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<div class=" wh_topic_content body "><main role="main"><article class="- topic/topic topic" role="article" aria-labelledby="ariaid-title1"><span class="edit-link" style="font-size:12px; opacity:0.6; text-align:right; vertical-align:middle"><a target="_blank" href="http://172.16.35.88/tasks/jdssno1uvvbf2mltu9kb9v3if05d5gopuakboe8hlud18rma/edit/F:/aicdita/aicdita-cn/topics/sdk/can/can_faq.dita">Edit online</a></span><h1 class="- topic/title title topictitle1" id="ariaid-title1">常见问题</h1><div class="date inPage">4 Dec 2024</div><div style="color: gray;">
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Read time: 1 minute(s)
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</div><div class="- topic/body body"><section class="- topic/section section" id="id__section_jmv_gpf_fdc" data-ofbid="id__section_jmv_gpf_fdc"><h2 class="- topic/title title sectiontitle">接收线程打印导致丢帧问题</h2>
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<p class="- topic/p p" data-ofbid="d111855e22__20250121171553">如果接收线程中存在打印，那么当总线波特率较高，发送数据较多时，易出现丢帧问题。</p>
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<p class="- topic/p p" data-ofbid="d111855e25__20250121171553"><strong class="+ topic/ph hi-d/b ph b">问题原因</strong>：打印速率较慢，接收的一帧 CAN 数据还没打印完，后续的 CAN 数据又接收了，容易发生 overflow，导致丢帧。</p>
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<p class="- topic/p p" data-ofbid="d111855e30__20250121171553"><strong class="+ topic/ph hi-d/b ph b">解决办法</strong>：在接收线程中不要加打印。SDK 中示例 demo 的接收线程有打印只是为了展示是否有接收到数据。</p>
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</section><section class="- topic/section section" id="id__section_rwj_cvh_fdc" data-ofbid="id__section_rwj_cvh_fdc"><h2 class="- topic/title title sectiontitle"> RTT 硬件过滤器 hdr 设置</h2>
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<div class="- topic/p p" data-ofbid="d111855e40__20250121171553">在 RT-Thread 的 CAN 框架中，hdr 用来表示硬件过滤器的编号。该 CAN 模块硬件上不支持过滤器编号，所以在接收时，
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<span class="+ topic/keyword pr-d/parmname keyword parmname">rxmsg.hdr</span>
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只能设置为-1。如下图<pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="id__codeblock_pb4_dvh_fdc" data-ofbid="id__codeblock_pb4_dvh_fdc"><strong class="hl-keyword">static</strong> <strong class="hl-keyword">void</strong> can_rx_thread(<strong class="hl-keyword">void</strong> *parameter)
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{
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<strong class="hl-keyword">int</strong> i;
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rt_size_t size;
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<strong class="hl-keyword">struct</strong> rt_can_msg rxmsg = {<span class="hl-number">0</span>};
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<strong class="hl-keyword">while</strong> (<span class="hl-number">1</span>)
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{
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rt_sem_take(&rx_sem, RT_WAITING_FOREVER);
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rxmsg.hdr = -<span class="hl-number">1</span>;
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size = rt_device_read(can_rx_dev, <span class="hl-number">0</span>, &rxmsg, <strong class="hl-keyword">sizeof</strong>(rxmsg));
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...
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}</pre></div>
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<div class=" wh_topic_toc "><div class="wh_topic_label">在本页上</div><ul><li class="section-item"><div class="section-title"><a href="#id__section_jmv_gpf_fdc" data-tocid="id__section_jmv_gpf_fdc">接收线程打印导致丢帧问题</a></div></li><li class="section-item"><div class="section-title"><a href="#id__section_rwj_cvh_fdc" data-tocid="id__section_rwj_cvh_fdc"> RTT 硬件过滤器 hdr 设置</a></div></li></ul></div>
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