RT-Thread-请教CAN总线调试问题RT-Thread问答社区

请教CAN总线调试问题

发布于 2019-04-19 14:26:51 浏览：2723 订阅该版

关于CAN总线的使用，目前遇到一个问题，我现在手里没设备，所以直接用STM32连接了一个CAN控制器，CAN控制器又连了一个USB转CAN的转换器；然后再调试软件中可以看到stm32发的数据可以发出来，但是接收的一直不行，如下：红色框是发送过来的，显示成功收到，但是橙色框发送到主机的，主机那边没反应：
![微信图片_20190419141456.png](/uploads/201904/19/142851msi300sb6l78r02b.png)

代码是bsp里面的示例代码改的，然后现发给主机在debug的时候，会进不了图中的两个if语句，导致数据出不来，请问下这个怎么解决呢：
![微信图片_20190419141456.png](/uploads/201904/19/142744gw0qu0m07zwf37zj.png)

附上代码：
```c
#include <rtthread.h>
#include <rtdevice.h>
#include <board.h>
#define RT_CAN_THREAD_PRIORITY 15
struct can_app_struct
{
   const char *name;
   struct rt_can_filter_config *filter;
   rt_uint8_t eventopt;
   struct rt_event event;
};
static struct can_app_struct can_data[2];

static rt_err_t  can1ind(rt_device_t dev,  void *args, rt_int32_t hdr, rt_size_t size)
{
   rt_event_t pevent = (rt_event_t)args;
   rt_event_send(pevent, 1 << (hdr));
   return RT_EOK;
}
static rt_err_t  can2ind(rt_device_t dev, void *args, rt_int32_t hdr, rt_size_t size)
{
   rt_event_t pevent = (rt_event_t)args;
   rt_event_send(pevent, 1 << (hdr));
   return RT_EOK;
}

struct rt_can_filter_item filter1item[4] =
{
   RT_CAN_FILTER_STD_INIT(1, can1ind, &can_data[0].event),
   RT_CAN_FILTER_STD_INIT(2, can1ind, &can_data[0].event),
   RT_CAN_STD_RMT_FILTER_INIT(3, can1ind, &can_data[0].event),
   RT_CAN_STD_RMT_DATA_FILTER_INIT(4, can1ind, &can_data[0].event),
};
struct rt_can_filter_item filter2item[4] =
{
   RT_CAN_FILTER_STD_INIT(1, can2ind, &can_data[1].event),
   RT_CAN_FILTER_STD_INIT(2, can2ind, &can_data[1].event),
   RT_CAN_STD_RMT_FILTER_INIT(3, can2ind, &can_data[1].event),
   RT_CAN_STD_RMT_DATA_FILTER_INIT(4, can2ind, &can_data[1].event),
};
struct rt_can_filter_config filter1 =
{
   4,
   1,
   filter1item,
};
struct rt_can_filter_config filter2 =
{
   4,
   1,
   filter2item,
};
static struct can_app_struct can_data[2] =
{
   {
       "can1",
       &filter1,
       RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
   },
   {
       "can2",
       &filter2,
       RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR,
   },
};

#define CANUSERCONFIG \
{\
       CAN1MBaud,\
       RT_CANMSG_BOX_SZ,\
       RT_CANSND_BOX_NUM,\
       RT_CAN_MODE_LOOPBACK,\
};

static rt_err_t can_rx_indicate(rt_device_t dev, rt_size_t size)
{
        printf("rev:%ld",size);
        return RT_EOK;
}

static void rt_can_thread_entry(void *parameter)
{
        struct rt_can_msg msg;
        struct can_app_struct *canpara = (struct can_app_struct *) parameter;
        rt_device_t candev;
//        rt_uint32_t e;
        rt_uint8_t rev_data[8];
        struct can_configure config = CANUSERCONFIG;
        
        candev = rt_device_find("can1");
        RT_ASSERT(candev);
//        rt_event_init(&canpara->event, canpara->name, RT_IPC_FLAG_FIFO);
        //rt_device_set_rx_indicate(candev, can_rx_indicate);
        rt_device_open(candev, (RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX));
        rt_device_control(candev, RT_CAN_CMD_SET_FILTER, canpara->filter);
        rt_device_control(candev, RT_CAN_CMD_SET_MODE, &config);
        msg.ide=RT_CAN_STDID;
        msg.rtr=CAN_RTR_DATA;
        msg.len=8;
        msg.id=0x5a;
        msg.data[0]=0x01;
        msg.data[1]=0x02;
        msg.data[2]=0x03;
        msg.data[3]=0x04;
        msg.data[4]=0x04;
        msg.data[5]=0x06;
        msg.data[6]=0x07;
        msg.data[7]=0x08;
 while (1)
 {
#if 0
                        if (rt_event_recv(&canpara->event,(1 << canpara->filter->items[0].hdr),
                                                                                                                                                                                        canpara->eventopt,RT_WAITING_FOREVER, &e) != RT_EOK)
       {
           continue;
       }
                                 if (e & (1 << canpara->filter->items[0].hdr))
       {
           msg.hdr = canpara->filter->items[0].hdr;
           while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
           {
               rt_device_write(candev, 0, &msg, sizeof(msg));
                                                        rt_kprintf("write data ok <br>");
           }
       }
#endif

rt_device_write(candev, 0, &msg, sizeof(msg));
                        rt_kprintf("write data ok <br>");
                        rt_thread_mdelay(1000);  
                        rt_size_t rev_size = rt_device_read(candev,0,rev_data,sizeof(rev_data));
                        rt_kprintf("%d:",rev_size);

}
//                rt_device_close(candev);
}
static int rt_can_app_init(void)
{
   rt_thread_t tid;
   tid = rt_thread_create("canapp1",
                          rt_can_thread_entry, &can_data[0],
                          512, RT_CAN_THREAD_PRIORITY, 20);
   if (tid != RT_NULL) rt_thread_startup(tid);

return 0;
}
MSH_CMD_EXPORT(rt_can_thread_entry, can device test);
INIT_APP_EXPORT(rt_can_app_init);
```