CANFD_fdcan CAN过滤报文

STM32H743驱动fdcan进行通信，过滤不成功

发布于 2025-07-29 11:42:17 浏览：33 订阅该版

以下是drv_fdcan.c
里面的驱动程序配置

```c
static int rt_hw_can_init(void)
{
    struct can_configure config;
    config.baud_rate = CAN125kBaud;
    config.msgboxsz = 48;
    config.sndboxnumber = 1;
    config.mode = RT_CAN_MODE_NORMAL;
    config.privmode = RT_CAN_MODE_NOPRIV;
    config.ticks = 50;
    /* config default filter */
    FDCAN_FilterTypeDef sFilterConfig;
    sFilterConfig.IdType = FDCAN_EXTENDED_ID;
    sFilterConfig.FilterIndex = 1;
    sFilterConfig.FilterType = FDCAN_FILTER_MASK;
    sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
    sFilterConfig.FilterID1 = 0x1234;
    sFilterConfig.FilterID2 = 0x1FFFFFFF;

#ifdef BSP_USING_FDCAN1

st_DrvCan1.FilterConfig = sFilterConfig;
	st_DrvCan1.device.config = config;

/* register FDCAN1 device */
    rt_hw_can_register(&st_DrvCan1.device, st_DrvCan1.name, &_can_ops, &st_DrvCan1);
#endif /* BSP_USING_FDCAN1 */

#ifdef BSP_USING_FDCAN2
    st_DrvCan2.FilterConfig = sFilterConfig;
	st_DrvCan2.device.config = config;

/* register FDCAN1 device */
	rt_hw_can_register(&st_DrvCan2.device, st_DrvCan2.name, &_can_ops, &st_DrvCan2);
#endif /* BSP_USING_FDCAN2 */

return 0;
}
INIT_BOARD_EXPORT(rt_hw_can_init);
```

以下是can的官方例程

```c
#if 1

#include <rtthread.h>
#include "rtdevice.h"

#define CAN_DEV_NAME       "fdcan2"      /* CAN 设备名称 */

static struct rt_semaphore rx_sem;     /* 用于接收消息的信号量 */
static rt_device_t can_dev;            /* CAN 设备句柄 */

/* 接收数据回调函数 */
static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size)
{
    /* CAN 接收到数据后产生中断，调用此回调函数，然后发送接收信号量 */
    rt_sem_release(&rx_sem);

return RT_EOK;
}

static void can_rx_thread(void *parameter)
{
    int i;
    rt_err_t res;
    struct rt_can_msg rxmsg = {0};

/* 设置接收回调函数 */
    rt_device_set_rx_indicate(can_dev, can_rx_call);

#ifdef RT_CAN_USING_HDR
    /* 配置硬件过滤器 - 只接收ID=0x1234的扩展帧 */
    struct rt_can_filter_item items[1] = {
        {
            .id = 0x1234,           /* 要过滤的ID */
            .ide = RT_CAN_EXTID,     /* 扩展帧 */
            .rtr = RT_CAN_DTR,       /* 数据帧 */
            .mode = 0,               /* 改为掩码模式(0)而非标识符列表模式(1) */
            .mask = 0x1FFFFFFF,      /* 扩展帧全掩码(29位全1) */
            .hdr_bank = -1,               /* 自动分配硬件过滤表项 */
            .rxfifo = CAN_RX_FIFO0,
            .ind = RT_NULL,
            .args = RT_NULL
        }
    };

struct rt_can_filter_config cfg = {
        .count = 1,                 /* 1个过滤项 */
        .items = items
    };

/* 设置硬件过滤器 */
    if (rt_device_control(can_dev, RT_CAN_CMD_SET_FILTER, &cfg) != RT_EOK)
    {
        rt_kprintf("Set filter failed!\n");
        return;
    }
#endif

while (1)
    {
        /* hdr 值为 - 1，表示直接从 uselist 链表读取数据 */
        rxmsg.hdr_index = -1;
        /* 阻塞等待接收信号量 */
        rt_sem_take(&rx_sem, RT_WAITING_FOREVER);
        /* 从 CAN 读取一帧数据 */
        rt_device_read(can_dev, 0, &rxmsg, sizeof(rxmsg));
        /* 打印数据 ID 及内容 */
        rt_kprintf("ID:%x", rxmsg.id);
        for (i = 0; i < 8; i++)
        {
            rt_kprintf("%2x", rxmsg.data[i]);
        }

rt_kprintf("\n");
    }
}

int can_sample(int argc, char *argv[])
{
    struct rt_can_msg msg = {0};
    rt_err_t res;
    rt_size_t  size;
    rt_thread_t thread;
    char can_name[RT_NAME_MAX];

if (argc == 2)
    {
        rt_strncpy(can_name, argv[1], RT_NAME_MAX);
    }
    else
    {
        rt_strncpy(can_name, CAN_DEV_NAME, RT_NAME_MAX);
    }
    /* 查找 CAN 设备 */
    can_dev = rt_device_find(can_name);
    if (!can_dev)
    {
        rt_kprintf("find %s failed!\n", can_name);
        return RT_ERROR;
    }

/* 初始化 CAN 接收信号量 */
    rt_sem_init(&rx_sem, "rx_sem", 0, RT_IPC_FLAG_FIFO);

/* 以中断接收及发送方式打开 CAN 设备 */
    res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
    RT_ASSERT(res == RT_EOK);
    /* 创建数据接收线程 */
    thread = rt_thread_create("can_rx", can_rx_thread, RT_NULL, 1024, 25, 10);
    if (thread != RT_NULL)
    {
        rt_thread_startup(thread);
    }
    else
    {
        rt_kprintf("create can_rx thread failed!\n");
    }

msg.id = 0x78;              /* ID 为 0x78 */
    msg.ide = RT_CAN_STDID;     /* 标准格式 */
    msg.rtr = RT_CAN_DTR;       /* 数据帧 */
    msg.len = 8;                /* 数据长度为 8 */
    /* 待发送的 8 字节数据 */
    msg.data[0] = 0x00;
    msg.data[1] = 0x11;
    msg.data[2] = 0x22;
    msg.data[3] = 0x33;
    msg.data[4] = 0x44;
    msg.data[5] = 0x55;
    msg.data[6] = 0x66;
    msg.data[7] = 0x77;
    /* 发送一帧 CAN 数据 */
    size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
    if (size == 0)
    {
        rt_kprintf("can dev write data failed!\n");
    }

return res;
}
/* 导出到 msh 命令列表中 */
MSH_CMD_EXPORT(can_sample, can device sample);

#endif
```

以下是发送与串口接收的截图

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20250729/1ed7542272d4e4878c3cba0464f7aaf9.png.webp)

然后ID不是1234就出错，软件是rt studio，版本是5.1，单片机是STM32H743, 使用的驱动是github上的drv_fdcan，请问怎么解决