canfestival从站测试NMT节点切换状态功能时遇到问题

发布于 2025-01-15 16:27:29 浏览：21 订阅该版

在用canfestival做从节点NMT状态切换时遇到了问题，请教各位大佬。
大致背景说明：
1、参考canfestival包里的例程master402源码，修改成从站TestSlave。

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20250115/9a2f867604383a9c052598ff16f25b00.png)

2、测试板卡芯片STM32F407作为从站，NodeID = 2。为了最大程度简化功能目前从站只配置了心跳报文，5秒一次心跳（0x1388 = 5000 ms）。

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20250115/37651d6107553e86ecfeea1a733dc136.png)

3、PC作为主站，使用CANPro软件收发报文，并且板卡上电运行后可以正常收到每隔5秒的心跳报文。
**（顺便请教，下图中打印信息中间夹杂了一些不完整的字符是什么原因？）**

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20250115/7f07ce4a4370bd019deda2cd402ebd79.png)
![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20250115/aab9078ecf9e1be434b2f9a6792bc2ed.png.webp)

4、部分切换功能可以成功：

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20250115/879eae0838da619303c62558561d9119.png.webp)
![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20250115/fad72424b3573e4043ba7e43d99a8e22.png)

5、rt-thread版本：4.1.0

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20250115/597b2279b32c8d8718726c5d15923ffe.png)

6、之前开启了硬件滤波器HDR测试遇到了其他问题，目前暂时关闭了HDR。

**问题：**
**其他大部分的状态切换都会报不一样的错误，最常见的错误为以下两种。**
1、从Stop状态切到preOperational状态时，报错：(obj != object) assertion failed at function:rt_object_init, line number:358

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20250115/f730b1a3267164dcc3039cee1e4ca908.png.webp)
![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20250115/59b6fd62e9944628b46343f9325d8139.png)

2、从preOperational状态切到Operational状态时，报错：thread: stack overflow

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20250115/793ba4d587243d6557a6cf3ad48649e7.png.webp)
![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20250115/a2a1bd7aa8fdbc87bfa6b18b5af7da95.png)

1 个回答

NoneKnowsMe 5小时前

这家伙很懒，什么也没写！

补充一下：
打印信息都是在canopen_callback.c里实现的，根据打印信息可以看到从节点已经收到报文并调用了canDispatch，跳转到了指定的callback函数成功执行了打印代码。callback函数已经执行成功了为什么还会出现其他报错？

```c
/*
This file is part of CanFestival, a library implementing CanOpen Stack.

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#include <rtthread.h>
#include "canfestival.h"
#include "TestSlave_od.h"
#include "canopen_callback.h"
#include "TestSlave_canopen.h"

/*****************************************************************************/
void TestSlave_heartbeatError(CO_Data* d, UNS8 heartbeatID)
{
	rt_kprintf("heartbeatError %d\n", heartbeatID);
}

void TestSlave_initialisation(CO_Data* d)
{
	rt_kprintf("canfestival enter initialisation state\n");
}

void TestSlave_preOperational(CO_Data* d)
{
	rt_thread_t tid;
	rt_kprintf("canfestival enter preOperational state\n");
	tid = rt_thread_create("co_cfg", canopen_start_thread_entry, RT_NULL, 1024, 12, 2);
	if(tid == RT_NULL)
	{
		rt_kprintf("canfestival config thread start failed!\n");
	}
	else
	{
		rt_thread_startup(tid);
	}
}

void TestSlave_operational(CO_Data* d)
{
	rt_kprintf("canfestival enter operational state\n");
}

void TestSlave_stopped(CO_Data* d)
{
	rt_kprintf("canfestival enter stop state\n");
}

void TestSlave_post_sync(CO_Data* d)
{
	
}

void TestSlave_post_TPDO(CO_Data* d)
{

}

void TestSlave_storeODSubIndex(CO_Data* d, UNS16 wIndex, UNS8 bSubindex)
{
	/*TODO : 
	 * - call getODEntry for index and subindex, 
	 * - save content to file, database, flash, nvram, ...
	 * 
	 * To ease flash organisation, index of variable to store
	 * can be established by scanning d->objdict[d->ObjdictSize]
	 * for variables to store.
	 * 
	 * */
	rt_kprintf("storeODSubIndex : %4.4x %2.2x\n", wIndex,  bSubindex);
}

void TestSlave_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg, const UNS8 errSpec[5])
{
	rt_kprintf("received EMCY message. Node: %2.2x  ErrorCode: %4.4x  ErrorRegister: %2.2x\n", nodeID, errCode, errReg);
}

```