执行can_sample后程序卡在_can_sendmsg中

发布于 2021-10-26 11:15:25 浏览：1340 订阅该版

2 个回答

Joy_Lu 2021-10-26

EL・PSY・KONGROO

Joy_Lu 2021-10-26

EL・PSY・KONGROO

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小小李sunny 2021-10-26

这家伙很懒，什么也没写！

Joy_Lu 2021-10-26

EL・PSY・KONGROO

Joy_Lu 2021-10-26

EL・PSY・KONGROO

```c
static int _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t box_num)
{
    struct CAN_Handler *hcan;
    hcan = &((struct at32_can *) can->parent.user_data)->CanConfig;
    struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
    CanTxMsg TxMessage;
    rt_uint32_t i;

/* Check the parameters */
    RT_ASSERT(IS_CAN_DLC(pmsg->len));

/*check select mailbox  is empty */
    switch (1 << box_num)
    {
      case CAN_TX_MAILBOX0:
        if ((hcan->Instance->TSTS & CAN_TSTS_TSME0) != CAN_TSTS_TSME0)
        {
            /* Return function status */
            return -RT_ERROR;
        }
        break;
    case CAN_TX_MAILBOX1:
        if ((hcan->Instance->TSTS & CAN_TSTS_TSME1) != CAN_TSTS_TSME1)
        {
            /* Return function status */
            return -RT_ERROR;
        }
        break;
    case CAN_TX_MAILBOX2:
        if ((hcan->Instance->TSTS & CAN_TSTS_TSME2) != CAN_TSTS_TSME2)
        {
            /* Return function status */
            return -RT_ERROR;
        }
        break;
    default:
        RT_ASSERT(0);
        break;
    }

if (RT_CAN_STDID == pmsg->ide)
    {
        TxMessage.IDT = CAN_ID_STD;
        RT_ASSERT(IS_CAN_STDID(pmsg->id));
        TxMessage.StdId = pmsg->id;
    }
    else
    {
        TxMessage.IDT = CAN_ID_EXT;
        RT_ASSERT(IS_CAN_EXTID(pmsg->id));
        TxMessage.ExtId = pmsg->id;
    }

if (RT_CAN_DTR == pmsg->rtr)
    {
        TxMessage.RTR = CAN_RTR_DATA;
    }
    else
    {
        TxMessage.RTR = CAN_RTR_REMOTE;
    }

/* Set up the DLC */
    TxMessage.DLC = pmsg->len & 0x0FU;
    /* Set up the data field */
    TxMessage.Data[0] = (uint32_t)pmsg->data[0];
    TxMessage.Data[1] = (uint32_t)pmsg->data[1];
    TxMessage.Data[2] = (uint32_t)pmsg->data[2];
    TxMessage.Data[3] = (uint32_t)pmsg->data[3];
    TxMessage.Data[4] = (uint32_t)pmsg->data[4];
    TxMessage.Data[5] = (uint32_t)pmsg->data[5];
    TxMessage.Data[6] = (uint32_t)pmsg->data[6];
    TxMessage.Data[7] = (uint32_t)pmsg->data[7];

CAN_Transmit(hcan->Instance, &TxMessage);
    while((CAN_TransmitStatus(hcan->Instance, box_num) != CANTXOK) && (i != 0xFFFF))
    {
        i++;
    }

return RT_EOK;
}
```