如何解决STM32 CAN通信Rx期间接收随机数据字节
我正在为我的项目使用具有 CAN 通信的 STM32F103RBT6 Nucleo 板。我使用microchip CAN Bus Analyzer(充当节点)传输CAN数据。
项目设置: CAN 消息流来自:CAN 总线分析器 --> CAN 收发器 --> STM 板。 我只需要从 0x581、0x582、0x583、0x584、0x4A1、0x4A2、0X4A3、0X4A4 ID 接收消息。为了实现这一点,我应用了相同的过滤器。
问题: 在 Keil 的调试器模式下,我能够看到传输的 CAN 消息,并在“RxData”中正确接收。但是,当我尝试发送 4 字节长度的数据时,从 1 到 4 的 RxData 数据字节填充了与我传输的完全相同的消息,但数据字节 5 到 8 也会随机填充(在理想情况下,字节 5 到 8 应该都为零)。仅当我发送字节长度为 4 的数据时才会出现此问题。我尝试发送不同长度的数据字节(除 4 外),效果很好。问题仅在于当我尝试发送长度为 4 的数据字节时。 我在下面附上了我的整个程序代码。并附上问题截图。请在下面找到。
#include "main.h"
CAN_HandleTypeDef hcan;
CAN_TxHeaderTypeDef TxHeader;
CAN_RxHeaderTypeDef RxHeader;
CAN_FilterTypeDef sFilterConfig;
uint8_t RxData[8];
uint8_t TxData[8];
uint32_t TxMailBox;
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_CAN_Init();
while (1)
{
// Empty while.
}
}
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL12;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct,FLASH_LATENCY_1) != HAL_OK)
{
Error_Handler();
}
}
static void MX_CAN_Init(void)
{
hcan.Instance = CAN1;
hcan.Init.Prescaler = 2;
hcan.Init.Mode = CAN_MODE_norMAL;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_10TQ;
hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
hcan.Init.TimeTriggeredMode = disABLE;
hcan.Init.AutoBusOff = disABLE;
hcan.Init.AutoWakeUp = disABLE;
hcan.Init.AutoRetransmission = disABLE;
hcan.Init.ReceiveFifoLocked = disABLE;
hcan.Init.TransmitFifoPriority = disABLE;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
Error_Handler();
}
uint16_t StdIdArray1 [4] = {0x581,0x582,0x583,0x584}; // 0x58x ID Series
uint16_t StdIdArray2 [4] = {0x4A1,0x4A2,0x4A3,0x4A4}; // 0x4Ax ID Series
uint16_t mask,tmp,i,num;
sFilterConfig.FilterBank = 5;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // Mask Mode
sFilterConfig.FilterScale = CAN_FILTERSCALE_16BIT; // 16 Bit
sFilterConfig.FilterIdLow = StdIdArray1[0] << 5; // Filter Id Low
mask = 0x5ff;
num = sizeof (StdIdArray1)/sizeof (StdIdArray1[0]); // Mask code
for (i = 0; i <num; i ++)
{
tmp = StdIdArray1[i]^(~StdIdArray1 [0]);
mask &= tmp;
}
sFilterConfig.FilterMaskIdLow = (mask << 5) | 0x10; // Filter Mask Id Low
sFilterConfig.FilterIdHigh = StdIdArray2[0] << 5; // Filter Id High
mask = 0x4ff;
num = sizeof (StdIdArray2)/sizeof (StdIdArray2[0]); // Mask code
for (i = 0; i <num; i ++)
{
tmp = StdIdArray2[i]^(~ StdIdArray2[0]);
mask &= tmp;
}
sFilterConfig.FilterMaskIdHigh = (mask << 5) | 0x10; // Filter Mask Id High
sFilterConfig.FilterFIFOAssignment = 0; // FIFO 0
sFilterConfig.Filteractivation = ENABLE;
sFilterConfig.SlaveStartFilterBank = 14;
if (HAL_CAN_ConfigFilter(&hcan,&sFilterConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_CAN_Start(&hcan) != HAL_OK)
{
Error_Handler();
}
if (HAL_CAN_ActivateNotification(&hcan,CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
{
Error_Handler();
}
}
static void MX_GPIO_Init(void)
{
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
}
/* Receive Callback. Get messages from the CAN bus analyzer */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
if (HAL_CAN_GetRxMessage(hcan,CAN_RX_FIFO0,&RxHeader,RxData) != HAL_OK)
{
Error_Handler();
}
if (HAL_CAN_ActivateNotification(hcan,CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
{
Error_Handler();
}
}
void Error_Handler(void)
{
}
void assert_Failed(uint8_t *file,uint32_t line)
{
}
截图: 案例 1: ID=581; DLC=8; enter image description here
案例 2: ID = 581; DLC=6; enter image description here
案例 3: ID=581; DLC=2; enter image description here
案例 4:(问题) ID = 581; DLC=4; enter image description here
案例 5:(问题) ID=4A1; DLC=4; enter image description here
此问题仅与长度为 4 的数据字节有关。如果有人能帮我解决此问题,可能会有很大帮助!
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