rd_ComIDSend(g_ptFDCAN1, iCANId, _pBuffer, _iSize);
+	return _iSize;
+}
+
+static int FDCAN1_Send(char *_pBuffer, uint32_t _iSize)
 {
     return CAN_TX_FIFOQ(g_ptFDCAN1, _pBuffer[0], &_pBuffer[4], _iSize);
 }
 
+void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
+{
+	if (hfdcan->Instance == FDCAN1)
+	{
+		MX_FDCAN1_Init();
+	}
+}
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
+{
+	if (hfdcan->Instance == FDCAN1)
+	{
+		CAN_RX_IRQHandler(g_ptFDCAN1);
+	}
+}
+
 void Myprint_Init(void)
 {
     TUartUserData *ptUartUserData = UART_userdata_init(1, 115200, 4096);
@@ -127,11 +151,6 @@ int Myprint_putchar(uint8_t ch)
     }
 }
 
-static int check_Spoolend(char *_pBuffer, uint32_t _iSize)
-{
-	return _iSize;
-}
-
 void SpoolendInit(void)
 {
     TUartUserData *ptUartUserData = UART_userdata_init(0, 115200, 512);
@@ -149,11 +168,11 @@ void SpoolendTask(void)
 {
 	char pcBuffer1[52] = {0};
 //	char pcBuffer2[52] = {0};
-    char cansend[5] = {1, 2, 3 ,4, 5};
-    rd_ComIDSend(g_ptFDCAN1, 1, cansend, sizeof(cansend));
+	char pcBuffer3[52] = {0};
 	__disable_irq();
 	rd_ComRead(g_ptRS485_1, pcBuffer1, sizeof(pcBuffer1));
 //	rd_ComRead(g_ptRS485_2, pcBuffer2, sizeof(pcBuffer2));
+	rd_ComRead(g_ptFDCAN1, pcBuffer3, sizeof(pcBuffer3));
 	__enable_irq();
 }