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：
#include <rtthread.h>#include <rtdevice.h>#include <board.h>#define RT_CAN_THREAD_PRIORITY 15struct 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);
