topic CAN PAL Usage Issues with the S32K142 MCU in S32K

CAN PAL Usage Issues with the S32K142 MCU

ykd — Tue, 06 Jan 2026 13:51:23 GMT

When using the code generated by CAN PAL to receive messages, all information of the first received message is displayed as 0 (the corresponding message is refreshed after exiting the interrupt). The data in the second receive interrupt works normally. Thank you for your help!

CAN_Init(&can_pal2_instance, &can_pal2_Config0);
CAN_InstallEventCallback(&can_pal2_instance, &CAN2_RXTXMsgHandle, (void*)0);

CAN_ConfigRxBuff(&can_pal2_instance, gs_CANRxIDMsgInfo.buffIdx, &gs_CANRxIDMsgInfo.config, 0x02160000);
CAN_SetRxFilter(&can_pal2_instance,CAN_MSG_ID_EXT,0,0x1fffe200);
CAN_Receive(&can_pal2_instance, 0, &gs_RXCANMsg);

void CAN2_RXTXMsgHandle(uint32_t instance,
can_event_t eventType,
uint32_t objIdx,
void *driverState)
{

switch(eventType)

{

case CAN_EVENT_RX_COMPLETE:

//CAN_Receive(&can_pal2_instance, 0, &gs_RXCANMsg);

id_can_rx[id_count++] = gs_RXCANMsg.id;

//When powered on, the breakpoint here shows all zeros for the first time.

//CAN_Receive(&can_pal1_instance, RX_MAILBOX, &gs_RXCANMsg);

#if 1

CAN_Receive(&can_pal2_instance, 0, &gs_RXCANMsg);

CAN_Receive(&can_pal2_instance, 4, &gs_RXCANMsg);

//CAN_Receive(&can_pal1_instance, gs_CANRxPhyIDMsgInfo.buffIdx, &gs_RXCANMsg);

#endif

break;

case CAN_EVENT_TX_COMPLETE:

//TP_DoTxMsgSuccesfulCallback();

break;

default:

break;

}

回复： CAN PAL Usage Issues with the S32K142 MCU

ykd — Wed, 07 Jan 2026 04:01:59 GMT

At present, the issue is resolved when CAN2_RXTXMsgHandle is placed in the main.c file. Previously, this problem occurred when it was defined in maclcom_can.c (located in the subfolder macl_can under the mcal folder). Why does this happen?

回复： CAN PAL Usage Issues with the S32K142 MCU

PetrS — Wed, 07 Jan 2026 09:28:51 GMT

Hi,

when moving CAN2_RXTXMsgHandle into main.c makes the problem disappear, the most likely cause is a linkage / multiple-definition issue for your RX buffer or related globals, not the CAN PAL itself.
Be sure all shared RX/TX buffers declared once in a .c file, use extern in headers.

BR, Petr