CAN 接收中断，数据接收异常

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;

}

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:%d\r\n",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 timeout\r\n", __func__, dt, slot);

            return 0;

        }

    }

    else

    {

        log_printf(LOG_ERR, "%s send sta 0x%X\r\n", __func__, hcan1.State);

        return 0;

    }

}