CAN CAN NEED

User_Code/bsp/fdcan/bsp_fdcan.c

@@ -4,6 +4,7 @@
 #include "stdlib.h"
 #include "bsp_dwt.h"
 #include "bsp_log.h"
+//说是fdcan实际上就是配置成了经典的CAN
 
 /* can instance ptrs storage, used for recv callback */
 // 在CAN产生接收中断会遍历数组,选出hcan和rxid与发生中断的实例相同的那个,调用其回调函数
@@ -251,7 +252,7 @@ void CANSetDLC(FDCANInstance *_instance, uint8_t length)
         	LOGERROR("[bsp_can] CAN DLC error! check your code or wild pointer");
         }
 
-    _instance->txconf.DataLength = length;
+    _instance->txconf.DataLength = DLC_LookUp_Table[length];
 }
 
 /* -----------------------belows are callback definitions--------------------------*/

User_Code/bsp/fdcan/bsp_fdcan.h

@@ -1,5 +1,5 @@
-#ifndef BSP_CAN_H
-#define BSP_CAN_H
+#ifndef BSP_FDCAN_H
+#define BSP_FDCAN_H
 
 //在此选择CAN类型，两者只能选择一个！！！
 #define FDCAN //G系列和H7系列使用FDCAN
@@ -34,7 +34,18 @@
 // 如果只有1个CAN,还需要把bsp_can.c中所有的hcan2变量改为hcan1(别担心,主要是总线和FIFO的负载均衡,不影响功能)
 #endif
 
-
+// 定义查找表
+static const uint32_t DLC_LookUp_Table[9] = {
+    FDCAN_DLC_BYTES_0,
+    FDCAN_DLC_BYTES_1,
+    FDCAN_DLC_BYTES_2,
+    FDCAN_DLC_BYTES_3,
+    FDCAN_DLC_BYTES_4,
+    FDCAN_DLC_BYTES_5,
+    FDCAN_DLC_BYTES_6,
+    FDCAN_DLC_BYTES_7,
+    FDCAN_DLC_BYTES_8
+};
 
 /* can instance typedef, every module registered to CAN should have this variable */
 #pragma pack(1)