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器件型号：MCU-PLUS-SDK AM263X CAN 消息之后立即发送多个 CAN 消息。 但仅当发送消息之间没有延迟时、代码才会发送第一条消息。
void TorqueCalculationTask(void *pvParameters) {
uint64_t throttlePosition = 10;
uint64_t steeringPosition = 0;
CANMessage rrMessage;
CANMessage rlMessage;
CANMessage frMessage;
CANMessage flMessage;
while (1) {
// if (xSemaphoreTake(torqueValuesMutex, portMAX_DELAY)) {
// readThrottle(); // Read the throttle value at each cycle
throttlePosition = throttle_post_transfer;
steeringPosition = steering_post_transfer;
if (currentState == STATE_READY_TO_DRIVE && !brakePressed) {
calculateTorque(throttlePosition, torqueValues, steeringPosition);
createAMKCanMessage(0x1234, 1500, torqueValues[frontLeftInv], torqueValues[frontLeftInv+1], flMessage.message);
flMessage.id = 0x105; // Set the appropriate CAN ID
flMessage.message_length = 8;
createAMKCanMessage(0x1234, 1500, torqueValues[frontRightInv], torqueValues[frontRightInv+1], frMessage.message);
frMessage.id = 0x106; // Set the appropriate CAN ID
frMessage.message_length = 8;
createAMKCanMessage(0x1234, 1500, torqueValues[rearRightInv], torqueValues[rearRightInv+1], rrMessage.message);
rrMessage.id = 0x107; // Set the appropriate CAN ID
rrMessage.message_length = 8;
createAMKCanMessage(0x1234, 1500, torqueValues[rearLeftInv], torqueValues[rearLeftInv+1], rlMessage.message);
rlMessage.id = 0x108; // Set the appropriate CAN ID
rlMessage.message_length = 8;
// App_mcanSendCustomMsg(newMsg.id, MESSAGE_TYPE_STANDARD, MCAN_DATA_SIZE_8BYTES, newMsg.message);
// if (xSemaphoreTake(canQueueMutex, portMAX_DELAY) == pdTRUE) {
xQueueSendToBack(canQueue, &rrMessage, portMAX_DELAY);
xQueueSendToBack(canQueue, &frMessage, portMAX_DELAY);
xQueueSendToBack(canQueue, &rlMessage, portMAX_DELAY);
xQueueSendToBack(canQueue, &flMessage, portMAX_DELAY);
xSemaphoreGive(canQueueMutex);
// }
// }
// xSemaphoreGive(torqueValuesMutex);
}
vTaskDelay(pdMS_TO_TICKS(5)); // Adjust task delay as needed
}
}
void CanMessageSendTask(void *pvParameters) {
CANMessage msg;
TickType_t lastWakeTime;
const TickType_t frequency = pdMS_TO_TICKS(1);
while(1){
while (xQueueReceive(canQueue, &msg, portMAX_DELAY)) {
vTaskSuspendAll();
App_mcanSendCustomMsg(msg.id, MESSAGE_TYPE_STANDARD, MCAN_DATA_SIZE_8BYTES, msg.message);
xTaskResumeAll();
}
}
}
int32_t App_mcanSendCustomMsg(uint32_t msgId, uint8_t msgType, uint8_t dlc,
const uint8_t *data) {
MCAN_TxBufElement txMsg;
uint32_t bufNum = 0U; // Using first buffer for simplicity
int32_t status;
/* Initialize message to transmit */
MCAN_initTxBufElement(&txMsg);
/* Configure message ID based on type */
if (msgType == MESSAGE_TYPE_STANDARD) {
txMsg.id = (msgId & MCAN_STD_ID_MASK)
<< MCAN_STD_ID_SHIFT; // Standard ID
txMsg.xtd = FALSE; // Indicating standard identifier
} else {
txMsg.id = msgId & MCAN_EXT_ID_MASK; // Extended ID
txMsg.xtd = TRUE; // Indicating extended identifier
}
/* Configure DLC */
txMsg.dlc = dlc;
/* CAN FD frame format and BRS can be configured based on application needs */
txMsg.fdf = FALSE; // Not a CAN FD frame
txMsg.brs = FALSE; // Baud rate switching not used
/* Copy data to the message buffer */
for (uint32_t i = 0U; i < gMcanDataSize[dlc] && i < sizeof(txMsg.data); i++) {
txMsg.data[i] = data[i];
}
/* Write message to Message RAM */
// MCAN_writeMsgRam(gMcanBaseAddr, MCAN_MEM_TYPE_BUF, bufNum, &txMsg);
MCAN_writeMsgRam(gMcanBaseAddr, MCAN_MEM_TYPE_FIFO, bufNum, &txMsg);
/* Add request for transmission */
status = MCAN_txBufAddReq(gMcanBaseAddr, bufNum);
return status;
}
除非我在每次传输后添加"vTaskDelay (pdms_to_ticks (1)；"、否则仅发送 ID 为0x107 (第一个添加到队列中的消息)的消息。 是否有在一个 Tx 完成后发送消息而不是必须添加手动延时时间的方法？
预期消息频率约为1500Hz、因此1毫秒延迟对我来说是不可行的
