can扩展帧收发线程异常

发布于 2024-01-04 10:39:07 浏览：565 订阅该版

```c
#include <rtthread.h>
#include <rtdevice.h>
#include <stm32f4xx_hal.h>
#define CAN_DEV_NAME    "can1"

static void can_send_thread_entry(void *param)
{
    rt_device_t dev;
    struct can_msg msg;

/* 查找CAN设备 */
    dev = rt_device_find(CAN_DEV_NAME);
    if (!dev)
    {
        rt_kprintf("can device %s not found!\n", CAN_DEV_NAME);
        return;
    }

/* 打开CAN设备 */
    rt_device_open(dev, RT_DEVICE_OFLAG_RDWR);
    rt_device_control(dev, 1, (void *)RT_CAN_MODE_NORMAL);
    while (1)
    {
        /* 填充CAN消息 */
        msg.extid = 0x12345678;  // 设置扩展帧标识符
        msg.ide   = CAN_ID_EXT;  // 设置为扩展帧格式
        msg.dlc   = 8;           // 数据长度为8字节
        msg.data[0] = 0x01;
        msg.data[1] = 0x02;
        msg.data[2] = 0x03;
        msg.data[3] = 0x04;
        msg.data[4] = 0x05;
        msg.data[5] = 0x06;
        msg.data[6] = 0x07;
        msg.data[7] = 0x08;

/* 发送CAN消息 */
       rt_device_control(dev, CAN_MODE_NORMAL, &msg);
 //       rt_device_write(dev, 0, &msg, sizeof(msg));
        /* 等待1秒 */
        rt_thread_mdelay(1000);
    }
}

static void can_recv_thread_entry(void *param)
{
    rt_device_t dev;
    struct can_msg msg;

/* 查找CAN设备 */
    dev = rt_device_find(CAN_DEV_NAME);
    if (!dev)
    {
        rt_kprintf("can device %s not found!\n", CAN_DEV_NAME);
        return;
    }

/* 打开CAN设备 */
    rt_device_open(dev, RT_DEVICE_OFLAG_RDWR);
    rt_device_control(dev, 1, (void *)RT_CAN_MODE_NORMAL);
    while (1)
    {
        /* 接收CAN消息 */
        rt_device_read(dev, -1, &msg, 10);
        rt_thread_mdelay(1000);
        /* 判断是否为扩展帧格式 */
        if (msg.ide == CAN_ID_EXT)
        {
            rt_kprintf("received can message: extid=0x%x, dlc=%d, data=[0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x]\n",
                msg.extid, msg.dlc, msg.data[0], msg.data[1], msg.data[2], msg.data[3], msg.data[4], msg.data[5], msg.data[6], msg.data[7]);
        }
        else
        {
            rt_kprintf("received can message: stdid=0x%x, dlc=%d, data=[0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x]\n",
                msg.stdid, msg.dlc, msg.data[0], msg.data[1], msg.data[2], msg.data[3], msg.data[4], msg.data[5], msg.data[6], msg.data[7]);
        }
    }
}

int can_test_init(void)
{
    rt_thread_t tid;

/* 创建CAN发送线程 */
    tid = rt_thread_create("can_send", can_send_thread_entry, RT_NULL, 1024, 25, 10);
    if (tid != RT_NULL)
        rt_thread_startup(tid);

/* 创建CAN接收线程 */
    tid = rt_thread_create("can_recv", can_recv_thread_entry, RT_NULL, 1024, 25, 10);
    if (tid != RT_NULL)
        rt_thread_startup(tid);

return 0;
}
MSH_CMD_EXPORT(can_test_init, can test);
```