CAN长时间收发测试，开发板与CAN分析仪通信异常

发布于 2020-12-22 14:19:33 浏览：1484 订阅该版

使用STM32L432开发板测试CAN收发功能，分为发送、接收两个线程，用CAN分析仪进行数据收发测试，长时间运行后，CAN分析仪与开发板收发数据均异常，调试串口功能正常，代码如下：

void CanTx_thread_entry(void* parameter)
{
   struct rt_can_msg *msg;

if (can_open("can1") != RT_EOK)
    {
        rt_kprintf("can1 open error.\n");
        while (1)
        {
            rt_thread_delay(10);
        }
    }
    rt_kprintf("CanTx_thread_entry...\n");

for(;;)
    {
        processTxRxOnce();
        rt_kprintf("processTxRxOnce\n");

rt_thread_mdelay(1000);
    }
}

void CanRx_thread_entry(void* parameter)
{
	struct rt_can_msg *msg;
	rt_kprintf("CanRx_thread_entry...\n");
    
	for(;;)
        {
            can_recvmsg(&msg);
            rt_thread_mdelay(10);
        }
}

void processTxRxOnce(void)
{
    struct rt_can_msg msg = {0};

msg.id      = 0x78;
    msg.ide     = RT_CAN_STDID;
    msg.rtr     = RT_CAN_DTR;
    msg.len     = 8;
    msg.data[0] = 0x00;
    msg.data[1] = 0x11;
    msg.data[2] = 0x22;
    msg.data[3] = 0x00;
    msg.data[4] = 0x11;
    msg.data[5] = 0x00;
    msg.data[6] = 0x11;
    msg.data[7] = 0x22;

const rt_size_t tx_res = can_sendmsg(&msg);
    if(tx_res == 0)           // Failure - drop the frame and report
    {
        //canardPopTxQueue(&canard_);
        rt_kprintf("Transmit error %d, frame dropped\n", tx_res);
    }

return;
}

rt_err_t can_recvmsg(struct rt_can_msg *msg)
{
    rt_size_t size = 0;
    struct rt_can_msg can_msg = {0};
    rt_err_t result = RT_EOK;
    rt_uint32_t rx_length;

/* 从消息队列中读取消息*/
    result = rt_mq_recv(rx_mq, &size, sizeof(size), 0);
    if(result == -RT_ETIMEOUT)
    {
        /* 接收超时*/
        //rt_kprintf("timeout count:%d\n", ++count);
        return -RT_ETIMEOUT;
    }

/* 成功收到消息*/
    if(result == RT_EOK)
    {
        count = 0;

/* 读取消息*/
        rx_length = rt_device_read(can_device, 0, &can_msg,
                sizeof(can_msg));

if(rx_length > 0)
        {
            rt_kprintf("CanRcvMsg Id-%x IDE-%d Len-%d\n", can_msg.id, can_msg.ide, can_msg.len);

int i = 0;
            for(i = 0; i < can_msg.len; i++)
            {
                rt_kprintf("%02X ", can_msg.data[i]);
            }
            rt_kprintf("\n");

rt_memcpy(msg, &can_msg, sizeof(can_msg));
            return rx_length;
        }
    }

return -RT_ERROR;
}

rt_size_t can_sendmsg(const struct rt_can_msg *data)
{
    struct rt_can_msg msg = {0};

rt_memcpy(&msg, data, sizeof(msg));
    msg.ide = RT_CAN_EXTID;
    msg.rtr = 0;

return rt_device_write(can_device, 0, &msg, sizeof(msg));
}

查询线程、CAN状态如下：
msh >list_thread
thread  pri  status      sp     stack size max used left tick  error
------- ---  ------- ---------- ----------  ------  ---------- ---
CanRx    10  suspend 0x000000b8 0x00000400    17%   0x0000000f 000
CanTx    10  suspend 0x00000148 0x00000400    32%   0x0000000d 000
serial2  20  suspend 0x000000c0 0x00000400    18%   0x0000000a 000
tshell   20  ready   0x000001c8 0x00001000    12%   0x00000008 000
tidle    31  ready   0x0000005c 0x00000100    51%   0x00000002 000
timer     4  suspend 0x00000080 0x00000200    25%   0x00000009 000
main     10  suspend 0x000000bc 0x00000800    15%   0x00000012 000
msh >canstat can1
 Finded can device: can1...
 Receive...error..count: 0000000000. Send.....error....count: 0000000136.
 Bit..pad..error..count: 0000000000. Format...error....count: 0000000000
 Ack.......error..count: 0000000000. Bit......error....count: 0000000004.
 CRC.......error..count: 0000000000. Error.code.[0000000003]: Passive !.
 Total.receive.packages: 0000000000. Droped.receive.packages: 0000000000.
 Total..send...packages: 0000000343. Droped...send..packages: 0000000000.