[参考译文] AWR1843BOOST：当流量中有大量 CAN 消息时、DSS 中的 MRR 软件崩溃

https://e2e.ti.com/support/sensors-group/sensors/f/sensors-forum/1430677/awr1843boost-crashing-of-mrr-software-in-dss-when-a-lot-of-can-messages-are-in-the-traffic

工具与软件：

您好！

问题描述：将雷达(AWR1843)与我们的 ECU 相连时、MRR 代码崩溃、从而在 CAN 总线上转储多条消息。 雷达的 CAN 配置为以500kbps 比特率接收传统 CAN 消息。 虽然当雷达作为独立系统进行监控时代码运行良好、但在与 ECU 集成期间它会崩溃。 ECU 和雷达只通过 CAN 进行通信。

我在其他 线程中发现了类似问题。

当前配置：

    memset (mcanCfgParams, sizeof (CANFD_MCANInitParams), 0);

    mcanCfgParams->fdMode          = 0x0U;      //disabled fd mode 
    mcanCfgParams->brsEnable       = 0x0U;      //disabled bitrateswitching
    mcanCfgParams->txpEnable       = 0x0U;
    mcanCfgParams->efbi            = 0x0U;
    mcanCfgParams->pxhddisable     = 0x0U;
    mcanCfgParams->darEnable       = 0x1U;
    mcanCfgParams->wkupReqEnable   = 0x1U;
    mcanCfgParams->autoWkupEnable  = 0x1U;
    mcanCfgParams->emulationEnable = 0x0U;
    mcanCfgParams->emulationFAck   = 0x0U;
    mcanCfgParams->clkStopFAck     = 0x0U;
    mcanCfgParams->wdcPreload      = 0x0U;
    mcanCfgParams->tdcEnable       = 0x1U;
    mcanCfgParams->tdcConfig.tdcf  = 0U;
    mcanCfgParams->tdcConfig.tdco  = 8U;
    mcanCfgParams->monEnable       = 0x0U;
    mcanCfgParams->asmEnable       = 0x0U;
    mcanCfgParams->tsPrescalar     = 0x0U;
    mcanCfgParams->tsSelect        = 0x0U;
    mcanCfgParams->timeoutSelect   = CANFD_MCANTimeOutSelect_CONT;
    mcanCfgParams->timeoutPreload  = 0x0U;
    mcanCfgParams->timeoutCntEnable= 0x0U;
    mcanCfgParams->filterConfig.rrfe        = 0x1U;
    mcanCfgParams->filterConfig.rrfs        = 0x1U;
    mcanCfgParams->filterConfig.anfe        = 0x2U;             // Reject all non matching extended can-ids   //chnaged from 0x1U to 0x2U
    mcanCfgParams->filterConfig.anfs        = 0x2U;             // Reject all non matching standard can-ids   //chnaged from 0x1U to 0x2U
    mcanCfgParams->msgRAMConfig.lss         = 127U;
    mcanCfgParams->msgRAMConfig.lse         = 64U;
    mcanCfgParams->msgRAMConfig.txBufNum    = 32U;
    mcanCfgParams->msgRAMConfig.txFIFOSize  = 0U;
    mcanCfgParams->msgRAMConfig.txBufMode   = 0U;
    mcanCfgParams->msgRAMConfig.txEventFIFOSize         = 0U;
    mcanCfgParams->msgRAMConfig.txEventFIFOWaterMark    = 0U;
    mcanCfgParams->msgRAMConfig.rxFIFO0size             = 0U;
    mcanCfgParams->msgRAMConfig.rxFIFO0OpMode           = 0U;
    mcanCfgParams->msgRAMConfig.rxFIFO0waterMark        = 0U;
    mcanCfgParams->msgRAMConfig.rxFIFO1size             = 64U;
    mcanCfgParams->msgRAMConfig.rxFIFO1waterMark        = 64U;
    mcanCfgParams->msgRAMConfig.rxFIFO1OpMode           = 64U;


    mcanCfgParams->eccConfig.enable         = 1;
    mcanCfgParams->eccConfig.enableChk      = 1;
    mcanCfgParams->eccConfig.enableRdModWr  = 1;

    mcanCfgParams->errInterruptEnable   = 1U;
    mcanCfgParams->dataInterruptEnable  = 1U;
    mcanCfgParams->appErrCallBack       = MCANAppErrStatusCallback;
    mcanCfgParams->appDataCallBack      = MCANAppCallback;

此实验创建了两个 ID 为0x3F5和0x3F7的 RX 消息对象：

    /* Setup the receive message object */
    rxMsgObjectParams.direction     = CANFD_Direction_RX;
    rxMsgObjectParams.msgIdType     = CANFD_MCANXidType_11_BIT;
    rxMsgObjectParams.msgIdentifier = CAN_RX_ID_3F5;

    rxMsgObjHandle3F5 = CANFD_createMsgObject(canHandle, &rxMsgObjectParams, &errCode);
    if (rxMsgObjHandle3F5 == NULL)
    {
        System_printf("Error: CANFD create Rx message object failed [Error code %d]\n", errCode);
        return;
    }
    rxMsgObjectParams.direction     = CANFD_Direction_RX;
    rxMsgObjectParams.msgIdType     = CANFD_MCANXidType_11_BIT;
    rxMsgObjectParams.msgIdentifier = CAN_RX_ID_3F7;

    rxMsgObjHandle3F7 = CANFD_createMsgObject(canHandle, &rxMsgObjectParams, &errCode);
    if (rxMsgObjHandle3F7 == NULL)
    {
        System_printf("Error: CANFD create Rx message object failed [Error code %d]\n", errCode);
        return;
    }

尝试的解决方案：

修改后的过滤器配置：

mcanCfgParams->filterConfig.anfe = 0x2U；//拒绝所有不匹配的扩展 CAN-ID //从0x1U 更改为0x2U
mcanCfgParams->filterConfig.anfs = 0x2U；//拒绝所有不匹配的标准 CAN-ID //从0x1U 更改为0x2U

2.Commented out the system_printf 错误检查：

if (rxFrameType！=框架类型)
｛
// System_printf ("错误：可能收到错误的帧类型发送%d 时收到%d 的帧类型不正确、迭代%d 失败\n"、帧类型、rxFrameType、iterationCount)；
返回；
}

按照类似 线程中的建议、尝试使用 CANFD_createRxRangeMsgObject API。还没有成功

是否有正确的方法可以将 CAN 滤波器和屏蔽设置为仅接收这两个特定的 CAN ID (0x3F5和0x3F7)、从而防止其他 CAN ID 触发 CANRX 中断？