RT-Thread-can中数据发送的问题RT-Thread问答社区

M大侠 2019-11-04

这家伙很懒，什么也没写！

tjrong 2019-11-04

这家伙很懒，什么也没写！

最新的驱动好像是有点问题，只有一个can设备时会出现应答错。
当前驱动：
/**
 * @brief This function handles CAN1 SCE interrupts.
 */
void CAN1_SCE_IRQHandler(void)
{
    rt_uint32_t errtype;
    CAN_HandleTypeDef *hcan;

hcan = &drv_can1.CanHandle;
    errtype = hcan->Instance->ESR;

rt_interrupt_enter();
    HAL_CAN_IRQHandler(hcan);

switch ((errtype & 0x70) >> 4)
    {
    case RT_CAN_BUS_BIT_PAD_ERR:
        drv_can1.device.status.bitpaderrcnt++;
        break;
    case RT_CAN_BUS_FORMAT_ERR:
        drv_can1.device.status.formaterrcnt++;
        break;
    case RT_CAN_BUS_ACK_ERR:/* attention !!! test ack err's unit is transmit unit */
        drv_can1.device.status.ackerrcnt++;
        if (!READ_BIT(drv_can1.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
            rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
        else if (!READ_BIT(drv_can1.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
            rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
        else if (!READ_BIT(drv_can1.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
            rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
        break;
    case RT_CAN_BUS_IMPLICIT_BIT_ERR:
    case RT_CAN_BUS_EXPLICIT_BIT_ERR:
        drv_can1.device.status.biterrcnt++;
        break;
    case RT_CAN_BUS_CRC_ERR:
        drv_can1.device.status.crcerrcnt++;
        break;
    }

drv_can1.device.status.lasterrtype = errtype & 0x70;
    drv_can1.device.status.rcverrcnt = errtype >> 24;
    drv_can1.device.status.snderrcnt = (errtype >> 16 & 0xFF);
    drv_can1.device.status.errcode = errtype & 0x07;
    hcan->Instance->MSR |= CAN_MSR_ERRI;
    rt_interrupt_leave();
}
#endif /* BSP_USING_CAN1 */

更改为：
/**
 * @brief This function handles CAN1 SCE interrupts.
 */
void CAN1_SCE_IRQHandler(void)
{
    rt_uint32_t errtype;
    CAN_HandleTypeDef *hcan;

hcan = &drv_can1.CanHandle;
    errtype = hcan->Instance->ESR;

rt_interrupt_enter();

switch ((errtype & 0x70) >> 4)
    {
    case RT_CAN_BUS_BIT_PAD_ERR:
        drv_can1.device.status.bitpaderrcnt++;
        break;
    case RT_CAN_BUS_FORMAT_ERR:
        drv_can1.device.status.formaterrcnt++;
        break;
    case RT_CAN_BUS_ACK_ERR:/* attention !!! test ack err's unit is transmit unit */
        drv_can1.device.status.ackerrcnt++;
        break;
    case RT_CAN_BUS_IMPLICIT_BIT_ERR:
    case RT_CAN_BUS_EXPLICIT_BIT_ERR:
        drv_can1.device.status.biterrcnt++;
        break;
    case RT_CAN_BUS_CRC_ERR:
        drv_can1.device.status.crcerrcnt++;
        break;
    }

drv_can1.device.status.lasterrtype = errtype & 0x70;
    drv_can1.device.status.rcverrcnt = errtype >> 24;
    drv_can1.device.status.snderrcnt = (errtype >> 16 & 0xFF);
    drv_can1.device.status.errcode = errtype & 0x07;
    hcan->Instance->MSR |= CAN_MSR_ERRI;
    rt_interrupt_leave();
}
#endif /* BSP_USING_CAN1 */

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