屏蔽CAN发送避免超时

MOTINOVA_CDL_App/Src/uart_process.c

@@ -196,7 +196,7 @@ void SendCmdData(USART_Buf_TypeDef * ptTx, uint8_t Mode, uint16_t ID, uint16_t C
 void Uart1_RxData_Process(USART_Buf_TypeDef* ptUartRx, uint16_t TimeOut)
 {
   uint8_t Mode, DataLength, Addr;
-  static 	uint8_t	Data[255], Sum_Buf[255];
+  static 	uint8_t	Data[255];
 	uint16_t Cmd, i, ID;
 	uint16_t CheckSumResult=0, CheckSumData=0;
 	uint8_t FrameBegin, FrameEnd1, FrameEnd2;
@@ -207,24 +207,20 @@ void Uart1_RxData_Process(USART_Buf_TypeDef* ptUartRx, uint16_t TimeOut)
 	{
 	  //读取帧头
 		FrameBegin = UART_ReadChar(ptUartRx, 0);
-		Sum_Buf[0] = FrameBegin;
 
 		if(FrameBegin == UARTFRAME_BEGIN)
 		{
 		  Addr = UART_ReadChar(ptUartRx, 1);//读取地址ID
-			Sum_Buf[1] = Addr;
 
 			if(Addr == UARTID_MC_TO_CDL)
 			{
 					//读取帧模式
 				Mode = UART_ReadChar(ptUartRx, 2);
-				Sum_Buf[2] = Mode;
 				
 				if((Mode == UARTMODE_READ) || (Mode == UARTMODE_WRITE) || (Mode == UARTMODE_REPORT))
 				{
 					//读取数据段长度
 					DataLength = UART_ReadChar(ptUartRx, 3);
-					Sum_Buf[3] = DataLength;
 					
 					if(ptUartRx->ucBufCnt < (DataLength + 8))//帧头1byte  + 地址1byte + 模式1byte + 长度1byte + 校验位2bytes + 帧尾2bytes
 					{
@@ -244,16 +240,15 @@ void Uart1_RxData_Process(USART_Buf_TypeDef* ptUartRx, uint16_t TimeOut)
 					{					  
 						IsWaitRX_Flag = FALSE;
 						//接收到完整正确数据包
-						for(i=0; i<DataLength; i++)//读取数据段
+						for(i=0; i<(DataLength+4); i++)//读取数据段
 						{
-							Data[i] = UART_ReadChar(ptUartRx, 4 + i);
-							Sum_Buf[4 + i] = Data[i];
+							Data[i] = UART_ReadChar(ptUartRx, i);
 						}
 						CheckSumData = (UART_ReadChar(ptUartRx, 4 + DataLength)) + \
 														(UART_ReadChar(ptUartRx, 5 + DataLength) << 8);
 						for(i = 1; i<(DataLength+4); i++)
 						{
-							CheckSumResult = (uint16_t)(Sum_Buf[i] + CheckSumResult);
+							CheckSumResult = (uint16_t)(Data[i] + CheckSumResult);
 						}
 						
 						FrameEnd1 = UART_ReadChar(ptUartRx, 6 + DataLength);
@@ -262,13 +257,13 @@ void Uart1_RxData_Process(USART_Buf_TypeDef* ptUartRx, uint16_t TimeOut)
 						if((CheckSumData == CheckSumResult) && (FrameEnd1 == UARTFRAME_END1) && (FrameEnd2 == UARTFRAME_END2))// 比较校验和帧尾
 						{
 							//数据处理
-							UART1_DataProcess(Mode, Cmd, Data);//Mode为帧模式，Cmd为命令字，Data为数据段
+							UART1_DataProcess(Mode, Cmd, &Data[4]);//Mode为帧模式，Cmd为命令字，Data为数据段
 							
 							if(DataLength >= 4)//数据段包含ID+Cmd，至少4bytes
 							{
-								ID = (uint16_t)((Data[0]<<8) + Data[1]);
-								Cmd = (uint16_t)((Data[2]<<8) + Data[3]);
-								SendCmdData(&UART_TxBuff_Struct3, Mode, ID, Cmd, &Data[4]);
+								ID = (uint16_t)((Data[4]<<8) + Data[5]);
+								Cmd = (uint16_t)((Data[6]<<8) + Data[7]);
+								SendCmdData(&UART_TxBuff_Struct3, Mode, ID, Cmd, &Data[8]);
 							}
 							
 							//清除缓存
@@ -375,7 +370,7 @@ void Uart3_RxData_Process(USART_Buf_TypeDef* ptUartRx, uint16_t TimeOut)
 							CRC_Buf[8 + DataLength] = UART_ReadChar(ptUartRx, 10 + DataLength);
 							CRC_Buf[9 + DataLength] = UART_ReadChar(ptUartRx, 11 + DataLength);
 							CRC_Buf[10 + DataLength] = FRAME_END;
-							CAN_SendData(ID, CRC_Buf, DataLength + 11);
+							//CAN_SendData(ID, CRC_Buf, DataLength + 11);
 							
 							UART_TransferData(&UART_TxBuff_Struct1, UARTID_CDL_TO_MC, Mode, ID, Cmd, Data);
 							//清除缓存