【主线待合】解决CAN帧ID处理有误的问题，之前没暴露出来是因为一直试的单字节ID

bspMCU/bsp_CAN.c

@@ -127,10 +127,11 @@ void CAN_RX_IRQHandler(TComCtrl *_ptComCtrl)
 	}
 }
 
-int CAN_TX_FIFOQ(TComCtrl *_ptComCtrl, uint32_t _iFrameID, char *_pBuffer, uint32_t _iSize)
+int CAN_TX_FIFOQ(TComCtrl *_ptComCtrl, char *_pBuffer, uint32_t _iSize)
 {
     TCANUserData *ptCANUserData = (TCANUserData *)_ptComCtrl->m_pUserData;
     ptCANUserData->m_cantx->BitRateSwitch = FDCAN_BRS_OFF;
+    uint32_t iFrameID = (_pBuffer[0] & 0xFF) | ((_pBuffer[1] & 0xFF) << 8) | ((_pBuffer[2] & 0xFF) << 16) | ((_pBuffer[3] & 0xFF) << 24);
 
 #if CONFIG_CAN_NEW_VERSION
 	ptCANUserData->m_cantx->DataLength = (uint32_t) _iSize;
@@ -139,9 +140,9 @@ int CAN_TX_FIFOQ(TComCtrl *_ptComCtrl, uint32_t _iFrameID, char *_pBuffer, uint3
 #endif
 	ptCANUserData->m_cantx->FDFormat = FDCAN_CLASSIC_CAN;
 	ptCANUserData->m_cantx->IdType = FDCAN_STANDARD_ID;
-	ptCANUserData->m_cantx->Identifier = _iFrameID;
+	ptCANUserData->m_cantx->Identifier = iFrameID;
 	ptCANUserData->m_cantx->TxFrameType = FDCAN_DATA_FRAME;
-	HAL_FDCAN_AddMessageToTxFifoQ(ptCANUserData->m_can, ptCANUserData->m_cantx, (const uint8_t *)_pBuffer);
+	HAL_FDCAN_AddMessageToTxFifoQ(ptCANUserData->m_can, ptCANUserData->m_cantx, (const uint8_t *)&_pBuffer[4]);
 
 	return ptCANUserData->m_cantx->DataLength;
 }

bspMCU/include/bsp_CAN.h

@@ -97,7 +97,7 @@ typedef struct
 extern void CAN_IT_init(TComCtrl *_ptComCtrl);
 extern TCANUserData *CAN_userdata_init(FDCAN_HandleTypeDef *_fdCAN, uint32_t _Size, int _iIsLoop);
 extern void CAN_RX_IRQHandler(TComCtrl *_ptComCtrl);
-extern int CAN_TX_FIFOQ(TComCtrl *_ptComCtrl, uint32_t _iFrameID, char *_pBuffer, uint32_t _iSize);
+extern int CAN_TX_FIFOQ(TComCtrl *_ptComCtrl, char *_pBuffer, uint32_t _iSize);
 
 #endif
 

bspMCU/l_can.c

@@ -15,7 +15,7 @@ TComCtrl *g_ptCAN1;
 
 int CAN1_Send(char *_pBuffer, uint32_t _iSize)
 {
-    return CAN_TX_FIFOQ(g_ptCAN1, _pBuffer[0], &_pBuffer[4], _iSize);
+    return CAN_TX_FIFOQ(g_ptCAN1, _pBuffer, _iSize);
 }
 
 void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)