Merge branch 'Chenjie' of http://git.fast-fun.cn:92/RuiLiWuLian/BatterySwap into Chenjie

# Conflicts:
#	System/Vehicle/Communication/CANNet.c
合并更改：CAN2的每帧间隔为5ms

System/Vehicle/Communication/CANNet.c

@@ -122,7 +122,7 @@ void CANNet_RecvMsgCAN1(MCANDrv_infoMsgS_TYPE infoMsgS)
 void CANNet_RecvMsgCAN2(MCANDrv_infoMsgS_TYPE infoMsgS)
 {
 #ifdef _APP_RELEASE_CODE
-	Can2ProtocolDecode(infoMsgS.infoConfS.infoMsgIDUI,infoMsgS.datMsgUBA);
+	Can2ProtocolDecode(infoMsgS.infoConfS.infoMsgIDUI, infoMsgS.datMsgUBA);
 #endif
 #ifdef _APP_TEST_MOTOR_CODE
 	switch (infoMsgS.infoConfS.infoMsgIDUI)
@@ -209,20 +209,23 @@ void CAN2Net_Manage1ms(void)
 {
 	MCANDrv_infoMsgS_TYPE infoMsgS;
 	static UINT32 Can2TimerCounter = 0;
-	Can2TimerCounter = Can2TimerCounter +1;
+	Can2TimerCounter = Can2TimerCounter + 1;
 #ifdef _APP_RELEASE_CODE
 	uint8 cmdIdx = 0x00;
 	uint8 DataIdx = 0x00;
-	static uint8 AnsNum = 0x00;//Ó¦´ð´ÎÊý
+	static uint8 AnsNum = 0x00; //Ó¦´ð´ÎÊý
+	static uint8 AnsInterval = 0;
 	DataIdx = ebcd_st_toBleAns;
-	if(ebcd_flg_Can2SendEnbale==TRUE&&DataIdx>0)
+	AnsInterval++;
+	if (ebcd_flg_Can2SendEnbale == TRUE && DataIdx > 0 && AnsInterval > 5)
 	{
-		if(AnsNum<DataPackCounter[DataIdx])
+		if (AnsNum < DataPackCounter[DataIdx])
 		{
-			Can2ProtocolCode(cmdIdx,DataIdx,(DataPackBegin[DataIdx]+AnsNum),&(CANNet_infoMsgTxConfSA[2].infoMsgIDUI),&(infoMsgS.datMsgUBA[0]));
+			Can2ProtocolCode(cmdIdx, DataIdx, (DataPackBegin[DataIdx] + AnsNum), &(CANNet_infoMsgTxConfSA[2].infoMsgIDUI), &(infoMsgS.datMsgUBA[0]));
 			infoMsgS.infoConfS = CANNet_infoMsgTxConfSA[2];
 			MCANDrv_SendMsg(infoMsgS);
 			AnsNum++;
+			AnsInterval = 0;
 		}
 		else
 		{
@@ -230,9 +233,8 @@ void CAN2Net_Manage1ms(void)
 			ebcd_st_toBleAns = 0;
 			ebcd_flg_Can2SendEnbale = FALSE;
 		}
-
 	}
-	else if(Can2TimerCounter % 100 == 1)
+	else if (Can2TimerCounter % 100 == 1)
 	{
 		CANNet_infoMsgTxConfSA[2].infoMsgIDUI = 0x1CEE00F0;
 		infoMsgS.infoConfS = CANNet_infoMsgTxConfSA[2];
@@ -259,7 +261,7 @@ void CAN2Net_Manage1ms(void)
 		infoMsgS.datMsgUBA[4] = MotorControlLockNum;
 		infoMsgS.datMsgUBA[5] = MotorControlunLockNum;
 		infoMsgS.datMsgUBA[6] = ebcd_P_airSensor;
-		infoMsgS.datMsgUBA[7] = ebcd_P_airSensor>>8;
+		infoMsgS.datMsgUBA[7] = ebcd_P_airSensor >> 8;
 		MCANDrv_SendMsg(infoMsgS);
 	}
 	else if (Can2TimerCounter % 100 == 2)
@@ -271,7 +273,7 @@ void CAN2Net_Manage1ms(void)
 		infoMsgS.datMsgUBA[2] = RunFailedDelay;
 		infoMsgS.datMsgUBA[3] = RunFailedDelay >> 8;
 		infoMsgS.datMsgUBA[4] = LifeTestCounter;
-		infoMsgS.datMsgUBA[5] = LifeTestCounter>>8;
+		infoMsgS.datMsgUBA[5] = LifeTestCounter >> 8;
 		infoMsgS.datMsgUBA[6] = 0x00;
 		infoMsgS.datMsgUBA[7] = 0x00;
 		MCANDrv_SendMsg(infoMsgS);