上一次错了，这次增加错误处理

.vscode/settings.json

@@ -1,6 +1,7 @@
 {
     "files.associations": {
         "UART.C": "cpp",
-        "CAN.C": "cpp"
+        "CAN.C": "cpp",
+        "UART1.C": "cpp"
     }
 }

CAN.C

@@ -150,15 +150,19 @@ void CAN_vInit(void)
 
   ///  General Configuration of the Node 0:
   ///  - set INIT and CCE
+  ///  - enable interrupt generation upon a change of BOFF or EWARN or upon a 
+  ///    set of LLE, LOE or INIT
+  ///  - alert interrupt node pointer: MultiCAN SRN 0
 
-  //-----------CAN_NCR0 = 0x00000041-------------------------------------
+  //-----------CAN_NCR0 = 0x00000049-------------------------------------
 
     CAN_vWriteCANAddress(CAN_NCR0); // Addressing CAN_NCR0
-    CAN_DATA0 = 0x41;            // load NODE 0 control register[7-0]
+    CAN_DATA0 = 0x49;            // load NODE 0 control register[7-0]
     CAN_vWriteEN(D0_VALID+ADR_INC); // Data0 is Valid for transmission and 
                                     // Write is EnabledCAN Address pointing 
                                     // to the CAN_NSR0.
 
+
   //  CAN Address pointing to the CAN_NIPR0
     CAN_ADCON = ADR_INC;         // Auto Increment the current address(+1)
 
@@ -193,16 +197,16 @@ void CAN_vInit(void)
 
   ///  Configuration of the Node 0 Baud Rate:
   ///  - required baud rate = 250.000 kbaud
-  ///  - real baud rate     = 252.632 kbaud
+  ///  - real baud rate     = 250.000 kbaud
-  ///  - sample point       = 80.00 %
+  ///  - sample point       = 75.00 %
-  ///  - there are 7 time quanta before sample point
+  ///  - there are 11 time quanta before sample point
-  ///  - there are 2 time quanta after sample point
+  ///  - there are 4 time quanta after sample point
   ///  - the (re)synchronization jump width is 2 time quanta
 
-  //-----------CAN_NBTR0 = 0x00001652-------------------------------------
+  //-----------CAN_NBTR0 = 0x00003A4B-------------------------------------
 
-    CAN_DATA0 = 0x52;            // load NBTR0_SJW, BRP
+    CAN_DATA0 = 0x4B;            // load NBTR0_SJW, BRP
-    CAN_DATA1 = 0x16;            // load NBTR0_DIV8, TSEG2, TSEG1
+    CAN_DATA1 = 0x3A;            // load NBTR0_DIV8, TSEG2, TSEG1
     CAN_vWriteEN(D0_VALID+D1_VALID+ADR_INC);  // Data0, 1 are valid for 
                                               // transmission and Write is 
                                               // Enabled with Auto 

CL2.0.uvopt

@@ -320,7 +320,7 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\..\20250115_IO采集\UART.C</PathWithFileName>
+      <PathWithFileName>..\20250115_IO采集\UART.C</PathWithFileName>
       <FilenameWithoutPath>UART.C</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>

CL2.0.uvproj

@@ -414,7 +414,7 @@
             <File>
               <FileName>UART.C</FileName>
               <FileType>1</FileType>
-              <FilePath>..\..\20250115_IO采集\UART.C</FilePath>
+              <FilePath>..\20250115_IO采集\UART.C</FilePath>
             </File>
           </Files>
         </Group>

UART1.C

@@ -0,0 +1,261 @@
+//****************************************************************************
+// @Module        UART1 (Serial Interface)
+// @Filename      UART1.C
+// @Project       CL2.0.dav
+//----------------------------------------------------------------------------
+// @Controller    Infineon XC886CLM-8FF
+//
+// @Compiler      Keil
+//
+// @Codegenerator 1.3
+//
+// @Description:  This file contains functions that use the UART1 module.
+//
+//----------------------------------------------------------------------------
+// @Date          2024/10/31 19:17:02
+//
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_General,1)
+
+// USER CODE END
+
+
+
+//****************************************************************************
+// @Project Includes
+//****************************************************************************
+
+#include "MAIN.H"
+
+// USER CODE BEGIN (UART1_General,2)
+
+// USER CODE END
+
+
+//****************************************************************************
+// @Macros
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_General,3)
+
+// USER CODE END
+
+
+//****************************************************************************
+// @Defines
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_General,4)
+
+// USER CODE END
+
+
+//****************************************************************************
+// @Typedefs
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_General,5)
+
+// USER CODE END
+
+
+//****************************************************************************
+// @Imported Global Variables
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_General,6)
+
+// USER CODE END
+
+
+//****************************************************************************
+// @Global Variables
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_General,7)
+
+// USER CODE END
+
+
+//****************************************************************************
+// @External Prototypes
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_General,8)
+
+// USER CODE END
+
+
+//****************************************************************************
+// @Prototypes Of Local Functions
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_General,9)
+
+// USER CODE END
+
+
+//****************************************************************************
+// @Function      void UART1_vInit(void) 
+//
+//----------------------------------------------------------------------------
+// @Description   This is the initialization function of the UART1 function 
+//                library. It is assumed that the SFRs used by this library 
+//                are in their reset state. 
+//                
+//                The following SFR fields will be initialized:
+//                - register SCON
+//                - bits SMOD and EX2
+//
+//----------------------------------------------------------------------------
+// @Returnvalue   None
+//
+//----------------------------------------------------------------------------
+// @Parameters    None
+//
+//----------------------------------------------------------------------------
+// @Date          2024/10/31
+//
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_Init,1)
+
+// USER CODE END
+
+void UART1_vInit(void)
+{
+  // USER CODE BEGIN (UART1_Init,2)
+
+  // USER CODE END
+
+  ///  -----------------------------------------------------------------------
+  ///  UART1 settings
+  ///  -----------------------------------------------------------------------
+  ///  Pin TXD1_1 (P3.1) is selected for transmission
+  ///  Pin RXD1_1 (P3.2) is selected for reception
+  ///  Receiver enabled
+  ///  UART1 interrupt is enabled
+  ///  Ignore Normal divider overflow interrupt
+  ///  Mode 1: 8-bit data, 1 start bit, 1 stop bit, variable baud rate
+  ///  Receiver interrupt flag RI_1 will only be activated if a valid stop 
+  ///  bit was received
+  ///  BRG is selected for baudrate generation
+
+  SFR_PAGE(_pp2, noSST);         // switch to page 2 without saving
+  P3_ALTSEL0   |=  (ubyte)0x02;  // configure alternate function register 0
+  P3_ALTSEL1   |=  (ubyte)0x02;  // configure alternate function register 1
+  SFR_PAGE(_pp0, noSST);         // switch to page 0 without saving
+  P3_DIR       |=  (ubyte)0x02;  // set output direction
+
+
+  SFR_PAGE(_su3, noSST);         // switch to page 3 without saving
+  MODPISEL1    |=  (ubyte)0x08;  // configure peripheral input select register
+  SFR_PAGE(_su0, noSST);         // switch to page 0 without saving
+
+  SET_RMAP();                   
+
+  UART1_BCON    =  0x00;         // reset baudrate timer/reload register
+  UART1_SCON    =  0x50;         // load serial channel control register
+
+  ///  -----------------------------------------------------------------------
+  ///  Baudrate generator settings
+  ///  -----------------------------------------------------------------------
+  ///  input clock = fPCLK
+  ///  Fractional divider is disabled
+  ///  baudrate = 9.6154 kbaud
+
+  UART1_BG      =  0x9B;         // load baudrate timer/reload register
+  UART1_BCON   |=  0x01;         // load baud rate control register
+
+
+  RESET_RMAP();                 
+
+
+  // USER CODE BEGIN (UART1_Init,3)
+
+  // USER CODE END
+
+} //  End of function UART1_vInit
+
+
+//****************************************************************************
+// @Function      ubyte UART1_ubGetData8(void) 
+//
+//----------------------------------------------------------------------------
+// @Description   This function returns the last received 8-bit data unit. 
+//                Interrupt flag RI_1 will be cleared.
+//
+//----------------------------------------------------------------------------
+// @Returnvalue   received data unit
+//
+//----------------------------------------------------------------------------
+// @Parameters    None
+//
+//----------------------------------------------------------------------------
+// @Date          2024/10/31
+//
+//****************************************************************************
+
+ubyte UART1_ubGetData8(void)
+{
+
+  ubyte ubData;
+
+  _push_(SYSCON0);               // push the current RMAP
+  SET_RMAP();                   
+
+  //   Clear the receiver interrupt flag
+  UART1_SCON   &= ~(ubyte)0x01; 
+
+
+  //   Read the received data bits 0..7
+  ubData = (ubyte)UART1_SBUF;
+
+
+  _pop_(SYSCON0);                // restore the old RMAP
+
+  //   Return the received data byte
+  return(ubData);
+
+} //  End of function UART1_ubGetData8
+//****************************************************************************
+// @Function      void UART1_vSendData8(ubyte ubData) 
+//
+//----------------------------------------------------------------------------
+// @Description   This function transmits an 8-bit data unit. At first 
+//                interrupt flag TI_1 is cleared, then buffer SBUF is written.
+//
+//----------------------------------------------------------------------------
+// @Returnvalue   None
+//
+//----------------------------------------------------------------------------
+// @Parameters    ubData: 
+//                data to be transmitted
+//
+//----------------------------------------------------------------------------
+// @Date          2024/10/31
+//
+//****************************************************************************
+
+void UART1_vSendData8(ubyte ubData)
+{
+
+  _push_(SYSCON0);               // push the current RMAP
+  SET_RMAP();                   
+
+  //   Clear the transmitter interrupt flag
+  UART1_SCON   &= ~(ubyte)0x02; 
+
+  //   Write the transmit data byte, this initiates the transmission.
+  UART1_SBUF = ubData;
+
+  _pop_(SYSCON0);                // restore the old RMAP
+
+} //  End of function UART1_vSendData8
+
+
+// USER CODE BEGIN (UART1_General,10)
+
+// USER CODE END
+

UART1.H

@@ -0,0 +1,153 @@
+//****************************************************************************
+// @Module        UART1 (Serial Interface)
+// @Filename      UART1.H
+// @Project       CL2.0.dav
+//----------------------------------------------------------------------------
+// @Controller    Infineon XC886CLM-8FF
+//
+// @Compiler      Keil
+//
+// @Codegenerator 1.3
+//
+// @Description:  This file contains all function prototypes and macros for 
+//                the UART1 module.
+//
+//----------------------------------------------------------------------------
+// @Date          2024/10/31 19:17:02
+//
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_Header,1)
+
+// USER CODE END
+
+
+
+#ifndef _UART1_H_
+#define _UART1_H_
+
+//****************************************************************************
+// @Project Includes
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_Header,2)
+
+// USER CODE END
+
+
+//****************************************************************************
+// @Macros
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_Header,3)
+
+// USER CODE END
+
+
+//****************************************************************************
+// @Defines
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_Header,4)
+
+// USER CODE END
+
+
+//****************************************************************************
+// @Typedefs
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_Header,5)
+
+// USER CODE END
+
+
+//****************************************************************************
+// @Imported Global Variables
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_Header,6)
+
+// USER CODE END
+
+
+//****************************************************************************
+// @Global Variables
+//****************************************************************************
+
+// USER CODE BEGIN (UART1_Header,7)
+
+// USER CODE END
+
+
+//****************************************************************************
+// @Prototypes Of Global Functions
+//****************************************************************************
+
+void UART1_vInit(void);
+ubyte UART1_ubGetData8(void);
+void UART1_vSendData8(ubyte ubData);
+
+// USER CODE BEGIN (UART1_Header,8)
+
+// USER CODE END
+
+
+//****************************************************************************
+// @Macro         UART1_vRxEnable() 
+//
+//----------------------------------------------------------------------------
+// @Description   This macro releases the receive function of the UART1 by 
+//                setting bit REN_1.
+//
+//----------------------------------------------------------------------------
+// @Returnvalue   None
+//
+//----------------------------------------------------------------------------
+// @Parameters    None
+//
+//----------------------------------------------------------------------------
+// @Date          2024/10/31
+//
+//****************************************************************************
+
+//   RMAP should be set before calling this macro.
+
+#define UART1_vRxEnable() REN_1 = 1
+
+
+//****************************************************************************
+// @Macro         UART1_vRxDisable() 
+//
+//----------------------------------------------------------------------------
+// @Description   This macro disables the receive function of the UART1 by 
+//                clearing bit REN_1.
+//                Note: Any data that is currently being received is received 
+//                to completion, including the setting of interrupt flag RI_1.
+//
+//----------------------------------------------------------------------------
+// @Returnvalue   None
+//
+//----------------------------------------------------------------------------
+// @Parameters    None
+//
+//----------------------------------------------------------------------------
+// @Date          2024/10/31
+//
+//****************************************************************************
+
+//   RMAP should be set before calling this macro.
+
+#define UART1_vRxDisable() REN_1 = 0
+
+
+//****************************************************************************
+// @Interrupt Vectors
+//****************************************************************************
+
+
+// USER CODE BEGIN (UART1_Header,9)
+
+// USER CODE END
+
+#endif  // ifndef _UART1_H_

User.c

@@ -17,6 +17,9 @@ bit FlgOneTime = 0;
 ubyte uart2RxFlag = 0;
 uword RgCanPerid = 50;
 
+ubyte           can_error_cnt = 0;
+ubyte           can_error_flg = 0;	
+
 //PWM 20181227
 ubyte PwmH[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
 //-----------------------------------------------------------------------
@@ -49,7 +52,7 @@ SBusData* parseSBusData(const uint8_t *input_data)
     sbus_data.channels[10] = (input_data[14] >> 6 | input_data[15] << 2 | input_data[15] << 10) & 0x07FF;
     sbus_data.channels[11] = (input_data[16] >> 1 | input_data[17] << 7) & 0x07FF;
     sbus_data.channels[12] = (input_data[17] >> 4 | input_data[18] << 4) & 0x07FF;
-    sbus_data.channels[13] = (input_data[18] >> 7 | input_data[19] << 1 | input_data[19] << 9) & 0x07FF;
+    sbus_data.channels[13] = (input_data[18] >> 7 | input_data[19] << 1 | input_data[20] << 9) & 0x07FF;
     sbus_data.channels[14] = (input_data[20] >> 2 | input_data[21] << 6) & 0x07FF;
     sbus_data.channels[15] = (input_data[21] >> 5 | input_data[22] << 3) & 0x07FF;
 
@@ -352,9 +355,6 @@ void sbusCanDecode(void)
 }
 
 
-
-
-
 //CAN<41><4E><EFBFBD>ͽ<EFBFBD><CDBD><EFBFBD>
 void CanRXTX(void)
 {
@@ -426,8 +426,8 @@ void CanRXTX(void)
 		
 //		sbus_temp[1] = 3;
     detectLedState(&blink_detector, sbus_temp[0], &sbus_temp[1]);		
-	  UnRemoteControlOutput_2.bit_data.enable = blink_detector.current_state;//
+//	  UnRemoteControlOutput_2.bit_data.enable = blink_detector.current_state;//
-	  UnRemoteControlOutput_2.bit_data.reserve1	= sbus_temp[1];	
+//	  UnRemoteControlOutput_2.bit_data.reserve1	= sbus_temp[1];	
 		
 
 		if( (MATCH_CMD == UnInfCan_1.ArrData.ArrRX[0][0]) || (CHANGE_CMD == UnInfCan_1.ArrData.ArrRX[0][0]) )//<2F><>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD>
@@ -480,6 +480,16 @@ void CanRXTX(void)
     CanTransmit(DF_SwTx,(ubyte *)&UnRemoteControlOutput_1.arr[0]);
     CanTransmit(DF_SwTx1,(ubyte *)&UnRemoteControlOutput_2.arr[0]);	
 	}
+	
+	if( (0x40 == can_error_cnt) || (0x80 == can_error_cnt) )//20250625<32>ж<EFBFBD><D0B6>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ߴ<EFBFBD><DFB4><EFBFBD>
+	{
+		 can_error_flg = can_error_cnt;
+		 CAN_vInit();
+		 can_error_cnt = 0;
+	}			
+	
+	
+	
 }
 
 

user.H

@@ -149,6 +149,7 @@ extern  bit      FlgCan_1;
 
 extern  ubyte    rxbuf[25];
 extern  ubyte    uart2RxFlag;
+extern  ubyte    can_error_cnt;
 
 
 void CanRXTX(void);