[问答]

CAN接收中断，数据接收异常的原因？

问答对人有帮助，内容完整，我也想知道答案 0 使用Cube库，FreeRTOS，CAN中断接收 Cube Can 中断服务函数如下： static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber) { /* Get the Id / hcan->pRxMsg->IDE = (uint8_t)0x04 hcan->Instance->sFIFOMailBox[FIFONumber].RIR; if (hcan->pRxMsg->IDE == CAN_ID_STD) { hcan->pRxMsg->StdId = 0x000007FFU (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21U); } else { hcan->pRxMsg->ExtId = 0x1FFFFFFFU (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3U); } hcan->pRxMsg->RTR = (uint8_t)0x02 hcan->Instance->sFIFOMailBox[FIFONumber].RIR; / Get the DLC / hcan->pRxMsg->DLC = (uint8_t)0x0F hcan->Instance->sFIFOMailBox[FIFONumber].RDTR; / Get the FIFONumber / hcan->pRxMsg->FIFONumber = FIFONumber; / Get the FMI / hcan->pRxMsg->FMI = (uint8_t)0xFF (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8U); / Get the data field / hcan->pRxMsg->Data[0U] = (uint8_t)0xFF hcan->Instance->sFIFOMailBox[FIFONumber].RDLR; hcan->pRxMsg->Data[1U] = (uint8_t)0xFF (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8U); hcan->pRxMsg->Data[2U] = (uint8_t)0xFF (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16U); hcan->pRxMsg->Data[3U] = (uint8_t)0xFF (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24U); hcan->pRxMsg->Data[4U] = (uint8_t)0xFF hcan->Instance->sFIFOMailBox[FIFONumber].RDHR; hcan->pRxMsg->Data[5U] = (uint8_t)0xFF (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8U); hcan->pRxMsg->Data[6U] = (uint8_t)0xFF (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16U); hcan->pRxMsg->Data[7U] = (uint8_t)0xFF (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24U); / Release the FIFO / / Release FIFO0 / if (FIFONumber == CAN_FIFO0) { __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0); / Disable FIFO 0 message pending Interrupt / __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0); } / Release FIFO1 / else / FIFONumber == CAN_FIFO1 / { __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1); / Disable FIFO 1 message pending Interrupt / __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1); } if(hcan->State == HAL_CAN_STATE_BUSY_RX) { / Disable Error warning, Error passive, Bus-off, Last error code and Error Interrupts / __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG \| CAN_IT_EPV \| CAN_IT_BOF \| CAN_IT_LEC \| CAN_IT_ERR); } if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX) { / Disable CAN state / hcan->State = HAL_CAN_STATE_BUSY_TX; } else { / Change CAN state / hcan->State = HAL_CAN_STATE_READY; } / Receive complete callback / HAL_CAN_RxCpltCallback(hcan); / Return function status / return HAL_OK; } 我的应用代码： static uint8_t can_rec_ack(uint32_t millisec) { if(osSemaphoreWait(can_xSemaphore, millisec) == osOK) return 1; else return 0; } uint8_t can_call(uint8_t dt, uint8_t slot) { CAN_EXID_UN can_id; can_id.id.d_id = 0x0; can_id.id.dir = CAN_ID_M2S; can_id.id.fun = CF_CALL; can_id.id.type = dt; can_id.id.slot = slot; hcan1.pTxMsg->DLC = 1; hcan1.pTxMsg->Data[0] = 0xAA; hcan1.pTxMsg->ExtId = can_id.value; HAL_CAN_Receive_IT( hcan1, CAN_FIFO0); if(HAL_OK == HAL_CAN_Transmit( hcan1, 10)) { if(can_rec_ack(100)) { osDelay(2); log_printf(LOG_INFO, "CAN_RX:0x%X-0x%X,Ack:0x%X;soft_ver:%d;hw_ver:%d;build:%drn",hcan1.Instance->sFIFOMailBox[0].RDLR, hcan1.Instance->sFIFOMailBox[0].RDHR, hcan1.pRxMsg->Data[0], hcan1.pRxMsg->Data[1], hcan1.pRxMsg->Data[2], (uint32_t *) hcan1.pRxMsg->Data[4]); return 1; } else { log_printf(LOG_ERR, "%s call dev:%d slot:%d timeoutrn", __func__, dt, slot); return 0; } } else { log_printf(LOG_ERR, "%s send sta 0x%Xrn", __func__, hcan1.State); return 0; } } 主设备呼叫从设备，从设备回复8个字节。主设备先启动接收中断，然后发出呼叫帧，马上从设备回复，HAL_CAN_RxCpltCallback函数发信号量，此时去读hcan1.pRxMsg->Data中的8个字节，发现全0，但是直接通过寄存器访问的方式去读，数据都已经收到了。加延时的话也可以从hcan1.pRxMsg->Data中读取正确的值。是哪里有cache吗？还是其他的什么原因？我在中断服务函数的第71行代码执行之后去读hcan1.pRxMsg->Data，数据不对，那说明中断服务函数的22-29行还没生效？ 0 本主题由 Harmony技术专家于 2024-5-7 16:54 审核通过
2024-5-7 07:58:33　　评论淘帖0 邀请回答您可以邀请以下用户，快速回答问题 × heks 该类别下有 50 个回答。邀请回答 hgimtk 该类别下有 44 个回答。邀请回答新星之火12138 该类别下有 42 个回答。邀请回答 wang21cj 该类别下有 41 个回答。邀请回答 chm5 该类别下有 40 个回答。邀请回答 hjfjsdgfjdsf 该类别下有 37 个回答。邀请回答 fdjslkjd 该类别下有 35 个回答。邀请回答 uvysdfydad 该类别下有 35 个回答。邀请回答 werywer 该类别下有 35 个回答。邀请回答 h1654155957.9520 该类别下有 35 个回答。邀请回答 jenny042 该类别下有 34 个回答。邀请回答 dfzvzs 该类别下有 34 个回答。邀请回答维生素B2 该类别下有 34 个回答。邀请回答凤毛麟角该类别下有 34 个回答。邀请回答刘洋该类别下有 33 个回答。邀请回答 meihuacg 该类别下有 33 个回答。邀请回答 hfgdzc 该类别下有 33 个回答。邀请回答 ggfvxv 该类别下有 33 个回答。邀请回答 kpj3026 该类别下有 32 个回答。邀请回答江左盟该类别下有 32 个回答。邀请回答举报尚文清相关推荐 • 请问stm32串口中断接收数据被持续的外部中断会导致接收数据异常吗？ 3986 • 使用CAN1中断接收数据，无法接收到CAN数据是为什么？ 1327 • CAN回环模式可以使用中断接收数据帧吗？ 1126 • CAN模块接收 7973 • 为什么在RH850 的EI中断函数里关闭开启中断程序跑飞？ 5388 • CAN Receive using Interrupt接收中断挂了怎么解决？ 373 • 请问CAN中断接收的初始化、接收部分代码如何写？ 1917 • 关于2812CAN接收邮箱中断 9394 • H750 UART 7数据位 + 校验接收数据异常的原因？如何解决？ 1786 • 请问can接收初始化为什么放在接收中断中？ 1578 1个回答

答案对人有帮助，有参考价值 0 问题出在信号量上了CMSIS-RTOS的osSemaphoreCreate(osSemaphore(CAN_SEM) , 1 )，创建了一个信号量，并初始化成有效，所以第一次就没收到CAN数据就进去读了

2024-5-7 16:51:26 评论举报宋明星