同步主线修改

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)

project/RBcore/drv_interface.c

@@ -118,12 +118,12 @@ int RS485_4_Send(char *_pBuffer, uint32_t _iSize)
 
 int FDCAN1_Send(char *_pBuffer, uint32_t _iSize)
 {
-    return CAN_TX_FIFOQ(g_ptFDCAN1, _pBuffer[0], &_pBuffer[4], _iSize);
+    return CAN_TX_FIFOQ(g_ptFDCAN1, _pBuffer, _iSize);
 }
 
 int FDCAN2_Send(char *_pBuffer, uint32_t _iSize)
 {
-    return CAN_TX_FIFOQ(g_ptFDCAN2, _pBuffer[0], &_pBuffer[4], _iSize);
+    return CAN_TX_FIFOQ(g_ptFDCAN2, _pBuffer, _iSize);
 }
 
 #ifndef CONFIG_UART_IT_IDLEDMA

project/Spoolend/Spoolend.c

@@ -18,6 +18,7 @@
 ******************************************************************************/
 #include "bsp_uart.h"
 #include "bsp_CAN.h"
+#include "com.h"
 #include "fdcan.h"
 /*----------------------------------------------*
  * 外部变量说明                                 *
@@ -84,27 +85,39 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
 
 static int check_RS485_1(char *_pBuffer, uint32_t _iSize)
 {
-	rd_ComSend(g_ptRS485_1, _pBuffer, _iSize);
 	return _iSize;
 }
 
 static int check_RS485_2(char *_pBuffer, uint32_t _iSize)
 {
-	rd_ComSend(g_ptRS485_2, _pBuffer, _iSize);
 	return _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 void decode_RS485_1(const char *_pBuffer, uint32_t _iSize)
+{
+    rd_ComSend(g_ptRS485_1, (char *)_pBuffer, _iSize);
+}
+
+static void decode_RS485_2(const char *_pBuffer, uint32_t _iSize)
+{
+    rd_ComSend(g_ptRS485_2, (char *)_pBuffer, _iSize);
+}
+
+static void decode_Spoolend(const char *_pBuffer, uint32_t _iSize)
+{
+    TCANUserData *ptCANUserData = (TCANUserData *)g_ptFDCAN1->m_pUserData;
+	uint32_t iCANId = (uint32_t)ptCANUserData->m_canrx->Identifier;
+	rd_ComIDWrite(g_ptFDCAN1, iCANId, (char *)_pBuffer, _iSize);
+}
+
 static int FDCAN1_Send(char *_pBuffer, uint32_t _iSize)
 {
-    return CAN_TX_FIFOQ(g_ptFDCAN1, _pBuffer[0], &_pBuffer[4], _iSize);
+    return CAN_TX_FIFOQ(g_ptFDCAN1, _pBuffer, _iSize);
 }
 
 void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
@@ -154,13 +167,13 @@ int Myprint_putchar(uint8_t ch)
 void SpoolendInit(void)
 {
     TUartUserData *ptUartUserData = UART_userdata_init(0, 115200, 512);
-    g_ptRS485_1 = rd_ComCreate(check_RS485_1, NULL, RS485_1_Send, ptUartUserData->m_buf_size, ptUartUserData);
+    g_ptRS485_1 = rd_ComCreate(check_RS485_1, decode_RS485_1, RS485_1_Send, ptUartUserData->m_buf_size, ptUartUserData);
     UART_IT_init(g_ptRS485_1);
 //    TUartUserData *ptUartUserData1 = UART_userdata_init(0, 115200, 512);
-//    g_ptRS485_2 = rd_ComCreate(check_RS485_2, NULL, RS485_2_Send, ptUartUserData1->m_buf_size, ptUartUserData1);
+//    g_ptRS485_2 = rd_ComCreate(check_RS485_2, decode_RS485_2, RS485_2_Send, ptUartUserData1->m_buf_size, ptUartUserData1);
 //    UART_IT_init(g_ptRS485_2);
     TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 8, 0);
-    g_ptFDCAN1 = rd_ComCreate(check_Spoolend, NULL, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
+    g_ptFDCAN1 = rd_ComCreate(check_Spoolend, decode_Spoolend, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
     CAN_IT_init(g_ptFDCAN1);
 }
 
@@ -178,6 +191,7 @@ void SpoolendTask(void)
     HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
     HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
     HAL_GPIO_TogglePin(LED3_GPIO_Port, LED3_Pin);
+    rd_ComSendProc(g_ptFDCAN1);
  	HAL_Delay(500);
 }