CAN总线

RT_thread中CAN通讯，插拔线后通讯不上！！！

发布于 2021-04-28 10:59:34 浏览：1318 订阅该版

使用现有阿波罗开发板的BSP模板开发，ENV开启CAN通讯后，通讯发送和接收都正常，可是当我把通讯线拔掉后，然后再插上就通讯不上了。程序中贴一部分初始化代码：

```c
static rt_err_t drv_configure(struct rt_can_device *dev_can,
                              struct can_configure *cfg)
{
    struct stm32_drv_can *drv_can;
    rt_uint32_t baud_index;
    CAN_InitTypeDef *drv_init;

RT_ASSERT(dev_can);
    RT_ASSERT(cfg);

drv_can = (struct stm32_drv_can *)dev_can->parent.user_data;
    drv_init = &drv_can->CanHandle.Init;

drv_init->TimeTriggeredMode = DISABLE;
    drv_init->AutoBusOff = ENABLE;
    drv_init->AutoWakeUp = DISABLE;
    drv_init->AutoRetransmission = DISABLE;
    drv_init->ReceiveFifoLocked = DISABLE;
    drv_init->TransmitFifoPriority = ENABLE;

switch (cfg->mode)
    {
    case RT_CAN_MODE_NORMAL:
        drv_init->Mode = CAN_MODE_NORMAL;
        break;
    case RT_CAN_MODE_LISEN:
        drv_init->Mode = CAN_MODE_SILENT;
        break;
    case RT_CAN_MODE_LOOPBACK:
        drv_init->Mode = CAN_MODE_LOOPBACK;
        break;
    case RT_CAN_MODE_LOOPBACKANLISEN:
        drv_init->Mode = CAN_MODE_SILENT_LOOPBACK;
        break;
    }

baud_index = get_can_baud_index(cfg->baud_rate);
    drv_init->SyncJumpWidth = BAUD_DATA(SJW, baud_index);
    drv_init->TimeSeg1 = BAUD_DATA(BS1, baud_index);
    drv_init->TimeSeg2 = BAUD_DATA(BS2, baud_index);
    drv_init->Prescaler = BAUD_DATA(RRESCL, baud_index);
    if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK)
    {
        return RT_ERROR;
    }
    
    /* Filter conf */
    HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig);
    /* can start */
    HAL_CAN_Start(&drv_can->CanHandle);
    return RT_EOK;
}
```

`drv_init->AutoBusOff = ENABLE;`我这句是开启的，好像没用。
请问大神们指导下，谢谢！