From cad8f3b8ac0266317616a737008dac26d50538b2 Mon Sep 17 00:00:00 2001
From: sunbeam <fcb1995@163.com>
Date: Tue, 18 Jul 2023 17:03:00 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8Dbusoff?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 ECU_APP/OutPut/ECU_APP.S19                    | 2722 ++++++++---------
 .../QualityReport(ECU_APP,DefaultBuild).txt   |   69 +-
 ECU_APP/diagnose/extern.c                     |    8 +-
 ECU_APP/r_cg_timer_user.c                     |    2 +-
 ECU_APP/rscan_driver/r_rl78_can_irq.c         |   20 +-
 ECU_APP/user/appTask.c                        |  140 +-
 ECU_APP/user/can_user.c                       |    2 +-
 7 files changed, 1484 insertions(+), 1479 deletions(-)

diff --git a/ECU_APP/OutPut/ECU_APP.S19 b/ECU_APP/OutPut/ECU_APP.S19
index 46a5cf3..4472f87 100644
--- a/ECU_APP/OutPut/ECU_APP.S19
+++ b/ECU_APP/OutPut/ECU_APP.S19
@@ -1,74 +1,74 @@
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+S3150000F1C6D7D900F151075FFFF012312C8F01F131CB
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+S3150000F3D604819FA3E5AF54E5F743DF213652E531B5
+S3150000F3E6851BF556E55408320EF130D4F0FEE7FEDD
+S3150000F3F630CCF0FCFBAA00306400BF54E5D7C1143C
+S3150000F40613B98A035C1F9A0315A1A114A9F05CE03F
+S3150000F416B9C4C58A0771FA5C8F9A071504060014E3
+S3150000F426A9F05CF0B9A80004040014F6B9C0D7F137
+S3150000F43673195EE5001963E5001968E50083634CF8
+S3150000F44605DFEDD74C05DE05731963E501D74C05D7
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+S3150000F46663E51489CA0000D7F1D7914C05DE0B3146
+S3150000F4768E0468E51489CA0000D7F1D72004F1EE98
+S3150000F4868D00819801FE8F004C01DF4688005002F0
+S3150000F496D6B802046EE514A9A1B9441400DC07889F
+S3150000F4A60073195EE501A80212796EE544F401DCE3
+S3150000F4B658880073095EE54C02DD4EA8021230F448
+S3150000F4C601786EE58800FE7BFF880073195EE5020B
+S3150000F4D6EF37D1DF3488005002D612796EE544063E
+S3150000F4E600DC06300500786EE5440000DF1788006C
+S3150000F4F673095EE591DF058800FE52FF88007319E1
+S3150000F5065EE500EF04B1786EE588014C05DD0598E9
+S3150000F51600EE6EFF1004D791DD1491DD1791DD1C08
+S3150000F52691DD2091DD2391DD2591DD26F1D78D062E
+S3150000F536312AEF048D01316A5C01EF048D01317ABF
+S3150000F5467C01D78D06313AEFEFE15B03EFF2E15B23
+S3150000F5560CD78D0C315A5C01D74C06DE0BD1DD0873
+S3150000F566318E045DE51489D7F1D74C0CDE085002BE
+S3140000F576D612792EF1D7F6D7302EF1EC03B1006D
+S3060000F585FF80
+S3150000F58600000000000000003200C8007856341261
+S3150000F59611121314222431333536377F727173787C
+S3150000F5A67E00112233445566778899AABBCCDDEED8
+S3150000F5B6FF00000000000000000000000000000040
+S3150000F5C60000030364000000E803000103000000D6
+S3150000F5D6000000000000000000000000000000001F
+S30D0000F5E6000000000000000017
+S3150000F5EEFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF17
 S3150000F5FEFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF07
 S3150000F60EFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF6
 S3150000F61EFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFE6
@@ -4039,7 +4037,7 @@ S31500019BDEFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF80
 S31500019BEEFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF70
 S30700019BFEFFFF60
 S31500019C0048572E302E30312E303120202020202072
-S31500019C1053572E302E30312E303320202020202055
+S31500019C1053572E302E30312E303420202020202054
 S31500019C2042542E302E30302E30302020202020205D
 S31500019C30FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF2D
 S31500019C40FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF1D
diff --git a/ECU_APP/QualityReport(ECU_APP,DefaultBuild).txt b/ECU_APP/QualityReport(ECU_APP,DefaultBuild).txt
index 68032ff..500779b 100644
--- a/ECU_APP/QualityReport(ECU_APP,DefaultBuild).txt
+++ b/ECU_APP/QualityReport(ECU_APP,DefaultBuild).txt
@@ -1,26 +1,27 @@
 QualityReport
-2023年7月10日 16:44:36
+2023年7月18日 11:22:56
 
 ------ Start build(ECU_APP, DefaultBuild) ------
-E:\Program Files (x86)\renesas\CS+\CC\CC-RL\V1.11.00\Bin\ccrl.exe user\appTask.c -cpu=S3 -obj_path=DefaultBuild "-dev=E:\Program Files (x86)\renesas\CS+\CC\Device\RL78\Devicefile\DR5F10BBG.DVF" -g -g_line -I diagnose\DTC -I diagnose\CanTrcv -I sys -I . -I rscan_driver -I diagnose -I DataFlash -I CanNw -I diagnose\CanTp -I diagnose\CanIf -I user -D DEBUG1 -c -msg_lang=english
-user\appTask.c(40):W0520172:External/internal linkage conflict with previous declaration
-user\appTask.c(257):W0520177:Variable "num" was declared but never referenced
-user\appTask.c(258):W0520177:Variable "keyPressCounter" was declared but never referenced
-user\appTask.c(259):W0520177:Variable "LastKey" was declared but never referenced
-user\appTask.c(399):W0523082:Pointer to the object of even alignment holds the odd address
-user\appTask.c(403):W0520513:A value of type "MotorStateEE_Type __near *" cannot be assigned to an entity of type "uint8_t *"
-user\appTask.c(441):W0520513:A value of type "MotorStateEE_Type __near *" cannot be assigned to an entity of type "uint8_t *"
-user\appTask.c(677):W0523077:Called function should have prototype
-user\appTask.c(731):W0523077:Called function should have prototype
-E:\Program Files (x86)\renesas\CS+\CC\CC-RL\V1.11.00\Bin\rlink.exe -subcommand=DefaultBuild\ECU_APP.clnk
-W0561017:The evaluation period of CC-RL V1 has expired. Please consider purchasing the product.
-RAMDATA SECTION:  00000c41 Byte(s)
+C:\Program Files (x86)\Renesas Electronics\CS+\CC\CC-RL\V1.11.00\Bin\ccrl.exe diagnose\extern.c -cpu=S3 -obj_path=DefaultBuild "-dev=C:\Program Files (x86)\Renesas Electronics\CS+\CC\Device\RL78\Devicefile\DR5F10BBG.DVF" -g -g_line -I diagnose\DTC -I diagnose\CanTrcv -I sys -I . -I rscan_driver -I diagnose -I DataFlash -I CanNw -I diagnose\CanTp -I diagnose\CanIf -I user -D DEBUG1 -c -msg_lang=english
+diagnose\extern.c(107):W0520940:Missing return statement at end of non-void function "GetVoltage"
+diagnose\extern.c(135):W0520940:Missing return statement at end of non-void function "GetMotorLockStatus"
+diagnose\extern.c(181):W0520111:Statement is unreachable
+diagnose\extern.c(322):W0520111:Statement is unreachable
+diagnose\extern.c(326):W0520111:Statement is unreachable
+diagnose\extern.c(330):W0520111:Statement is unreachable
+diagnose\extern.c(334):W0520111:Statement is unreachable
+diagnose\extern.c(505):W0520940:Missing return statement at end of non-void function "GetCanBusOffErr"
+diagnose\extern.c(523):W0520940:Missing return statement at end of non-void function "GetBcmCommFault"
+diagnose\extern.c(540):W0520940:Missing return statement at end of non-void function "GetAcpCommFault"
+C:\Program Files (x86)\Renesas Electronics\CS+\CC\CC-RL\V1.11.00\Bin\rlink.exe -subcommand=DefaultBuild\ECU_APP.clnk
+W0561016:The evaluation version of CC-RL V1 is valid for the remaining 59 days. After that, link size limit (64 Kbyte) will be applied. Please consider purchasing the product.
+RAMDATA SECTION:  00000c45 Byte(s)
 ROMDATA SECTION:  00000602 Byte(s)
-PROGRAM SECTION:  000050bc Byte(s)
-W0561017:The evaluation period of CC-RL V1 has expired. Please consider purchasing the product.
-W0561017:The evaluation period of CC-RL V1 has expired. Please consider purchasing the product.
+PROGRAM SECTION:  000050ad Byte(s)
+W0561016:The evaluation version of CC-RL V1 is valid for the remaining 59 days. After that, link size limit (64 Kbyte) will be applied. Please consider purchasing the product.
+W0561016:The evaluation version of CC-RL V1 is valid for the remaining 59 days. After that, link size limit (64 Kbyte) will be applied. Please consider purchasing the product.
 Renesas Optimizing Linker Completed
------- Build ended(Error:0, Warning:12)(ECU_APP, DefaultBuild) ------
+------ Build ended(Error:0, Warning:13)(ECU_APP, DefaultBuild) ------
 
 --- CommandFile 1 ---
 DefaultBuild\ECU_APP.clnk :
@@ -67,14 +68,14 @@ DefaultBuild\ECU_APP.clnk :
 -Input=DefaultBuild\hwCtrl.obj
 -LIBrary=DataFlash\pfdl.lib
 -SECURITY_ID=00000000000000000000
--DEVICE=E:\Program Files (x86)\renesas\CS+\CC\Device\RL78\Devicefile\DR5F10BBG.DVF
+-DEVICE=C:\Program Files (x86)\Renesas Electronics\CS+\CC\Device\RL78\Devicefile\DR5F10BBG.DVF
 -DEBug
 -NOCOmpress
 -NOOPtimize
 -OUtput=DefaultBuild\ECU_APP.abs
--LIBrary=E:\Program Files (x86)\renesas\CS+\CC\CC-RL\V1.11.00\lib\rl78em4s.lib
--LIBrary=E:\Program Files (x86)\renesas\CS+\CC\CC-RL\V1.11.00\lib\malloc_n.lib
--LIBrary=E:\Program Files (x86)\renesas\CS+\CC\CC-RL\V1.11.00\lib\rl78em4r.lib
+-LIBrary=C:\Program Files (x86)\Renesas Electronics\CS+\CC\CC-RL\V1.11.00\lib\rl78em4s.lib
+-LIBrary=C:\Program Files (x86)\Renesas Electronics\CS+\CC\CC-RL\V1.11.00\lib\malloc_n.lib
+-LIBrary=C:\Program Files (x86)\Renesas Electronics\CS+\CC\CC-RL\V1.11.00\lib\rl78em4r.lib
 -OCDBG=04
 -USER_OPT_BYTE=E933E8
 -LISt=DefaultBuild\ECU_APP.map
@@ -87,7 +88,7 @@ DefaultBuild\ECU_APP.clnk :
 -NOLOgo
 -end
 -Input=DefaultBuild\ECU_APP.abs
--DEVICE=E:\Program Files (x86)\renesas\CS+\CC\Device\RL78\Devicefile\DR5F10BBG.DVF
+-DEVICE=C:\Program Files (x86)\Renesas Electronics\CS+\CC\Device\RL78\Devicefile\DR5F10BBG.DVF
 -OUtput=DefaultBuild\ECU_APP.mot
 -FOrm=Stype
 -REcord=S3
@@ -95,7 +96,7 @@ DefaultBuild\ECU_APP.clnk :
 -Message
 -end
 -Input=DefaultBuild\ECU_APP.abs
--DEVICE=E:\Program Files (x86)\renesas\CS+\CC\Device\RL78\Devicefile\DR5F10BBG.DVF
+-DEVICE=C:\Program Files (x86)\Renesas Electronics\CS+\CC\Device\RL78\Devicefile\DR5F10BBG.DVF
 -OUtput=output\ECU_APP.S19= A000-19FFF
 -FOrm=Stype
 -REcord=S3
@@ -106,14 +107,14 @@ DefaultBuild\ECU_APP.clnk :
 
 
 --- SHA1 hash value of output files ---
-F:\FCB_project\temp\CFMOTOR\code\ECU_APP\DefaultBuild\ECU_APP.abs: 55d33179e85f16ad9069a3815f56f2006d257026
-F:\FCB_project\temp\CFMOTOR\code\ECU_APP\DefaultBuild\ECU_APP.mot: 16cefa6c1006876a6879398951f3b1c9fd5a8571
-F:\FCB_project\temp\CFMOTOR\code\ECU_APP\output\ECU_APP.S19: 767227f0b116eae5e54a14db699b85619ec56949
+F:\FCBproject\temp\CFMOTOR\code\ECU_APP\DefaultBuild\ECU_APP.abs: da5250db10eaae5470bc6391d17bfd31e8a68fa6
+F:\FCBproject\temp\CFMOTOR\code\ECU_APP\DefaultBuild\ECU_APP.mot: b9aee7806b80dded2182336249fb54227106182d
+F:\FCBproject\temp\CFMOTOR\code\ECU_APP\output\ECU_APP.S19: 28cb884664bdee15517322073373c4cc33216913
 
 
 --- System Information ---
 *OS Version
- Microsoft Windows 10 专业版 (-, 10.0.19044, WOW64)
+ Microsoft Windows 10 专业版 (-, 10.0.19045, WOW64)
 *Language
  中文(中国)
 *.NET Framework Version
@@ -133,16 +134,16 @@ F:\FCB_project\temp\CFMOTOR\code\ECU_APP\output\ECU_APP.S19: 767227f0b116eae5e54
 *Product License
  
 *Execution Place
- E:\Program Files (x86)\renesas\CS+\CC
+ C:\Program Files (x86)\Renesas Electronics\CS+\CC
 *Memory Usage
  *Private Working Set
-  261 MB
+  239 MB
  *Number of GDI Objects
-  2034
+  2057
  *Number of USER Objects
-  1137
+  985
  *Opened Files
-  2 editors, 2 files, 24 KB
+  1 editors, 1 files, 18 KB
 
 --- Build Tool Plug-in Information ---
 RH850 Build tool CC-RH Plug-in
@@ -271,7 +272,7 @@ Device Information Common Interface
   DeviceInformation.dll
 
 --- Main Project Information ---
-F:\FCB_project\temp\CFMOTOR\code\ECU_APP\ECU_APP.mtpj
+F:\FCBproject\temp\CFMOTOR\code\ECU_APP\ECU_APP.mtpj
 Microcontroller Information
  *R5F10BBG
   *File Name: Version
diff --git a/ECU_APP/diagnose/extern.c b/ECU_APP/diagnose/extern.c
index 0bf3884..a1b5ec1 100644
--- a/ECU_APP/diagnose/extern.c
+++ b/ECU_APP/diagnose/extern.c
@@ -7,7 +7,7 @@
 __far const unsigned char HD_VERSION[]={
 	'H' ,		//AC_HD_VERSION_00
 	'W' ,		//AC_HD_VERSION_01
-    '.' ,		//AC_HD_VERSION_06
+	'.' ,		//AC_HD_VERSION_06
 	'0' ,		//AC_HD_VERSION_02
 	'.' ,		//AC_HD_VERSION_03
 	'0' ,		//AC_HD_VERSION_04
@@ -24,7 +24,7 @@ __far const unsigned char HD_VERSION[]={
 };
 
 __far const unsigned char SW_VERSION[]={
-    'S' ,		//AC_SW_VERSION_00
+	'S' ,		//AC_SW_VERSION_00
 	'W' ,		//AC_SW_VERSION_01
 	'.' ,		//AC_SW_VERSION_02
 	'0' ,		//AC_SW_VERSION_03
@@ -33,13 +33,13 @@ __far const unsigned char SW_VERSION[]={
 	'1' ,		//AC_SW_VERSION_06
 	'.' ,		//AC_SW_VERSION_07
 	'0' ,		//AC_SW_VERSION_08
-	'3' ,		//AC_SW_VERSION_09
+	'4' ,		//AC_SW_VERSION_09
 	' ' ,		//AC_SW_VERSION_10
 	' ' ,		//AC_SW_VERSION_11
 	' ' ,		//AC_SW_VERSION_12
 	' ' ,		//AC_SW_VERSION_13
 	' ' ,		//AC_SW_VERSION_14
-    ' ' ,		//AC_SW_VERSION_14
+	' ' ,		//AC_SW_VERSION_14
 };
 
 __far const unsigned char SUP_ECU_SW_VERSION[]={
diff --git a/ECU_APP/r_cg_timer_user.c b/ECU_APP/r_cg_timer_user.c
index afb06ca..2c1be9a 100644
--- a/ECU_APP/r_cg_timer_user.c
+++ b/ECU_APP/r_cg_timer_user.c
@@ -146,7 +146,7 @@ void Timer_Pro(void)
     Count_Down_Timer_16Bit(&DiagCnt);
     
     uiNwTimCnt++;
-    uiNwToutCnt++;                           //���������ʱ��
+    uiNwToutCnt++;                           //网络管理定时器
 	if(uiNwRMSCnt > 0)
 		uiNwRMSCnt--;
     if(uiNwLocWkpOffCnt > 0)
diff --git a/ECU_APP/rscan_driver/r_rl78_can_irq.c b/ECU_APP/rscan_driver/r_rl78_can_irq.c
index 10cbb66..1ccadaa 100644
--- a/ECU_APP/rscan_driver/r_rl78_can_irq.c
+++ b/ECU_APP/rscan_driver/r_rl78_can_irq.c
@@ -79,11 +79,11 @@ void __near RSCAN_INTCANGRECC_interrupt(void)
     if ((RxCanMessage.IDL == CANTP_ADDR_PHY_REQ) || (RxCanMessage.IDL == CANTP_ADDR_FUNC_REQ))
     {
         if (RxCanMessage.IDL == CANTP_ADDR_FUNC_REQ && RxCanMessage.DB[1] == 0x3E && RxCanMessage.DB[2] == 0x80)
-            resetS3Server(); /*����S3server��ʱ*/
+            resetS3Server(); /*重置S3server计时*/
         else
             RxIndicationCanIf_Messages(0, RxCanMessage.IDL, RxCanMessage.DLC, RxCanMessage.DB);
         DiagMsgRcvFlag = 1;
-        ucNwNetIdelCheck = 1; //������м��  300ms���û����λ Ĭ��Ϊ����
+        ucNwNetIdelCheck = 1; //网络空闲检测  300ms如果没有置位 默认为空闲
     }
 
     if ((RxCanMessage.IDL >= 0x0400) && (RxCanMessage.IDL <= 0x047F))
@@ -91,7 +91,7 @@ void __near RSCAN_INTCANGRECC_interrupt(void)
     {
         ucRemoteWakupFlg = 1u;
         RepeatMessageReq = RxCanMessage.DB[1] & 0x01;
-        ucNwNetIdelCheck = 1; //������м��  300ms���û����λ Ĭ��Ϊ����
+        ucNwNetIdelCheck = 1; //网络空闲检测  300ms如果没有置位 默认为空闲
     }
 
     if (RxCanMessage.IDL == 0x0403)
@@ -127,8 +127,22 @@ void __near RSCAN_INTCAN0REC_interrupt(void)
 {
 }
 
+extern unsigned char ucBusOffModeState;
+uint8_t rec_count;
 /* CAN Channel transmit */
 void __near RSCAN_INTCAN0TRX_interrupt(void)
 {
     CFSTS0 &= 0xFFEF; /*Clear CFTXIF     FIFO transmit interrupt request flag*/
+    if (ucBusOffModeState > 0)
+    {
+        rec_count++;
+        if (rec_count > 3)
+        {
+            ucBusOffModeState = 0;
+        }
+    }
+    else
+    {
+        rec_count = 0;
+    }
 }
diff --git a/ECU_APP/user/appTask.c b/ECU_APP/user/appTask.c
index fef21eb..cb64148 100644
--- a/ECU_APP/user/appTask.c
+++ b/ECU_APP/user/appTask.c
@@ -36,6 +36,7 @@ unsigned char ucIgnStus;
 unsigned int uiBusOffCnt;        // ms
 unsigned char ucBusOffModeState; // 0:Normal  1~4:Fast Rec 5:Slow Rec
 unsigned char BusoffFlag;
+uint8_t maxBusOffTimes;
 /***************************************************/
 static unsigned int EEL_SAVE_CNT_DOWN_TIMER;
 static uint8_t EEL_SAVE_ENABLE;
@@ -60,15 +61,16 @@ void Apply_task(void)
     Nw28sTxRxStatus = GetNetworkMsgSts();
 
     // DiagnosticSession_Present=MngDcm_GetDiagnosticSession();
-    if(CAN_STB == 0 && BusOff_flag == 0)//Tx enable
-    {
-        TxServe();
-    }
+    
     if (Timer_1ms_flag == 1)
     {
         Timer_1ms_flag = 0;
         MngDcm_MainFunction();
         MngCanTp_MainFunction();
+        if(CAN_STB == 0 && uiBusOffCnt == 0)//Tx enable
+        {
+            TxServe();
+        }
         if (BusOff_Detect_delay_count == 0 /*&& (ad_voltage_fact[2]>=85 && ad_voltage_fact[2]<=165)*/)
         {
             BusOff_Detect();
@@ -387,7 +389,7 @@ void Can_Msg_Change(void)
     CAN_212.Msg_Part.MSW_TogReq = toggle_req;
     CAN_212.Msg_Part.MSW_BtnFltSts = 0;
     CAN_212.Msg_Part.MSW_RotStep = xn_tx_num;
-    CAN_212.Msg_Part.Reserve_7 = ucBusOffModeState;
+    //CAN_212.Msg_Part.Reserve_7 = 0;//maxBusOffTimes;
 }
 
 static uint8_t EEL_BUF[50];
@@ -507,97 +509,87 @@ void DID_data_save_init(void)
     }
 }
 
-unsigned char BusOffTimeCnt = 0;
-unsigned short BusOff1msCnt = 0;
-unsigned char CanBusOffPro(void)
+uint8_t checkBusOff(void)
 {
-    unsigned char ret = 0;
-    if (C0ERFLLL & 0x08) // Bus-Off Stutas
+    if ( (C0ERFLL & 0x08) )// && (R_CAN_ReadChStatus_CH0() & 0x02)
     {
-        ret = 1;
+        return 1;
     }
-    if ((C0CTRLL & 0x02) == 0x02) // Channal Halt Mode
-    {
-
-        if (C0ERFLLL & 0x08) // Bus-Off Stutas
-        {
-            BusOff1msCnt++;
-            ret = 1;
-        }
-
-        if ((BusOffTimeCnt < 10) && (BusOff1msCnt >= 100))
-        {
-            BusOffTimeCnt++;
-            BusOff1msCnt = 0;
-            C0ERFLL = 0;
-            C0CTRL &= ~0x03; /* CHMDC[1:0] = 00B   change to communication mode. */
-        }
-        else if ((BusOffTimeCnt >= 10) && (BusOff1msCnt >= 1000))
-        {
-            BusOffTimeCnt = 10;
-            BusOff1msCnt = 0;
-            C0ERFLL = 0;
-            C0CTRL &= ~0x03; /* CHMDC[1:0] = 00B   change to communication mode. */
-        }
-    }
-    return ret;
+    return 0;
 }
 
-#define FAST_BUSOFF_THRESHOULD 50  // 100MS
-#define SLOW_BUSOFF_THRESHOULD 200 // 100MS
+uint8_t checkExitBusOff(void)
+{
+    if ( (C0STSL & 0x10) == 0x10 )
+    {
+        //C0ERFLL &= ~0x10;
+        return 0;
+    }
+    return 1;
+}
+
+#define FAST_BUSOFF_THRESHOULD 49  // 50MS
+#define SLOW_BUSOFF_THRESHOULD 199 // 200MS
 
 void BusOff_Recovery(void);
-
+#define BUSOFF_INIT     0
+#define BUSOFF_IDLE     1
+#define BUSOFF_WAIT     2
+#define BUSOFF_RECOVER  3
 void BusOff_Detect(void)
 {
-
-    if ((C0ERFLL & 0x08) && (R_CAN_ReadChStatus_CH0() & 0x02))
+    static uint8_t netState=0,count;
+    static uint16_t powerupdelay=0;
+    switch (netState)
     {
-        BusOff_flag = 1;
-        if (uiBusOffCnt == 0)
+    case BUSOFF_INIT:
+        powerupdelay++;
+        if (powerupdelay > 1000)
         {
-            if (ucBusOffModeState == 0)
-            {
-                uiBusOffCnt = FAST_BUSOFF_THRESHOULD;
-                //BusOff_Recovery();
-            }
-            if ((ucBusOffModeState > 0) && (ucBusOffModeState < 5))
-            {
-                BusOff_Recovery();
-                uiBusOffCnt = FAST_BUSOFF_THRESHOULD; //fast recover
-            }
-            else if (ucBusOffModeState >= 5)
-            {
-                BusOff_Recovery();
-                uiBusOffCnt = SLOW_BUSOFF_THRESHOULD; //soft recover
-            }
-            else
-            {
-                ;
-            }
+            netState = BUSOFF_IDLE;
+        }
+        break;
+    case BUSOFF_IDLE:
+        if (checkBusOff())
+        {
+            BusOff_flag = 1;
+            netState = BUSOFF_WAIT;
             if (ucBusOffModeState < 5)
             {
                 ucBusOffModeState++;
+                uiBusOffCnt = FAST_BUSOFF_THRESHOULD;
             }
+            else
+            {
+                uiBusOffCnt = SLOW_BUSOFF_THRESHOULD; //soft recover
+            }
+            BusOff_Recovery();
+            air_req_timer = 0;
         }
-    }
-    else
-    {
-        if (ucBusOffModeState > 0)
+        break;
+    case BUSOFF_WAIT:
+        if (uiBusOffCnt == 0)
         {
-            if (uiBusOffCnt == 0)
+            netState = BUSOFF_RECOVER;
+            count = 0;
+        }
+        break;
+    case BUSOFF_RECOVER:
+        maxBusOffTimes = ucBusOffModeState;
+        if (BusOff_flag == 0 )
+        {
+            if (checkExitBusOff() == 1)
             {
                 //ucBusOffModeState = 0;
-
-                // 原来程序的标志位
             }
+            netState = BUSOFF_IDLE;
         }
-        else
-        {
-            ;
-        }
-        BusOff_flag = 0;
+        break;
+    default:
+        netState = BUSOFF_INIT;
+        break;
     }
+    
 }
 
 void BusOff_Recovery(void)
diff --git a/ECU_APP/user/can_user.c b/ECU_APP/user/can_user.c
index fb840c6..9a251b7 100644
--- a/ECU_APP/user/can_user.c
+++ b/ECU_APP/user/can_user.c
@@ -137,7 +137,7 @@ void TxServe(void)
     //CAN_STB = 0;
     if ((air_req_timer == 0) && ((App28sTxRxStatus & DCM28S_MASK_TX_DISABLE) != 0))// 
     {
-
+        BusOff_flag = 0;
         Can_Msg_Change_Bcm();
         re_flag = R_CAN_TrmByTRFIFO0_CH0(&TxCanMessage);