From eb5628c9985d9c6b485eae7ebf8d666c4f8ba269 Mon Sep 17 00:00:00 2001
From: darya <dd@ficom-it.ru>
Date: Tue, 23 Jun 2026 09:04:21 +0300
Subject: [PATCH] =?UTF-8?q?=D0=9E=D0=B1=D0=BD=D0=BE=D0=B2=D0=BB=D0=B5?=
 =?UTF-8?q?=D0=BD=D0=B8=D0=B5=2023.06.2026?=
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---
 Inc/CanSerialPortFrame.h |  2 ++
 Src/CanSerialPortFrame.c | 43 ++++++++++++++++++++++++++++------------
 2 files changed, 32 insertions(+), 13 deletions(-)

diff --git a/Inc/CanSerialPortFrame.h b/Inc/CanSerialPortFrame.h
index e45ef48..17059d9 100644
--- a/Inc/CanSerialPortFrame.h
+++ b/Inc/CanSerialPortFrame.h
@@ -54,6 +54,8 @@ typedef struct {
 
     uint8_t CAN_INDEX;
 
+    osMessageQueueId_t txDataQueueCan;
+
     uint32_t id;
     uint32_t id1;
     FLEXCAN_IdType canTypeFrame;
diff --git a/Src/CanSerialPortFrame.c b/Src/CanSerialPortFrame.c
index 141a465..c996a75 100644
--- a/Src/CanSerialPortFrame.c
+++ b/Src/CanSerialPortFrame.c
@@ -118,6 +118,7 @@ bool vCanSerialPortFrameDMAInit(
     env->DMA_ErrorCallback = DMA_ErrorCallback;
 
 
+    env->txDataQueueCan = osMessageQueueNew(1, 1, NULL);
     env->access = osMutexNew(NULL);
 
     //начало-----------------------------------DMA-RX-------------------------------------------------------------------
@@ -325,7 +326,7 @@ bool vCanSerialPortFrameMbInit(
 //    env->DMA_ErrorCallback = DMA_ErrorCallback;
 
     env->access = osMutexNew(NULL);
-
+    env->txDataQueueCan = osMessageQueueNew(1, 1, NULL);
 
     //начало------------------------------------CAN---------------------------------------------------------------------
     //начало------------------------------------CAN---------------------------------------------------------------------
@@ -704,6 +705,32 @@ vCanSerialPortFrameReceive(tCanSerialPortFrameFlagchip *env, uint8_t idFilter, u
 //           : 0;
 //}
 
+FLEXCAN_ErrorType TransmitCan(tCanSerialPortFrameFlagchip *env, FLEXCAN_TxMsgType *tTxMsg) {
+
+    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) {
+
+            uint8_t u8TxHandler;
+            if (osMessageQueueGet(env->txDataQueueCan, &u8TxHandler, NULL, tTxMsg->bWaitTxCompleted) == osOK) {
+                tRetval = FLEXCAN_ERROR_OK;
+            } else {
+                tRetval = FLEXCAN_ERROR_TIMEOUT;
+            }
+
+        }
+
+        FLEXCAN_TransmitProcess(env->CAN_INDEX, tTxMsg->u8TxHandler);
+    }
+
+    return tRetval;
+}
+
+
 uint16_t vCanSerialPortFrameTransmit(tCanSerialPortFrameFlagchip *env, uint8_t *data, uint16_t size, uint32_t adr,
                                      uint8_t canType, uint32_t timeout) {
 
@@ -739,12 +766,7 @@ uint16_t vCanSerialPortFrameTransmit(tCanSerialPortFrameFlagchip *env, uint8_t *
             FCFUNC_FcOwnMemcpy(tTxMsg.aData, &data[len], 8, NULL);
             len += 8;
 
-            tRetval = FLEXCAN_TransmitData(env->CAN_INDEX, &tTxMsg);
-            if (tRetval != FLEXCAN_ERROR_OK) {
-                FLEXCAN_TransmitAbort(env->CAN_INDEX, tTxMsg.u8TxHandler);
-            } else {
-                FLEXCAN_TransmitProcess(env->CAN_INDEX, tTxMsg.u8TxHandler);
-            }
+            tRetval = TransmitCan(env, &tTxMsg);
 
             sent += 8;
             size -= 8;
@@ -755,12 +777,7 @@ uint16_t vCanSerialPortFrameTransmit(tCanSerialPortFrameFlagchip *env, uint8_t *
 
             FCFUNC_FcOwnMemcpy(tTxMsg.aData, &data[len], tailSize, NULL);
 
-            tRetval = FLEXCAN_TransmitData(env->CAN_INDEX, &tTxMsg);
-            if (tRetval != FLEXCAN_ERROR_OK) {
-                FLEXCAN_TransmitAbort(env->CAN_INDEX, tTxMsg.u8TxHandler);
-            } else {
-                FLEXCAN_TransmitProcess(env->CAN_INDEX, tTxMsg.u8TxHandler);
-            }
+            tRetval = TransmitCan(env, &tTxMsg);
 
             sent += tailSize;
             size -= tailSize;