c
#include <rtthread.h>
#include <rtdevice.h>
/* CAN设备名称 */
#define CAN_DEV_NAME "can1"
/* 发送多字节数据 */
void send_multi_byte_data(rt_device_t can_dev, rt_uint32_t id, const rt_uint8_t *data, rt_uint32_t len) {
rt_can_msg_t msg;
rt_err_t result;
int i, chunk_size;
msg.id = id;
msg.len = 8; /* 假设每个CAN消息最多携带8字节数据 */
for (i = 0; i < len; i += chunk_size) {
chunk_size = (len - i > 8) ? 8 : (len - i);
rt_memcpy(msg.data, data + i, chunk_size);
result = rt_device_control(can_dev, RT_DEVICE_CTRL_CAN_SEND, &msg);
if (result != RT_EOK) {
/* 处理发送失败的情况 */
}
}
}
/* 接收回调函数 */
void can_rx_ind(rt_device_t dev, rt_size_t size) {
rt_can_msg_t msg;
rt_err_t result;
result = rt_device_read(dev, 0, &msg, sizeof(msg));
if (result != RT_EOK) {
/* 处理读取失败的情况 */
return;
}
/* 根据消息ID和数据长度处理接收到的数据 */
/* ... */
}
int main(void) {
rt_device_t can_dev;
rt_uint8_t multi_byte_data[] = { /* 多字节数据 */ };
rt_uint32_t data_len = sizeof(multi_byte_data);
/* 查找CAN设备 */
can_dev = rt_device_find(CAN_DEV_NAME);
if (can_dev == RT_NULL) {
/* 处理找不到CAN设备的情况 */
return -1;
}
/* 初始化CAN设备（设置波特率、过滤器等） */
/* ... */
/* 设置接收回调函数 */
rt_device_set_rx_indicate(can_dev, can_rx_ind);
/* 发送多字节数据 */
send
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