From 7070545aa218dbb2f20e918b955f0a8167f189b8 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Wed, 15 Oct 2025 00:31:49 +0800
Subject: [PATCH] =?UTF-8?q?=E6=94=B9can?=
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---
 User/bsp/can.c | 79 +++++++++++++++++++++++++++++---------------------
 1 file changed, 46 insertions(+), 33 deletions(-)

diff --git a/User/bsp/can.c b/User/bsp/can.c
index e401cdd..e094ea1 100644
--- a/User/bsp/can.c
+++ b/User/bsp/can.c
@@ -45,7 +45,9 @@ static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id);
 static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
 static void BSP_CAN_RxFifo0Callback(void);
 static void BSP_CAN_RxFifo1Callback(void);
-static void BSP_CAN_TxCompleteCallback(void);
+static void BSP_CAN_TxCompleteCallback_Internal(BSP_CAN_t can);
+static void BSP_CAN_1_TxCompleteCallback(void);
+static void BSP_CAN_2_TxCompleteCallback(void);
 static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header);
 static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
 static void BSP_CAN_TxQueueInit(BSP_CAN_t can);
@@ -212,39 +214,50 @@ static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can) {
 }
 
 /**
- * @brief 处理所有CAN实例的发送队列
+ * @brief 处理指定CAN实例的发送队列
  */
-static void BSP_CAN_TxCompleteCallback(void) {
-    // 处理所有CAN实例的发送队列
-    for (int i = 0; i < BSP_CAN_NUM; i++) {
-        BSP_CAN_t can = (BSP_CAN_t)i;
-        CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
-        if (hcan == NULL) continue;
+static void BSP_CAN_TxCompleteCallback_Internal(BSP_CAN_t can) {
+    CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
+    if (hcan == NULL) return;
+    
+    BSP_CAN_TxMessage_t msg;
+    uint32_t mailbox;
+    
+    // 尝试发送队列中的消息
+    while (!BSP_CAN_TxQueueIsEmpty(can)) {
+        // 检查是否有空闲邮箱
+        if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) {
+            break; // 没有空闲邮箱，等待下次中断
+        }
         
-        BSP_CAN_TxMessage_t msg;
-        uint32_t mailbox;
+        // 从队列中取出消息
+        if (!BSP_CAN_TxQueuePop(can, &msg)) {
+            break;
+        }
         
-        // 尝试发送队列中的消息
-        while (!BSP_CAN_TxQueueIsEmpty(can)) {
-            // 检查是否有空闲邮箱
-            if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) {
-                break; // 没有空闲邮箱，等待下次中断
-            }
-            
-            // 从队列中取出消息
-            if (!BSP_CAN_TxQueuePop(can, &msg)) {
-                break;
-            }
-            
-            // 发送消息
-            if (HAL_CAN_AddTxMessage(hcan, &msg.header, msg.data, &mailbox) != HAL_OK) {
-                // 发送失败，消息已经从队列中移除，直接丢弃
-                break;
-            }
+        // 发送消息
+        if (HAL_CAN_AddTxMessage(hcan, &msg.header, msg.data, &mailbox) != HAL_OK) {
+            // 发送失败，消息已经从队列中移除，直接丢弃
+            break;
         }
     }
 }
 
+/**
+ * @brief 1发送完成回调
+ */
+static void BSP_CAN_1_TxCompleteCallback(void) {
+    BSP_CAN_TxCompleteCallback_Internal(BSP_CAN_1);
+}
+
+/**
+ * @brief 2发送完成回调
+ */
+static void BSP_CAN_2_TxCompleteCallback(void) {
+    BSP_CAN_TxCompleteCallback_Internal(BSP_CAN_2);
+}
+
+
 
 /**
  * @brief FIFO0接收处理函数
@@ -465,9 +478,9 @@ int8_t BSP_CAN_Init(void) {
 
     // 自动注册CAN1接收回调函数
     BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);
-    BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);
-    BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);
-    BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);
+    BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_1_TxCompleteCallback);
+    BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_1_TxCompleteCallback);
+    BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_1_TxCompleteCallback);
 
     // 激活CAN1中断
     HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | 
@@ -481,9 +494,9 @@ int8_t BSP_CAN_Init(void) {
 
     // 自动注册CAN2接收回调函数
     BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback);
-    BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);
-    BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);
-    BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);
+    BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_2_TxCompleteCallback);
+    BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_2_TxCompleteCallback);
+    BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_2_TxCompleteCallback);
 
     // 激活CAN2中断
     HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING |