доработан bit stuff

(он другой стмкой определялся как form error, а не stuff error)

Core/CANEmu/canConfig.h

@@ -2,7 +2,7 @@
 #define CANCONFIG_H
 
 #define CAN_ONLY_EMULATING
-//#define CAN_ERROR_WITH_CORRECT_CRC
+#define CAN_ERROR_WITH_CORRECT_CRC
 
 
 // Настройки GPIO и таймера

Core/CANEmu/canWorking.c

@@ -3,7 +3,7 @@
 CANEmu_HandleTypeDef hcanemu;
 uint32_t mbox;
 
-CANEmu_HandleTypeDef hcanemu;
+int disable_poll_timeout = 1000;
 int flag_manual = 0;
 int transmit_prev = 0;
 
@@ -41,9 +41,14 @@ void CAN_SendFrame(CANEmu_HandleTypeDef *canemu)
 
 void CANEmu_Working(CANEmu_HandleTypeDef *canemu)
 {
+  uint32_t tick_now = HAL_GetTick();
+  
   if(flag_manual == 0)
   {
+    if(tick_now - hmodbus1.lastRxTick > disable_poll_timeout)
+      MB_DATA.Coils.START_POLLING = 0;
     canemu->start_poll          = MB_DATA.Coils.START_POLLING;
+    
     canemu->transmit            = MB_DATA.Coils.START_SINGLE_FRAME;
     canemu->period_ms           = MB_DATA.HoldRegs.CAN_PERIOD;
     if(canemu->period_ms < CAN_MIN_PERIOD)
@@ -92,4 +97,4 @@ void CANEmu_Working(CANEmu_HandleTypeDef *canemu)
     CAN_SendFrame(canemu);
   }
   transmit_prev = canemu->transmit;
-  }
+}

Core/CANEmu/canform.c

@@ -36,6 +36,7 @@ uint16_t compute_crc15(const uint8_t *bits, uint32_t len) {
     }
     return crc;
 }
+int stuff_to_skip = 1;
 void apply_bit_stuffing_with_error(const uint8_t *src, uint32_t src_len, uint8_t *dst, uint32_t *dst_len, uint8_t skip_stuff) {
   *dst_len = 0;
   uint8_t last_bit = src[0];
@@ -49,10 +50,12 @@ void apply_bit_stuffing_with_error(const uint8_t *src, uint32_t src_len, uint8_t
     if (bit == last_bit) {
       count++;
       if (count == 5) {
-                if (!skip_stuff) {
+        if(skip_stuff != stuff_to_skip)
           append_bit(dst, dst_len, !bit); // вставляем противоположный бит
-                }
         count = 0;
+        if (skip_stuff) {
+          skip_stuff++;
+        }        
       }
     } else {
       count = 1;

Core/Modbus/rs_message.h

@@ -59,8 +59,8 @@
 #define RS_Reset_RX_Flags(_hRS_)		    RS_Reset_RX_Active_Flags(_hRS_); _hRS_->f.RX_Busy = 0; _hRS_->f.RX_Done = 0; _hRS_->f.RX_Half = 0
 #define RS_Reset_TX_Flags(_hRS_)		    _hRS_->f.TX_Busy = 0; _hRS_->f.TX_Done = 0
 
-#define RS_Set_RX_End_Flag(_hRS_)		_hRS_->f.RX_Done = 1;
-#define RS_Set_TX_End_Flag(_hRS_)		_hRS_->f.TX_Done = 1
+#define RS_Set_RX_End_Flag(_hRS_)		_hRS_->f.RX_Done = 1; _hRS_->lastRxTick = uwTick;
+#define RS_Set_TX_End_Flag(_hRS_)		_hRS_->f.TX_Done = 1; _hRS_->lastTxTick = uwTick;
 
 #define RS_Set_RX_End(_hRS_)				RS_Reset_RX_Flags(_hRS_); RS_Set_RX_End_Flag(_hRS_)
 #define RS_Set_TX_End(_hRS_)				RS_Reset_TX_Flags(_hRS_); RS_Set_TX_End_Flag(_hRS_)
@@ -186,6 +186,8 @@ typedef struct	// RS_HandleTypeDef
   
 	/* RS STATUS */
 	RS_StatusTypeDef 					RS_STATUS;						///< RS status
+  uint32_t                  lastRxTick;
+  uint32_t                  lastTxTick;
 }RS_HandleTypeDef;
 extern RS_HandleTypeDef hmodbus1;
 

MDK-ARM/CANEmu.uvoptx

@@ -180,7 +180,24 @@
           <WinNumber>1</WinNumber>
           <ItemText>raw_bits</ItemText>
         </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>can_bits</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>stuff_to_skip</ItemText>
+        </Ww>
       </WatchWindow1>
+      <WatchWindow2>
+        <Ww>
+          <count>0</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>stuff_to_skip</ItemText>
+        </Ww>
+      </WatchWindow2>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>