awr1642 can 发送出错

你好，

我附上我使用的MCAN配置供参考

/**************************************************************************
*************************** CAN Driver Initialize Function ***********************
**************************************************************************/
void Can_Initalize(void)
{
    int32_t errCode = 0;
    int32_t retVal = 0;
    CANFD_MCANInitParams mcanCfgParams;
    CANFD_MCANBitTimingParams mcanBitTimingParams;
    //CANFD_MCANMsgObjCfgParams rxMsgObjectParams;
    //CANFD_MsgObjHandle rxMsgObjHandle;
    gTxDoneFlag = 0;
    gRxDoneFlag = 0;
    /* Setup the PINMUX to bring out the XWR16xx CAN pins */
    Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PINE14_PADAE, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
    Pinmux_Set_FuncSel(SOC_XWR16XX_PINE14_PADAE, SOC_XWR16XX_PINE14_PADAE_CANFD_TX);
    Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PIND13_PADAD, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
    Pinmux_Set_FuncSel(SOC_XWR16XX_PIND13_PADAD, SOC_XWR16XX_PIND13_PADAD_CANFD_RX);
    /* Configure the divide value for MCAN source clock */
    SOC_setPeripheralClock(gMmwMssMCB.socHandle, SOC_MODULE_MCAN, SOC_CLKSOURCE_VCLK, 4U, &errCode);
    /* Initialize peripheral memory */
    SOC_initPeripheralRam(gMmwMssMCB.socHandle, SOC_MODULE_MCAN, &errCode);
    MCANAppInitParams (&mcanCfgParams);
    /* Initialize the CANFD driver */
    canHandle = CANFD_init(&mcanCfgParams, &errCode);
    if (canHandle == NULL)
    {
        System_printf ("Error: CANFD Module Initialization failed [Error code %d]\n", errCode);
        return ;
    }
/* Configuring 1Mbps and 5Mbps as nominal and data bit-rate respectively
    Prop seg: 8
    Ph seg 1: 6
    Ph Seg2 : 5
    Sync jump: 1
    BRP(Baud rate Prescaler): 2
    Nominal Bit rate = (40)/(((8+6+5)+1)*BRP) = 1Mhz
    Timing Params for Data Bit rate:
    Prop seg: 2
    Ph seg 1: 2
    Ph Seg2 : 3
    Sync jump: 1
    BRP(Baud rate Prescaler): 1
    Nominal Bit rate = (40)/(((2+2+3)+1)*BRP) = 5Mhz
*/
    mcanBitTimingParams.nomBrp = 0x2U;
    mcanBitTimingParams.nomPropSeg = 0x8U;
    mcanBitTimingParams.nomPseg1 = 0x6U;
    mcanBitTimingParams.nomPseg2 = 0x5U;
    mcanBitTimingParams.nomSjw = 0x1U;
    mcanBitTimingParams.dataBrp = 0x1U;
    mcanBitTimingParams.dataPropSeg = 0x2U;
    mcanBitTimingParams.dataPseg1 = 0x2U;
    mcanBitTimingParams.dataPseg2 = 0x3U;
    mcanBitTimingParams.dataSjw = 0x1U;
    /* Configure the CAN driver */
    retVal = CANFD_configBitTime (canHandle, &mcanBitTimingParams, &errCode);
    if (retVal < 0)
    {
        System_printf ("Error: CANFD Module configure bit time failed [Error code %d]\n", errCode);
        return ;
    }
    /* Setup the transmit message object */
    txMsgObjectParams.direction = CANFD_Direction_TX;
    txMsgObjectParams.msgIdType = CANFD_MCANXidType_29_BIT;
    txMsgObjectParams.msgIdentifier = 0xD1;
    txMsgObjHandle = CANFD_createMsgObject (canHandle, &txMsgObjectParams, &errCode);
    if (txMsgObjHandle == NULL)
    {
        System_printf ("Error: CANFD create Tx message object failed [Error code %d]\n",
        errCode);
        return ;
    }
    /* Setup the receive message object */
    rxMsgObjectParams.direction = CANFD_Direction_RX;
    rxMsgObjectParams.msgIdType = CANFD_MCANXidType_29_BIT;
    rxMsgObjectParams.msgIdentifier = 0xD1;
    rxMsgObjHandle = CANFD_createMsgObject (canHandle, &rxMsgObjectParams, &errCode);
    if (rxMsgObjHandle == NULL)
    {
        System_printf ("Error: CANFD create Rx message object failed [Error code %d]\n", errCode);
        return ;
    }
    /* Setup the receive message object */
    rxMsgObjectParams.direction = CANFD_Direction_RX;
    rxMsgObjectParams.msgIdType = CANFD_MCANXidType_29_BIT;
    rxMsgObjectParams.msgIdentifier = 0xAABB;
    rxMsgObjHandle2 = CANFD_createMsgObject (canHandle, &rxMsgObjectParams, &errCode);
    if (rxMsgObjHandle2 == NULL)
    {
        System_printf ("Error: CANFD create Rx message object failed [Error code %d]\n", errCode);
        return ;
    }
}

index              time                Name        ID                Type          Format             Len       Data
00000001     000.000.000    Event        总线错误      DATA         STANDARD     8           接收过程错误-填充错误-数据字段
00000002     000.000.000    Event        总线错误      DATA         STANDARD     8           接收过程错误-其它错误-允许的显性位

这是USB2can 接收到数据后的提示