From d2cf8eade14a1317e3b9a8b4d9ddf1376ac030b8 Mon Sep 17 00:00:00 2001
From: cfif <cham-zod@mail.ru>
Date: Sun, 21 Jun 2026 18:41:12 +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?=
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---
 CanPorts.c | 21 ++++++++++-----------
 1 file changed, 10 insertions(+), 11 deletions(-)

diff --git a/CanPorts.c b/CanPorts.c
index a041ab5..4cf71d7 100644
--- a/CanPorts.c
+++ b/CanPorts.c
@@ -19,11 +19,9 @@ static void CAN0_ErrorInterrupt_CallBack(uint8_t u8CanIndex, FLEXCAN_ErrorInfoTy
     PROCESS_UNUSED_VAR(pErrorInfo);
 }
 
-uint32_t azz0 = 0;
-
+osMessageQueueId_t txDataQueueCan0 = NULL;
 static void CAN0_TxInterruptCallBackType(uint8_t u8CanIndex, uint8_t u8TxHandler) {
-    ++azz0;
-    asm("nop");
+    osMessageQueuePut(txDataQueueCan0, &u8TxHandler, 0x0, 0U);
 }
 
 static void CAN1_ErrorInterrupt_CallBack(uint8_t u8CanIndex, FLEXCAN_ErrorInfoType *pErrorInfo) {
@@ -32,15 +30,11 @@ static void CAN1_ErrorInterrupt_CallBack(uint8_t u8CanIndex, FLEXCAN_ErrorInfoTy
     PROCESS_UNUSED_VAR(pErrorInfo);
 }
 
-uint32_t azz1 = 0;
-
+osMessageQueueId_t txDataQueueCan1 = NULL;
 static void CAN1_TxInterruptCallBackType(uint8_t u8CanIndex, uint8_t u8TxHandler) {
-    ++azz1;
-    asm("nop");
+    osMessageQueuePut(txDataQueueCan1, &u8TxHandler, 0x0, 0U);
 }
 
-
-
 #if (CAN_DMA_EN == 1)
 
 typedef struct {
@@ -191,8 +185,11 @@ const FLEXCAN_RxMbFilterType IdCanFilterFifoCan1[countIdCanFilterFifoCan1] = {
 #endif
 
 static bool vCanPort_InitCan0() {
+
     vCanPort_InitCAN0RxTxPin();
 
+    txDataQueueCan0 = osMessageQueueNew(1, 1, NULL);
+
 #if (CAN_DMA_EN == 1)
     bool result = vCanSerialPortFrameDMAInit(
             &CAN_PORTS.Can0,
@@ -225,7 +222,7 @@ static bool vCanPort_InitCan0() {
             CAN0_ErrorInterrupt_CallBack,
             NULL,
             NULL,
-            NULL,
+            CAN0_TxInterruptCallBackType,
 
             DMA_TransferCompleteCallbackCan0,
             NULL
@@ -298,6 +295,8 @@ static bool vCanPort_InitCan1() {
 
     vCanPort_InitCAN1RxTxPin();
 
+    txDataQueueCan1 = osMessageQueueNew(1, 1, NULL);
+
 #if (CAN_DMA_EN == 1)
     bool result = vCanSerialPortFrameDMAInit(
             &CAN_PORTS.Can1,