5 RTT Studio can配置问题求助

发布于 2022-11-23 13:13:32 浏览：885 订阅该版

[tocm]

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20221123/6290d2bf05f77e7f13f55c88815a8f16.png)
## 第二步

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20221123/7c4f091bc7d3a776e1a0f1894946bfb3.png.webp)
## 第三步

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20221123/50dd93365e7fbcafaeb05090386674f3.png)
4.10中发现 驱动里面已经有can配置文件了

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20221123/75093db3ac9b0b3179792fc8efbf0e29.png)
## 第四步
cubemx 中的时钟替换rtt的时钟

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20221123/92b965e5528ac47f170b72723fd529f1.png.webp)
## 第五步
复制can例程 微小改动
app_can1.c
```c
#include "app_can1.h"
#define CAN_DEV_NAME       "can1"      /* 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
    struct rt_can_filter_item items[5] =
    {
        RT_CAN_FILTER_ITEM_INIT(0x100, 0, 0, 0, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x100~0x1ff，hdr 为 - 1，设置默认过滤表 */
        RT_CAN_FILTER_ITEM_INIT(0x300, 0, 0, 0, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x300~0x3ff，hdr 为 - 1 */
        RT_CAN_FILTER_ITEM_INIT(0x211, 0, 0, 0, 0x7ff, RT_NULL, RT_NULL), /* std,match ID:0x211，hdr 为 - 1 */
        RT_CAN_FILTER_STD_INIT(0x486, RT_NULL, RT_NULL),                  /* std,match ID:0x486，hdr 为 - 1 */
        {0x555, 0, 0, 0, 0x7ff, 7,}                                       /* std,match ID:0x555，hdr 为 7，指定设置 7 号过滤表 */
    };
    struct rt_can_filter_config cfg = {5, 1, items}; /* 一共有 5 个过滤表 */
    /* 设置硬件过滤表 */
    res = rt_device_control(can_dev, RT_CAN_CMD_SET_FILTER, &cfg);
    RT_ASSERT(res == RT_EOK);
#endif

while (1)
    {
        /* hdr 值为 - 1，表示直接从 uselist 链表读取数据 */
        rxmsg.hdr = -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 CreatCAN1_Entry(void)
{
    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_DEV_NAME);
    if (!can_dev)
    {
        rt_kprintf("find %s failed!\n", CAN_DEV_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);
        rt_kprintf("create can_rx thread sucess!\n");
    }
    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;
}
```
app_can1.h
```c
#ifndef APPLICATIONS_APP_CAN1_H_
#define APPLICATIONS_APP_CAN1_H_

#include <board.h>

#include "rtdevice.h"//配制串口数据引用

#include "rtdef.h"
extern  int  CreatCAN1_Entry( void);

#endif
```
不知道为啥总是卡在RT_ASSERT

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20221123/c9fcb1273120f7864c4e0676b038f91b.png)
求大神指点哪儿错了