Обновление 23.06.2026

Inc/CanSerialPortFrame.h

@@ -38,8 +38,10 @@ typedef struct {
                                               this parameter can be a value between 0 to 0xFF */
 } can_rx_message_type;
 
+#define COUNT_TX_CAN_HANDLER  24
 
-#define COUNT_TX_HANDLER  3
+
+#define COUNT_TX_HANDLER  24
 #define COUNT_QUEUE 4
 
 typedef struct {

Src/CanSerialPortFrame.c

@@ -214,7 +214,7 @@ bool vCanSerialPortFrameDMAInit(
         env->tMbCfg.pRxBuf = CAN_GET_BUFFER(CAN_INDEX);
 
         // tx config
-        env->tMbCfg.u8TxMsgCnt = 3U; // tx occupy 3 mb
+        env->tMbCfg.u8TxMsgCnt = COUNT_TX_CAN_HANDLER; // 3U
 
         tRetVal = FLEXCAN_RxFilterConfig(CAN_INDEX, &env->tMbCfg);
 
@@ -713,26 +713,77 @@ vCanSerialPortFrameReceive(tCanSerialPortFrameFlagchip *env, uint8_t idFilter, u
 //           : 0;
 //}
 
+uint8_t max_i = 0;
+uint8_t tx_init[COUNT_TX_CAN_HANDLER] = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
+
 FLEXCAN_ErrorType TransmitCan(tCanSerialPortFrameFlagchip *env, FLEXCAN_TxMsgType *tTxMsg) {
 
+/*
+    for (uint32_t j = 0; j < 500000; ++j) {
+
+        for (uint8_t i = 0; i < COUNT_TX_CAN_HANDLER; ++i) {
+            uint8_t ready = FLEXCAN_TransmitProcess(env->CAN_INDEX, i);
+
+            if ((ready) || (tx_init[i])) {
+                tx_init[i] = 0;
+                tTxMsg->u8TxHandler = i;
+                break;
+            } else {
+                if (i > max_i) {
+                    max_i = i;
+                }
+                asm("nop");
+            }
+
+        }
+    }
+*/
+
+
+    uint8_t ready = 0;
+
+    while (ready == 0) {
+
+        for (uint8_t i = 0; i < COUNT_TX_CAN_HANDLER; ++i) {
+            ready = IsTxBufferFree_ByCode(env->CAN_INDEX, i);
+
+            if ((ready)) {
+                tTxMsg->u8TxHandler = i;
+                break;
+            } else {
+                if (i > max_i) {
+                    max_i = i;
+                }
+
+                if (max_i >= COUNT_TX_CAN_HANDLER) {
+                    asm("nop");
+                }
+            }
+        }
+
+    }
+
+
     FLEXCAN_ErrorType tRetval = FLEXCAN_TransmitData(env->CAN_INDEX, tTxMsg);
 
     if (tRetval != FLEXCAN_ERROR_OK) {
         FLEXCAN_TransmitAbort(env->CAN_INDEX, tTxMsg->u8TxHandler);
     } else {
-/*
-        if (tTxMsg->bWaitTxCompleted) {
 
+
+        if (tTxMsg->bWaitTxCompleted) {
+/*
             uint8_t u8TxHandler;
-            if (osMessageQueueGet(env->txDataQueueCan[tTxMsg->u8TxHandler], &u8TxHandler, NULL, tTxMsg->bWaitTxCompleted) == osOK) {
+            if (osMessageQueueGet(env->txDataQueueCan[tTxMsg->u8TxHandler], &u8TxHandler, NULL, 50) == osOK) {
                 tRetval = FLEXCAN_ERROR_OK;
             } else {
                 tRetval = FLEXCAN_ERROR_TIMEOUT;
             }
-
-        }
 */
-        FLEXCAN_TransmitProcess(env->CAN_INDEX, tTxMsg->u8TxHandler);
+        }
+
+//        FLEXCAN_TransmitProcess(env->CAN_INDEX, tTxMsg->u8TxHandler);
+
     }
 
     return tRetval;
@@ -765,7 +816,7 @@ uint16_t vCanSerialPortFrameTransmit(tCanSerialPortFrameFlagchip *env, uint8_t *
         tTxMsg.eDataType = FLEXCAN_FRAME_DATA;
         tTxMsg.eFrameType = (FLEXCAN_IdType) env->canTypeFrame;
         tTxMsg.bWaitTxCompleted = 1U;
-        tTxMsg.u16WaitTxTimeout = 50000;
+        tTxMsg.u16WaitTxTimeout = 50;
 
 
         uint16_t len = 0;