5 使用RT-Thread测试can总线，将数据通过can总线发送出现问题，

发布于 2023-11-07 15:39:05 浏览：655 订阅该版

话不多说直接上代码，
首先是can控制器初始化，这部分没有问题。

```c
struct aic_can aic_can_arr[] =
{
#ifdef AIC_USING_CAN0
    {
        .name = "can0",
        .can_idx = 0,
    },
#endif
#ifdef AIC_USING_CAN1
    {
        .name = "can1",
        .can_idx = 1,
    },
#endif
};
int rt_hw_aic_can_init(void)
{
    int i, ret = 0;
    struct can_configure config = CANDEFAULTCONFIG;
    config.privmode = RT_CAN_MODE_NOPRIV;
    config.ticks = 50;
#ifdef RT_CAN_USING_HDR
    config.maxhdr = 2;
#endif

for (i = 0; i < ARRAY_SIZE(aic_can_arr); i++)
    {
        hal_can_init(&aic_can_arr[i].canHandle, aic_can_arr[i].can_idx);
        hal_can_attach_callback(&aic_can_arr[i].canHandle,
                                aic_can_callback, NULL);

aic_can_arr[i].can.config = config;
        ret = rt_hw_can_register(&aic_can_arr[i].can, aic_can_arr[i].name,
                                 &aic_can_ops, NULL);
#ifdef RT_USING_PM
        rt_pm_device_register(&aic_can_arr[i].can.parent, &aic_can_pm_ops);
#endif
    }

return ret;
}
```
接着就是配置can总线，但是使用can0发送数据就会报错

```
[E] hal_can_bus_error_msg()295 error in TX direction, [E] hal_can_bus_error_msg()306 Bit Error, [E] hal_can_bus_error_msg()327 SOF
```

```c
#include <rtthread.h>
#include <rtdevice.h>

#define CAN_DEV_NAME "can0"

int can_bus_example(int argc, char *argv[])
{
    rt_device_t can_dev;
    rt_err_t res;

// 查找并打开 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;
    }

res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
    if (res != RT_EOK)
    {
        rt_kprintf("open %s failed! Error code: %d\n", CAN_DEV_NAME, res);
        return -RT_ERROR;
    }

// 设置 CAN 设备波特率
    res = rt_device_control(can_dev, RT_CAN_CMD_SET_BAUD, (void *)1000000);  // 设置波特率为 1Mbps
    if (res != RT_EOK)
    {
        rt_kprintf("set baud rate failed! Error code: %d\n", res);
        return -RT_ERROR;
    }

// 进行其他相关配置，如设置滤波器等
    // ...

// 发送数据
    struct rt_can_msg msg = {0};
    // 配置 CAN 消息
    // ...

rt_size_t size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
    if (size == 0)
    {
        rt_kprintf("can dev write data failed!\n");
    }

// 接收数据
    struct rt_can_msg rxmsg = {0};
    size = rt_device_read(can_dev, 0, &rxmsg, sizeof(rxmsg));
    if (size == sizeof(rxmsg))
    {
        rt_kprintf("Received message: ID=0x%08x, Data=%02x %02x %02x %02x %02x %02x %02x %02x\n",
                   rxmsg.id, rxmsg.data[0], rxmsg.data[1], rxmsg.data[2],
                   rxmsg.data[3], rxmsg.data[4], rxmsg.data[5], rxmsg.data[6],
                   rxmsg.data[7]);
    }
    else
    {
        rt_kprintf("No message received.\n");
    }

// 关闭设备
    rt_device_close(can_dev);

return RT_EOK;
}
MSH_CMD_EXPORT(can_bus_example, an example of CAN bus communication);
```