From df66794bf9668ba820a11c045530500554c948ba Mon Sep 17 00:00:00 2001
From: NeoZng <neozng1@hnu.edn.cn>
Date: Tue, 11 Jul 2023 16:16:19 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E5=BF=ABcan=E7=9A=84=E6=8A=A5?=
 =?UTF-8?q?=E6=96=87=E5=A4=84=E7=90=86=E5=AE=9E=E6=97=B6=E6=80=A7?=
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---
 Src/freertos.c               |  2 +-
 bsp/can/bsp_can.c            | 24 +++++++++++++-----------
 modules/referee/rm_referee.c |  4 ++--
 3 files changed, 16 insertions(+), 14 deletions(-)

diff --git a/Src/freertos.c b/Src/freertos.c
index 1ff4a6b..ad89d1e 100644
--- a/Src/freertos.c
+++ b/Src/freertos.c
@@ -125,7 +125,7 @@ void StartDefaultTask(void const *argument)
   /* init code for USB_DEVICE */
   MX_USB_DEVICE_Init(); // 默认usb启动任务的位置
   /* USER CODE BEGIN StartDefaultTask */
-  vTaskDelete(NULL); // 避免空置和切换占用cpu
+  osThreadTerminate(NULL); // 避免空置和切换占用cpu
   /* USER CODE END StartDefaultTask */
 }
 
diff --git a/bsp/can/bsp_can.c b/bsp/can/bsp_can.c
index 992cde4..5f2b890 100644
--- a/bsp/can/bsp_can.c
+++ b/bsp/can/bsp_can.c
@@ -150,19 +150,21 @@ static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
 {
     static CAN_RxHeaderTypeDef rxconf; // 同上
     uint8_t can_rx_buff[8];
-
-    HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); // 从FIFO中获取数据
-    for (size_t i = 0; i < idx; ++i)
-    { // 两者相等说明这是要找的实例
-        if (_hcan == can_instance[i]->can_handle && rxconf.StdId == can_instance[i]->rx_id)
-        {
-            if (can_instance[i]->can_module_callback != NULL) // 回调函数不为空就调用
+    while (HAL_CAN_GetRxFifoFillLevel(_hcan, fifox)) // FIFO不为空,有可能在其他中断时有多帧数据进入
+    {
+        HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); // 从FIFO中获取数据
+        for (size_t i = 0; i < idx; ++i)
+        { // 两者相等说明这是要找的实例
+            if (_hcan == can_instance[i]->can_handle && rxconf.StdId == can_instance[i]->rx_id)
             {
-                can_instance[i]->rx_len = rxconf.DLC;                      // 保存接收到的数据长度
-                memcpy(can_instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例
-                can_instance[i]->can_module_callback(can_instance[i]);     // 触发回调进行数据解析和处理
+                if (can_instance[i]->can_module_callback != NULL) // 回调函数不为空就调用
+                {
+                    can_instance[i]->rx_len = rxconf.DLC;                      // 保存接收到的数据长度
+                    memcpy(can_instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例
+                    can_instance[i]->can_module_callback(can_instance[i]);     // 触发回调进行数据解析和处理
+                }
+                return;
             }
-            return;
         }
     }
 }
diff --git a/modules/referee/rm_referee.c b/modules/referee/rm_referee.c
index d76c6cf..2743d7d 100644
--- a/modules/referee/rm_referee.c
+++ b/modules/referee/rm_referee.c
@@ -16,6 +16,7 @@
 #include "task.h"
 #include "daemon.h"
 #include "bsp_log.h"
+#include "cmsis_os.h"
 
 #define RE_RX_BUFFER_SIZE 255u // 裁判系统接收缓冲区大小
 
@@ -143,7 +144,6 @@ referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
  */
 void RefereeSend(uint8_t *send, uint16_t tx_len)
 {
-	static TickType_t xLastWakeTime;
 	USARTSend(referee_usart_instance, send, tx_len, USART_TRANSFER_DMA);
-	vTaskDelayUntil(&xLastWakeTime, 120); // 裁判系统接收ui数据和多机通信最大支持频率为10Hz
+	osDelay(115);
 }