STM32 CAN 通信 Rx 期间接收随机数据字节

Question

我在我的项目中使用具有 CAN 通信功能的 STM32F103RBT6 Nucleo 板。我使用Microchip CAN总线分析仪（充当节点）来传输CAN数据。

项目设置： CAN 消息流来自：CAN 总线分析器 --> CAN 收发器 --> STM 板。我只需要接收来自 0x581、0x582、0x583、0x584、0x4A1、0x4A2、0X4A3、0X4A4 ID 的消息。为了实现这一目标，我应用了相同的过滤器。

问题： 在 Keil 的调试器模式下，我能够看到传输的 CAN 消息，并在“RxData”中正确接收。但是，当我尝试发送 4 字节长度的数据时，从 1 到 4 的 RxData 数据字节会填充与我传输的完全相同的消息，但数据字节 5 到 8 也会随机填充（在理想情况下，字节 5 到 8 应该全部为零）。仅当我发送字节长度为 4 的数据时，才会出现此问题。我尝试发送不同长度的数据字节（4 除外），效果很好。仅当我尝试发送长度为 4 的数据字节时，问题才出现。我在下面附上了我的整个程序代码。并附上该问题的屏幕截图。请在下面找到。

#include "main.h"

CAN_HandleTypeDef hcan;

CAN_TxHeaderTypeDef TxHeader;
CAN_RxHeaderTypeDef RxHeader;
CAN_FilterTypeDef sFilterConfig;

uint8_t RxData[8];
uint8_t TxData[8];
uint32_t TxMailbox;

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);

int main(void)
{

  HAL_Init();

  SystemClock_Config();

  MX_GPIO_Init();
  MX_CAN_Init();

  while (1)
  {
    // Empty while.
  }
}


void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL12;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_CAN_Init(void)
{

  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 2;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan.Init.TimeSeg1 = CAN_BS1_10TQ;
  hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
  hcan.Init.TimeTriggeredMode = DISABLE;
  hcan.Init.AutoBusOff = DISABLE;
  hcan.Init.AutoWakeUp = DISABLE;
  hcan.Init.AutoRetransmission = DISABLE;
  hcan.Init.ReceiveFifoLocked = DISABLE;
  hcan.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }
    
  uint16_t StdIdArray1 [4] = {0x581, 0x582, 0x583, 0x584};  // 0x58x ID Series 
  uint16_t StdIdArray2 [4] = {0x4A1, 0x4A2, 0x4A3, 0x4A4};  // 0x4Ax ID Series
    
  uint16_t mask, tmp, i, num;  
    
  sFilterConfig.FilterBank = 5;
  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;     // Mask Mode
  sFilterConfig.FilterScale = CAN_FILTERSCALE_16BIT;    // 16 Bit

  sFilterConfig.FilterIdLow = StdIdArray1[0] << 5;      // Filter Id Low
    
  mask = 0x5ff;  
  
  num = sizeof (StdIdArray1)/sizeof (StdIdArray1[0]);  // Mask code
  for (i = 0; i <num; i ++)
  {  
    tmp = StdIdArray1[i]^(~StdIdArray1 [0]);  
    mask &= tmp;  
  }  
    
  sFilterConfig.FilterMaskIdLow = (mask << 5) | 0x10;   // Filter Mask Id Low

  sFilterConfig.FilterIdHigh = StdIdArray2[0] << 5;     // Filter Id High
    
  mask = 0x4ff; 
  
  num = sizeof (StdIdArray2)/sizeof (StdIdArray2[0]);   // Mask code
  for (i = 0; i <num; i ++)
  {  
    tmp = StdIdArray2[i]^(~ StdIdArray2[0]);  
    mask &= tmp;  
  }  
    
  sFilterConfig.FilterMaskIdHigh = (mask << 5) | 0x10;  // Filter Mask Id High
    
  sFilterConfig.FilterFIFOAssignment = 0;               // FIFO 0
  sFilterConfig.FilterActivation = ENABLE;  
  sFilterConfig.SlaveStartFilterBank = 14;
    
    if (HAL_CAN_ConfigFilter(&hcan,&sFilterConfig) != HAL_OK)
        {
        Error_Handler();
        }
    
    if (HAL_CAN_Start(&hcan) != HAL_OK)
   {

        Error_Handler();
   }
    
  if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
   {
        Error_Handler();
   }
}

static void MX_GPIO_Init(void)
{

  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();

}

/* Receive Callback. Get messages from the CAN bus analyzer */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
    if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
    {
        
        Error_Handler();
    }
    if (HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
    {
        Error_Handler();
    }

}

void Error_Handler(void)
{

}

void assert_failed(uint8_t *file, uint32_t line)
{ 

}

截图： 案例1： ID=581； DLC=8；