fix(can/ak..ctrl): reduce the feedback dislocation

logeexpluoqi · Mar 10, 2021 · 4d50565 · 4d50565
1 parent 7942073
commit 4d50565
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Showing 2 changed files with 16 additions and 18 deletions.
diff --git a/Communication/can/can.c b/Communication/can/can.c
@@ -78,43 +78,42 @@ void can1_init()
 uint8_t can_send_msg(CanMsgTypedef msg)
 {
     uint8_t mbox;
+    uint8_t state = 0;
     uint8_t i = 0;
     CanTxMsg TxMessage;
+
     TxMessage.StdId = msg.std_id; // standard ID identify 
     TxMessage.ExtId = msg.ext_id; // extend ID identify 
     TxMessage.IDE   = msg.ide;      // indentifier extension
     TxMessage.RTR   = msg.rtr;      // remote transmission request
     TxMessage.DLC   = msg.dlc;      // data length code
 
-    for (i = 0; i < msg.dlc; i++)
-    {
-        TxMessage.Data[i] = msg.send_data[i]; // send a frame
-    }
+    mem_cpy(msg.send_data, TxMessage.Data, 8);
     mbox = CAN_Transmit(CAN1, &TxMessage);
     i = 0;
-    while ((CAN_TransmitStatus(CAN1, mbox) == CAN_TxStatus_Failed) && (i < 500))
+    while ((CAN_TransmitStatus(CAN1, mbox) == CAN_TxStatus_Failed) && (i <= 50))
     {
         i++; // wait for send finish
     }
-    if (i >= 500)
-    {
-        return 1;
-    }
+    if (i >= 50)
+        state = 1;
+    else
+        state = 0;
 
-    return 0;
+    return state;
 }
 
 uint8_t can_receive_msg(uint8_t *msg)
 {
-    uint32_t i;
+    uint8_t rx_mbox = 0;
     CanRxMsg RxMessage;
-    if (CAN_MessagePending(CAN1, CAN_FIFO0) != 0)
+
+    rx_mbox = CAN_MessagePending(CAN1, CAN_FIFO0);
+    if (rx_mbox != 0)
     {
         CAN_Receive(CAN1, CAN_FIFO0, &RxMessage); // read receive data from fifo
-        for (i = 0; i < RxMessage.DLC; i++)
-        {
-            msg[i] = RxMessage.Data[i];
-        }
+        CAN_FIFORelease(CAN1, CAN_FIFO0);
+        mem_cpy(RxMessage.Data, msg, RxMessage.DLC);
         return RxMessage.DLC;
     }
     else

diff --git a/Tasks/ak_motor_ctrl_task.c b/Tasks/ak_motor_ctrl_task.c
@@ -10,7 +10,6 @@
 #include "msg_codec.h"
 #include "ak_motor.h"
 #include "delay.h"
-#include "oled_task.h"
 
 static msgbox_akmotor_t* akmotor;
 static uint8_t ak_motor_upload_cache[62] = {0};
@@ -30,7 +29,6 @@ state_t ak_motor_ctrl_task()
         {
             if(akmotor[i].exist == 1)
             {
-                delay_us(330); // this delay is necessary for CAN bus transmmit
                 switch(mode)
                 {
                 case EN_MOTOR_MODE: 
@@ -94,6 +92,7 @@ state_t ak_motor_ctrl_task()
                 }
                 akmotor[motor_num].exist = 0;
                 motor_num = motor_num + 1;
+                delay_us(330); // this delay is necessary for CAN bus transmmit
             }
         }
         msgbox_task_en(TASK_DISABLE);