目前我使用rt_thread版本为v4.1.1,目前使用了两路can，想要对两路can的数据进行硬件过滤处理，降低CPU负荷。
过滤的ID为:
#define STEER_STA_FEEDBACK_MSG_ID 0x203 #define BRAKE_STA_FEEDBACK_MSG_ID 0x202 #define DRIVE_STA_FEEDBACK_MSG_ID 0x201 #define BMS_STA_FEEDBACK_MSG_ID 0x1884EFF3 #define MCU_STA_FEEDBACK_MSG_ID 0x0C0221E #define WHEEL_ROTATE_FEEDBACK_MSG_ID 0x18FEF115
初始化代码如下：
#ifdef RT_CAN_USING_HDR CanDevRecFilterCfg can1_dev_filter; CanDevRecFilterCfg can2_dev_filter;#endif#ifdef RT_CAN_USING_HDR CanDevRecFilterCfg * GetFilterCfgPtr(CanCfgEnum _type) { CanDevRecFilterCfg * _cfg = RT_NULL; switch (_type) { case CAN1_DEV_CFG: _cfg = &can1_dev_filter; break; case CAN2_DEV_CFG: #ifndef APP_USING_CAN2_DEV LOG_E("Pls config switch the app using can2 dev"); break; #endif _cfg = &can2_dev_filter; break; default: break; } return _cfg; } /** * @brief Set the Can Dev I D Filter object * @param _type CAN设备索引 * @param match_id 需要过滤的ID * @return rt_err_t RT_EOK 成功 -RT_ERROR失败 */ rt_err_t SetCanDevIDFilter(CanCfgEnum _type,rt_uint32_t match_id) { struct rt_can_filter_item _temp_filter = RT_CAN_FILTER_EXT_INIT(match_id,RT_NULL, RT_NULL); struct can_app_struct *_can_dev_cfg = RT_NULL; CanDevRecFilterCfg * _cfg = GetFilterCfgPtr(_type); RT_ASSERT(_cfg != RT_NULL); if((_cfg->used_filter_num+1) > 27) { LOG_E("Beyond the max filter num!!"); return RT_ERROR; } if(match_id > 0x7FF) { //过滤的是扩展帧 _temp_filter.ide = 1; _cfg->filter[_cfg->used_filter_num] = _temp_filter; } else { _temp_filter.ide = 0; _cfg->filter[_cfg->used_filter_num] = _temp_filter; } //执行配置操作 _cfg->filter_cfg.items = _cfg->filter; _cfg->filter_cfg.count = _cfg->used_filter_num+1; _cfg->filter_cfg.actived = 1; //更新配置 _can_dev_cfg = GetCanCfg(_type); RT_ASSERT(_cfg != RT_NULL); if(rt_device_control(_can_dev_cfg->dev, RT_CAN_CMD_SET_FILTER, &_cfg->filter_cfg) != RT_EOK) { return -RT_ERROR; } _cfg->used_filter_num++; return RT_EOK; }#endif
我分别对can1 和can2进行了3组hdr配置,最终的表现结果为在接收部分只能收到ID为0x18FEF115或者ID为0x0C0221E的数据，其余的都收不到。
我这样的需求应该怎么样配置HDR才能正确进行接收呢？我使用官网的例程也存在这个问题。
