本篇用起来, 连接关系如下:
% w4 U, z6 m3 h0 K
/ I. R* J8 r" d3 j) N+ u& l' _) X7 D. r6 }# f# v. N
: o8 c6 |0 r* W8 S3 h% g4 s) q2 vCAN收发器均选用支持2M及以上CANFD的收发器, LPUART到PC用STLINK连接.
. J; J7 c. }8 o p$ h( S) z L$ A+ ]$ H5 P/ ] c% a
STM32工程搭建
& z0 _. F* i; n* z- [* hSTM32CubeMX配置步骤如下:
$ ~& ]% X: W9 S' F7 r: X" S% D) \
- a. l4 V& ^2 N4 \MCU选择: 打开 STM32CubeMX, 点击 ACCESS TO MCU SELECTOR, 选择 STM32G474VETx
7 j% `% |' Z' ]2 f8 N$ q
4 X% `) C$ c; Q. m( h调试端口配置为SWD: Pinout & Configuration -> System Core -> SYS -> Debug 选择 Serial Wire
# S+ y6 \7 P4 p4 t4 O8 n
- u7 h7 i9 u M( M% _- rPinout & Configuration -> System Core -> RCC -> HSE 选择 Crystal/Ceramic Resonator
, C2 g) T6 P% q& C4 C4 _1 o2 C; E& x1 ]
Clock Configuration(我板子上用的外部12M晶振, 主频配置成160MHz, FDCAN的时钟来自PCLK1=160MHz):
3 W& L; k: l$ _2 \7 r
?% x% m4 j1 f
* I# _! _! K, z- y
& Y% c7 T% F( b u1 |开启100us定时器中断: Pinout & Configuration -> Timers -> TIM6 -> 勾选Activated, Prescaler设置为160-1, Counter Period设置为100-1 -> 勾选TIM6中断:
1 T3 p3 ?8 y i: Q: m5 I8 \5 q
- g& d0 T9 e+ J
5 s+ L5 g0 O% A* b$ b- h! ?0 ~$ M7 R% g5 Y4 i" q
9 \, P: X0 O: V* I; ^
' W" P: k" `5 Y. [2 Z: g6 Z; C
LPUART1配置: Pinout & Configuration -> Connectivity -> LPUART1 -> Mode选择异步Asynchronous, 关闭 Overrun 和 DMA on RX Error, 波特率配置为2M-8-N-1:9 _9 E; ?# f1 X
% \; i$ p7 v: f4 X; U
- U0 m! E( x: c8 {/ n: x: [7 d
9 `# P T' ]& ]FDCAN1配置: Pinout & Configuration -> Connectivity -> FDCAN1, Mode选择FD, Frame Format设置FD mode with BirRate Switshing启用位速率变换, Auto Retransmission设置为Enable开启自动重传, Trasmit Pause设置为Enable开启传输暂停, 速率和采样点设置参考上一篇 STM32 CANFD 基础知识的位时间和采样点小节, Nominal仲裁段设置500Kbit/s(160M/NPre/(1+NTSeg1+NTSeg2) = 160M/4/(1+63+16) = 500Kbit/s), 采样点0.8((1+NTSeg1)/(1+NTSeg1+NTSeg2)=64/80=0.8); Data数据段设置为2Mbit/s((160M/DPre/(1+DTSeg1+DTSeg2) = 160M/4/(1+63+16) = 500Kbit/s)), 采样点0.75((1+DTSeg1)/(1+DTSeg1+DTSeg2)=15/20=0.75), Std Filter Nbr标准帧过滤器数量直接设为最大28, Ext Filters Nbr扩展帧滤波器数量直接设为最大8(虽然后面并没有全用上), 勾选FDCAN1 interrupt 0中断, 引脚也从默认调整到板子上用的引脚PD0/PD1:
7 E2 s# H2 T9 R2 Z
( o+ g; _8 j# T' C1 W8 P6 y
; N9 ^! L( w6 J* T7 J% N# U$ l$ z% m H8 k8 s5 J& v
$ N% Q* O" j9 s2 F4 x! E# K+ _
$ Y- R) g u$ D2 C3 R" W8 nFDCAN2, FDCAN3的设置同FDCAN1, 注意引脚要从默认改为板子上用的, 最终引脚位置为:- |. P5 |' H6 K
0 _- r" i- ~; ~" P. x6 \, G' ~+ ?0 h
+ g4 B% v9 p9 \4 h
Project Manager -> Project -> Browse 选择工程位置(Project Location), 填入工程名(Project Name), Toolchain/IDE 选择 MDK-ARM, 把Minimum Heap Size改为0x1000, Minimum Stack Size改为0x1000. 或者更大一点.
o. Y; V" f* o2 S- ?" O0 ] Z/ |: Y4 }. s
Project Manager -> Code Generator -> 勾选Copy only the necessary library files, 还有Generate peripheral initialization as a pair of .c/.h files per periphral; H, F0 f) |- b9 g
6 b# ` o m& ]/ V! m+ u点击右上角 GENERATE CODE 按钮生成代码, 点击Open Project按钮打开工程.
! z- U5 u$ ~, G
# z \& p8 M6 W8 {. [+ ?; |; ZKeil配置, Keil 点击魔术棒或者Project -> Options for Target ..., 默认配置Debug为ST-link Debugger, 点击Setting:
# g& r, m8 h3 g0 ~; D9 v' Q& p$ H
Flash Download选项卡 -> 勾选Reset and Run, 这样下载后可以自动复位运行.
; _) @2 c* k5 M0 r" QPack选项卡, 去掉默认的Enable勾选
5 r/ Q" }& t$ q+ a! s; t: _到此配置结束. 下面是手动添加的代码详解+ _3 Q8 d4 l2 Q% k/ n5 E9 J2 N: U
$ M& e# s( w1 h: N8 x$ O* k1 }
串口配置, y+ j7 n. `% C: y) i0 g3 H) q
为 LPUART1 添加printf支持:0 z% ~3 L/ g0 J
% a2 b; u2 c% Q- #include <stdio.h>! m+ p; \' ^; U- T
- 3 S- C) f0 n8 Z- k8 q" H, a
- #ifdef __GNUC__
! B% T* U% X& g" v2 { - #define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
2 z/ p2 e/ r( h! r - #else# T7 x1 o. f, u. g# b* w) N
- #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f): X' ~9 ?$ H- |8 L
- #endif /* __GNUC__ */& z/ L6 S0 w+ g9 k8 e1 o
. i7 P2 b0 e9 L& r8 z# B- PUTCHAR_PROTOTYPE9 X/ N0 q: T% e* T! l+ K) Z2 d V
- {6 ~ b g: A/ S+ e( H2 }$ s
- HAL_UART_Transmit(&hlpuart1, (uint8_t *)&ch, 1, 0xFFFF);
5 d. N, @9 W/ g - return ch;
复制代码
& y% n! |: h1 W100us定时器: z% H0 _/ Y: a' Z# y7 c" ^
因为用最大64字节测试的, 实测只发送的情况下, 1s传输最多2490+约2500帧, 再多就丢帧了, 也就是400us/帧, 保守一点, 这里设置500us传一帧, 如果没传出去, 100us后有一次重传的机会, 这就是100us定时器的由来.
# S" s( h3 p4 ?/ d9 k7 G+ m! \$ ]' w5 E- @0 [1 K
- /* USER CODE BEGIN 2 */: D: S) Y/ }+ v0 |. ?! B, r+ Q" R
- HAL_TIM_Base_Start_IT(&htim6); //Starts the TIM Base generation in interrupt mode.
& ?! V3 X7 s8 S! P0 b6 s7 @ - /* USER CODE END 2 */
0 c( b; b E* @( ]5 s
' O1 u9 m% P; v5 o% [$ c5 |- uint8_t tim6_flag = 0;
$ f# y7 f8 A: O( t2 _ - void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
- x3 B1 |! Y6 L- ?9 a - {
2 A9 h4 _; a5 i+ s" n, s1 j Y; Q - if(htim->Instance == TIM6) {
% t' U* {/ ]5 M: B! u - tim6_flag = 1;
# @! F/ l4 R8 Y+ l1 A - }
* X! d6 W3 V3 B& \# ?$ Z j, O, [ - }
复制代码
K% e$ M0 C2 J. C3 lFDCAN配置9 V/ H+ F1 h$ X9 B$ V$ G7 M7 u) _
主要是标准帧滤波器, 扩展帧滤波器设置, 开启新消息接收中断, 开启Bus-Off中断, 设置发送传输延时补偿等.+ O/ w2 Y) ]3 q& h" v
! P" z% r& U$ L: f; N& ]- FDCAN_FilterTypeDef sFilterConfig1;9 H8 q7 Z I1 W' D5 N+ m5 L) B
# M$ W% }" l9 g/ X& z7 c& F- void fdcan1_config(void)0 M# {9 I3 j2 v1 o4 P
- {4 s i& \ u/ `- {: x0 E
- sFilterConfig1.IdType = FDCAN_STANDARD_ID;8 }3 x5 M) u5 Y# i" a& g$ W
- sFilterConfig1.FilterIndex = 0;
7 a, K _! F7 |! S# ^/ [ - sFilterConfig1.FilterType = FDCAN_FILTER_RANGE;
. u1 @6 J6 {+ t$ t# y) }" {& T6 Y1 z( l - sFilterConfig1.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
, R+ v* p* b5 C3 x8 t7 x% }) g, Y - sFilterConfig1.FilterID1 = 0x00;
# D. J9 i$ c# b& O - sFilterConfig1.FilterID2 = 0x7FF;8 B4 b. Z9 b4 v7 e8 d8 I
- if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig1) != HAL_OK)% R* M/ ~, T/ s, Q8 W+ X6 `
- {: v% d) j% P% O3 K J
- Error_Handler();
+ N% x* P/ f- E; w4 A - }
9 X# J: V% e& T2 H/ a& [ - + d v- h( c: R* ?0 t
- sFilterConfig1.IdType = FDCAN_EXTENDED_ID;% d! X4 Z7 s! P% a7 N5 R! f0 V7 L
- sFilterConfig1.FilterIndex = 0;$ @2 X, F, L- d( `- z9 M% S
- sFilterConfig1.FilterType = FDCAN_FILTER_RANGE;
$ ]' i5 _! j9 P: y0 B! i - sFilterConfig1.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
2 e% ?5 G% n( n, X2 |* V& D) [! T - sFilterConfig1.FilterID1 = 0x00;
( T, p0 }$ N6 d6 b9 T& w - sFilterConfig1.FilterID2 = 0x1FFFFFFF;
" A" T! `, u+ i9 s. F, ?. k - if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig1) != HAL_OK)# \4 t. T& J% ^
- {
8 O0 B4 U$ R6 u6 Y3 Z - Error_Handler();
0 J! E- @+ C$ _ S1 f - }: Z G9 J3 ?1 m! E( C! V) C9 r
, o4 W, j2 F& f% _) A7 `0 F3 ]- /* Configure global filter on both FDCAN instances:
5 t# ?! b. Z+ u/ J/ A - Filter all remote frames with STD and EXT ID, v! ]0 e9 l+ ^
- Reject non matching frames with STD ID and EXT ID */9 U3 _# F u# v5 a( J, z0 L
- if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK)! P. m$ X4 F. H. |
- {% U) P; a6 [0 D) }$ ^
- Error_Handler();; C! @; g6 b& [ y& s2 Q: O
- }; X. n% M& K9 a1 A- f
; [7 w) l& e' }* K4 b4 X- /* Activate Rx FIFO 0 new message notification on both FDCAN instances */
9 m3 g2 @6 W {- B0 a, R# K - if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
7 t, a; I$ i4 `# v - {1 p- J& Z" f. ]! y
- Error_Handler();' ]# H. E# E5 a) U5 O
- }
1 Y3 N' S# V; x2 {" L) l" m
/ U7 z, m/ |4 T3 Q- g( K; L3 v/ `- if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_BUS_OFF, 0) != HAL_OK)
5 J, ~9 w# _; v l, g$ r9 d/ _! v - {& D& E: r3 d% }9 Y) Y9 L
- Error_Handler();
N$ w' [1 H4 v7 C- }) h6 Q - }( O/ ]! }) ]8 J% }" D w6 Q. h. E5 f
- $ E3 o( S- y) j9 q" c- d
- /* Configure and enable Tx Delay Compensation, required for BRS mode.5 T& A+ y/ \* T4 p
- TdcOffset default recommended value: DataTimeSeg1 * DataPrescaler
* b' x: x* w9 T, T2 W( t - TdcFilter default recommended value: 0 */
- X' H* _5 r& v" E - HAL_FDCAN_ConfigTxDelayCompensation(&hfdcan1, hfdcan1.Init.DataPrescaler * hfdcan1.Init.DataTimeSeg1, 0);
5 p' m- ?0 V" k6 ?6 d; n- c* ? - HAL_FDCAN_EnableTxDelayCompensation(&hfdcan1);3 Y y8 `: V$ f. `) h+ b2 R. H
; D% i2 ?8 w9 y! ?; s+ Y- HAL_FDCAN_Start(&hfdcan1);
/ v2 q6 N8 l& _3 I - }
复制代码 7 G# D5 H6 H( h/ |" V; o
这里设置了用一个标准帧滤波器设置了标准帧的全接收, 也可以用掩码的方式设置全接收:
2 |1 x) n- Y1 Z+ L$ \( P, [- sFilterConfig1.FilterType = FDCAN_FILTER_MASK;
" o2 |; l0 l: ?+ D! q - sFilterConfig1.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
: E2 k$ d: X2 Y( ]0 G6 S - sFilterConfig1.FilterID1 = 0;" x' \( }3 A% x9 s" \
- sFilterConfig1.FilterID2 = 0;
复制代码 ' h3 @5 n" G( Z0 X' b) {1 `
用一个扩展帧滤波器设置了扩展帧的全接收, 消息扔到RXFIFO0中, 设置了RXFIFO0的新消息来的中断, 也可以扔到RXFIFO1中.
" y3 S ?' U7 z! ~% x, |+ E: J5 q6 O6 v2 H% q
有别于STM32H7, STM32G474在STM32CubeMX软件中能设置的最大标准帧滤波器是28个, 扩展帧滤波器是8个, 这里程序中只各用了一个(index = 0), 如果想用更多, 不知可否手动更改stm32g4xx_hal_fdcan.c中213行这个值, 如把扩展帧滤波器数量从8改为28, 有兴趣试试:4 ]1 P: n. x) z( W' `1 y
5 h; |. W7 z! ?3 t8 |- #define SRAMCAN_FLE_NBR ( 8U) /* Max. Filter List Extended Number */
复制代码
& j1 C( V# S1 @) C/ e E' w% k( d% iFDCAN2, FDCAN3的配置和FDCAN1类似.4 @2 P4 ]% c8 C
4 k; ~; u7 j. `8 Z$ ^Bus-Off处理4 e! `" b8 A% q" u3 I4 m! C
如果CANH, CANL短接, 或者和其它节点的传输速率/采样点不一致, 会引发Bus-Off, 上面开启了Bus-Off中断, 发生Bus-Off时, 直接在中断中初始化FDCAN外设:' u; Z! @$ @2 m" F) e) F
$ p+ M) j- {& u2 u" {- void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
% x# t1 Q/ c6 }. ^- e: X8 J - {
& c, y, X8 ?& o s - //__HAL_FDCAN_CLEAR_FLAG(hfdcan, FDCAN_FLAG_BUS_OFF);2 s' S/ o6 K+ f+ p; c" F
- if(hfdcan->Instance == FDCAN1) {
) w/ T: k# |$ y9 u% x - MX_FDCAN1_Init();
( {( P) S& r6 ^+ V8 _, A- b' f - fdcan1_config();
# P; O+ B. G; B& K; { - } else if(hfdcan->Instance == FDCAN2) {
& q2 R- N' t, i: b! Q - MX_FDCAN2_Init();. n. e1 n6 Q6 X1 V
- fdcan2_config();; q" A+ O) s4 n# n9 a: x4 Y1 w5 L
- } else if(hfdcan->Instance == FDCAN3) {/ m C( j# b+ ^5 g
- MX_FDCAN3_Init();- K8 N" Y2 E/ J$ G7 G5 Y; w' Q% P
- fdcan3_config();* |$ u% ^) L; O* r( Z g' G, ]
- } else {1 B: Q# Y0 @# F" j
- }7 u4 m+ R! c/ d+ p# @: a
- }
复制代码 & ]( N& K1 Z' \9 B; ?/ X
新消息接收处理
' f% |; O! M' J2 r直接把接收的消息通过2M波特率的串口打印出来.# K$ c- j/ l' k# X6 I+ U
% |* e7 i* Z/ w1 \/ K6 `) J
- FDCAN_RxHeaderTypeDef RxHeader1;3 w: f7 J; S T& S8 s6 k/ I, o& k
- FDCAN_RxHeaderTypeDef RxHeader2;
8 r+ E& t6 J. @ p - FDCAN_RxHeaderTypeDef RxHeader3;$ Y, A) _6 |" Z: H$ `1 Q
- 8 H, T6 d# n1 U! d" D0 i) L
- //RxHeader1.DataLength => can_dlc
" [# G8 \* F" y$ V- a- W7 m) ^. p - //0x00000 => 0 " Y2 E, L+ h* V0 v
- //0x10000 => 1
6 ]7 o$ W% E# C3 b - //0x20000 => 2
' |7 ]( O5 g$ Q* U - //0x30000 => 3
7 n: H) j4 x+ l$ G - //0x40000 => 4
0 {' Q, Z& C8 E" E - //0x50000 => 5 * C1 X; u$ |( o0 ^. A1 L
- //0x60000 => 6
7 b: u! j2 d; X+ g8 N - //0x70000 => 7 7 _. n5 H. [8 T* i" F
- //0x80000 => 8
5 U; ? @0 V5 ^) g2 k% c - //0x90000 => 12, O1 `; V- q. n" h E' o$ R
- //0xA0000 => 162 U' |; N5 S1 N3 b/ U( D5 H/ @
- //0xB0000 => 20
; y! K a- p8 a7 v - //0xC0000 => 24
( K3 H! |9 g: h4 B- Z - //0xD0000 => 321 D/ N v: \0 j+ Q5 N! T7 J
- //0xE0000 => 48
5 d- c* ^ g3 |( g - //0xF0000 => 64# A' S4 k/ D+ b- u1 G
- uint8_t dlc2len[]={0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64};
- Z4 f( Z4 d* S! J+ c9 I - uint8_t can_dlc2len(uint32_t RxHeader_DataLength)& \# I1 w& \; z# j: H9 O3 o
- {
3 L% ? r$ h3 I3 p( |: y1 m3 T - return dlc2len[RxHeader_DataLength>>16];) m% J# y7 \2 _1 ?
- }
# H* Z- t' z" K F' M9 X - ' h& _: n: G# [% T2 Z
- uint8_t cnt = 0;
$ U, m+ A" h$ y5 q# A, ~: A& \! o - uint8_t brs[] = {'-', 'B'};
3 m1 W4 g) A E - uint8_t esi[] = {'-', 'E'};/ E, K' I+ X( e
- void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)- {% k4 B7 G2 P, h4 b- A3 N
- {4 V( @& f. `/ y8 p \3 k2 A
- if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != 0) {+ n& j* E: [( p2 a5 a
- //HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader2, RxData2);
' U) u* _- h1 p" H) I: H - //RxHeader2.Identifier++;
7 J: j" u: k0 j - //fdcan2_transmit(RxHeader2.Identifier, RxData2);. n1 b7 Q% f! v5 l' P& c* ?+ p* A
- 4 d: P( h1 z8 W5 e& L% Q% ]
- //HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader1, RxData1);' G. [0 G& @: G* y+ b C2 K" P
- //memset(&RxHeader1, 0, sizeof(FDCAN_RxHeaderTypeDef));& O! X) t( B$ E/ | }. T
- 4 `4 S- P& F" T: F' H
- HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader1, RxData1);
6 k- \& P- t$ B - if (hfdcan->Instance == FDCAN1) {
8 H: c# i3 O _1 q2 T - printf("fdcan1, ");( O% G2 D7 U- O" K' B/ z
- } else if (hfdcan->Instance == FDCAN2) { * S, c: H2 {! b( f
- printf("fdcan2, ");! z7 s) o' [/ C! `# w
- } else if (hfdcan->Instance == FDCAN3) {
6 X/ X- P: K; v0 [% z! R6 [6 B7 e - printf("fdcan3, ");
: M/ D- {# D5 W5 B' r - }
( q' ?" M' t- m - printf("0x%8X, %02d, %c, %c:",RxHeader1.Identifier, $ H! L- J) h9 I6 U- d$ I
- can_dlc2len(RxHeader1.DataLength), . H, v% f. u+ r2 X( D' ?
- brs[RxHeader1.BitRateSwitch>>20 & 0x1],
7 Q5 W! I4 z- q - esi[RxHeader1.ErrorStateIndicator>>31 & 0x1]);
1 R* s3 y3 D n6 V, z; @ - for(cnt = 0; cnt < can_dlc2len(RxHeader1.DataLength); cnt++) {
, i; f% y3 `7 T - printf(" %02X", RxData1[cnt]);, K: ?2 b D: e# t+ W
- }9 {& a, v. n9 H2 E
- printf("\n\r");! \& G3 L+ Z% u" Y4 P
- 7 i7 F# G) c; [" c9 t0 u
- . {5 @3 s7 [ m( w, u
- //if (hfdcan->Instance == FDCAN1) {
, ?" t/ f" Q9 W# ^9 n - // HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader1, RxData1);
) X* e2 S0 W+ m) n7 e- N - // //echo
r$ v5 H9 ~' b5 y2 P - // RxHeader1.Identifier++;
/ B! {, G& Y4 l5 L# L/ G# r; B - // fdcan1_transmit(RxHeader1.Identifier, RxHeader1.DataLength, RxData1);1 j5 l; ^% f4 o2 f
- //} else if(hfdcan->Instance == FDCAN2) {$ c: s' }* K) B( x: J# J
- // HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader2, RxData2);7 Y( `* I0 [% T, |- f2 a
- // //echo3 m2 }, C* B9 n! I. h5 \1 g
- // RxHeader2.Identifier++; N/ \' [# F1 f& o# z. k% M# \. [
- // fdcan2_transmit(RxHeader2.Identifier, RxHeader2.DataLength, RxData2);
) o) I7 b3 [' _/ ^ - //} else if(hfdcan->Instance == FDCAN3) {) X# u N! o! \( i; J6 Q8 Z
- // HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader3, RxData3);
w! [/ r* n% ~. v: u - // //echo
4 T+ R# P+ I+ K. } - // RxHeader3.Identifier++;
+ [8 R) x9 n9 l; x$ ]- |6 A* Z5 P' J - // fdcan3_transmit(RxHeader3.Identifier, RxHeader3.DataLength, RxData3);
# t' w- @! a" a: x; n8 I - //} else {/ K: S# x& B( j8 W2 E
- //
T$ v6 i7 A8 f - //}
/ k' s- o. [5 W- t9 o3 l8 ` - }
, e- k$ Z9 A' o, B. } - }
复制代码 3 m( U& q1 g% K5 j1 [4 ^
注意注释中 RxHeader.DataLength => can_dlc 的对应关系.
8 n/ a! ~" V/ J! S% t" E) d+ V5 u# f7 t: W" d, t; ?
示例如图:
+ `) k" f5 p. _! v4 j, S# g; Q1 T
) l. ^2 H# K. p* n+ ?
' \( `0 B2 Q5 h2 V2 U+ r6 q. W! r) u) F' D9 M: D5 N
图中消息来自fdcan2, can_id为0x18FF0005, 64字节数据, 开启了BRS和ESI, :后面是64字节的十六进制数据.
" @& N. e5 M0 v4 X
0 U2 F. Q$ e( Y# x; |0 aprintf还是比较耗时间的, 这里仅做低负载下的演示, 实际使用不建议中断中这么搞.
' U# a7 D: r) O. g, q8 D* D: l: W6 j
发送处理
6 B8 Y* N! C3 g8 H* o8 s发送开启了BRS和ESI, 如果发送失败, 就延时100us后重发一次.
% e. N- |! Q% z; l' @$ p6 G& [/ G1 j! N$ K
- #include <string.h>: E" G+ k5 e! w0 w& R! g. J$ j
- 8 k; n% c/ {; b2 Z% ]5 R7 U8 D
- FDCAN_TxHeaderTypeDef TxHeader1;0 R+ J- E/ l/ ]# E
- FDCAN_TxHeaderTypeDef TxHeader2;2 A9 A8 O% w! P V* c; d6 K
- FDCAN_TxHeaderTypeDef TxHeader3;
, o! ?6 ?- o; \% |3 I- C - - \# _* D7 i4 u8 `3 c1 i4 c9 b) d
- typedef struct {
# J" S# t7 N( H8 m( z4 t9 V( k - uint8_t flag;
# z; Z+ d1 l( |1 Q - FDCAN_TxHeaderTypeDef TxHeader;7 C- W5 k* o4 O( T& |. G
- uint8_t TxData[64];
% z5 t% `. u% b, u1 C D/ P9 A6 O9 j% j - } FDCAN_SendFailTypeDef;
+ ^" a( c& @. p/ ] - ' X4 h- p. ]$ A# D
- FDCAN_SendFailTypeDef fdcan1_send_fail = {0};& w4 e5 I0 E/ z' U
- FDCAN_SendFailTypeDef fdcan2_send_fail = {0};
7 ^' T: A) W+ ?( q - FDCAN_SendFailTypeDef fdcan3_send_fail = {0};* Q$ n8 g/ G" ^8 n7 y
) w4 I2 o/ e3 A0 n- void fdcan1_transmit(uint32_t can_id, uint32_t DataLength, uint8_t tx_data[])
) o2 |: o1 `; \% R/ r - {
8 H5 s8 ?1 `$ q# l k0 `1 }; |9 k - TxHeader1.Identifier = can_id;
% ~5 o! r' g+ u: D( z+ f A5 W5 g - TxHeader1.IdType = FDCAN_EXTENDED_ID;
* n* r6 f4 t( P- z1 s3 t - if(can_id < 0x800) { //exactly not right
r% q( W# z% \8 b) D: Q - TxHeader1.IdType = FDCAN_STANDARD_ID;
1 E. M! z1 F8 E% I r) p2 u# [ - }1 u: Q" V$ y% L& r- ^ Y7 A
- TxHeader1.TxFrameType = FDCAN_DATA_FRAME;
6 N( R% J& [' a8 P7 U5 \1 s) V - TxHeader1.DataLength = DataLength;
1 i6 y- T* x* g0 ? - TxHeader1.ErrorStateIndicator = FDCAN_ESI_ACTIVE;: o5 C W8 w' a6 c' T7 W* A+ {
- TxHeader1.BitRateSwitch = FDCAN_BRS_ON;, |6 t. ]7 P* q& K
- TxHeader1.FDFormat = FDCAN_FD_CAN;# B+ U; [$ Q+ i; Y7 _* ~
- TxHeader1.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
8 ?. N6 n H I! L - TxHeader1.MessageMarker = 0; //marker++; //Tx Event FIFO Use: \0 G2 o# m2 {7 C
- if(HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader1, tx_data) != HAL_OK) {1 c4 {6 U u5 @& x) U1 y; f+ C
- fdcan1_send_fail.flag = 1;8 Q8 H2 f$ r3 ^) S3 ^. Q% O) x" w. x
- memcpy(&fdcan1_send_fail.TxHeader, &TxHeader1, sizeof(FDCAN_TxHeaderTypeDef));
V: Q, E5 o" H0 i# t- V - memcpy(fdcan1_send_fail.TxData, tx_data, can_dlc2len(DataLength));8 P, `, y" ~9 p" b, ]7 X
- }
) c" q$ v$ v2 j8 b$ n: O7 h; B - }! b) |: J$ D5 o: R1 d; X
7 l5 z+ G% D+ j1 ~" L- int main(void)! R7 [2 H+ U% |8 ^
- {
; d1 s, X6 C" u' A2 _ - ...
7 [, b6 D! Y+ A6 u - /* USER CODE BEGIN 2 */; \4 J$ Y2 Q5 N1 Y" s" D& b0 L) q* p
- fdcan1_config();; E# C1 x: O% p+ F" n0 a9 |
- fdcan2_config();
. j7 n) g9 C$ Q9 N4 H& k - fdcan3_config();0 ?5 t4 M/ e$ R/ J' D5 v7 {$ K
) y" C) X/ u* ^$ K1 O- for(uint8_t i = 0; i < 64; i++) {
) N' e! v& P& M1 |; @: e7 C - TxData1<i> = i;</i>
# `/ b* t" x; c; Y% |/ w3 o - <i> TxData2 = i;</i>
2 S. _0 H8 ?( [ - <i> TxData3</i><i> = i;
; C4 p m" T! o6 J - }/ G: b. H) P z4 y3 y+ Y, K8 j
- 7 v& z+ v1 R, u
- HAL_TIM_Base_Start_IT(&htim6);4 D9 p" [# ` A% C6 Z: Q. _
- </i>uint32_t count = 0;
+ l/ S, E( k. J% M. q - uint32_t cnt_100us = 0;
/ j! u# \6 b* h' s - uint32_t cnt_500us = 0;/ t' o5 L, s8 M. v$ Q( V$ }
- /* USER CODE END 2 */
6 ]+ E9 U; z3 p* h" z/ @0 z& B) r* { - 4 x |- N+ D, Z# |* H" I6 G9 r# c
- /* Infinite loop */
, ^6 P1 b' G9 E9 ~& \0 J - /* USER CODE BEGIN WHILE */, }" ]6 A$ g g$ ]- h6 y
- while (1): O _0 v6 }0 G* }
- {
: D) j$ A7 o) Q8 f6 z ]3 w - /* USER CODE END WHILE */
" N+ G9 `" g; R' x& e, N - 5 r6 Z, h! W% r' w, P/ Z. h
- /* USER CODE BEGIN 3 */0 w$ \7 c7 a! h
- if(tim6_flag && count < 1000) {
: K) E7 ]2 o1 j% A; I! {2 h/ W - tim6_flag = 0;
8 L' l* T, a' e* h v) r - TxData1[0] = count >> 8 & 0xFF;2 J8 n B0 A' o9 e4 n& `+ a& K
- TxData1[1] = count & 0xFF;$ ]! A+ o" ]' G
- 3 R: R+ [& T! k3 C/ o
- ++cnt_100us;
; |& B0 J, R: a \5 b - cnt_500us = cnt_100us / 5;& K* i8 k. \# k/ i$ I7 q5 r
- if(cnt_500us && (cnt_100us%5==0) ) {
. h6 ?! j, L) r) _# z* @) j - switch(cnt_500us) {+ ~1 v! H+ J9 h
- case 1: fdcan1_transmit(0x123, FDCAN_DLC_BYTES_64, TxData1);
! V0 N( @' _7 F: S4 d - fdcan1_transmit(0x124, FDCAN_DLC_BYTES_64, TxData1);# [/ w# S+ h. p* P A/ m
- fdcan1_transmit(0x125, FDCAN_DLC_BYTES_64, TxData1); break;8 f: d( N& B$ X$ Z4 M
- case 4: fdcan1_transmit(0x12345678, FDCAN_DLC_BYTES_64, TxData1); break;0 X9 d3 x: `- Q( y. O
- case 5: fdcan1_transmit(0x12345679, FDCAN_DLC_BYTES_64, TxData1); break;
% u; x; l$ |5 k$ ?2 }; n - case 6: fdcan1_transmit(0x1234567A, FDCAN_DLC_BYTES_64, TxData1); break;
$ Q7 y$ R" e# p2 F0 Z - case 7: /* next send */ break;0 w+ ], l' M# s8 f
- case 8: break;4 s2 H i* ~5 q% x4 B
- case 20: ++count; cnt_100us = 0; break; //10ms
& Z9 o$ b2 Q6 i - }9 D' n0 z6 |# O/ _
- } else { //fail retransmission once
$ b3 h' o* ^( u+ o! H! e* h - if(fdcan1_send_fail.flag) {+ a; n" O3 P6 G m7 f: d
- fdcan1_transmit(fdcan1_send_fail.TxHeader.Identifier,
B1 k1 a: z$ I& G - fdcan1_send_fail.TxHeader.DataLength,9 ?, ~4 N) a2 b9 F( m+ q
- fdcan1_send_fail.TxData);
% Q/ R# [( l. r0 j- U: j% V9 t - fdcan1_send_fail.flag = 0; D& P+ C! }# P* }
- }
0 u5 N$ O) J ^6 ~' D - if(fdcan2_send_fail.flag) {
% V6 J! k+ j& A- _4 j. G4 T - fdcan2_transmit(fdcan2_send_fail.TxHeader.Identifier,
9 n2 B+ S6 H+ e) w& O7 S - fdcan2_send_fail.TxHeader.DataLength,7 I$ P( d* K- m
- fdcan2_send_fail.TxData);
2 c9 H: p% Z7 ~' y - fdcan2_send_fail.flag = 0; g/ [6 L- K% u% j" f( z9 c
- }0 O# }* h8 A9 w. }
- if(fdcan3_send_fail.flag) {
# X* J! H" h# t" m - fdcan3_transmit(fdcan3_send_fail.TxHeader.Identifier, / Y9 b5 @! C5 f$ l
- fdcan3_send_fail.TxHeader.DataLength,
6 e x! t5 U! A - fdcan3_send_fail.TxData);
+ J# m; Q( L2 Z( \ - fdcan3_send_fail.flag = 0;7 \) O- B* V! M8 m
- }) g+ ^# H, _0 R6 B' _/ M
- }
* Z7 }+ C8 J* o) U9 J7 g - }/ R8 d3 ]+ Y& ~$ Q* b
- }3 i) J! u+ Q/ `2 } {
- /* USER CODE END 3 */
5 b& P1 r- P: w6 U' O3 | - }
复制代码 ; C* P- |9 d+ a) V6 `- U3 u
fdcan2, fdcan3和fdcan1的发送类似, 3个发送函数可以合并成一个, 这里没有合并.
4 T) j. R/ F9 e
* @6 W+ J8 T% J7 v }发送函数中的DataLength指的是类似FDCAN_DLC_BYTES_64这种的宏定义, 而不是数字64.9 ?4 R. ]2 N( h- w; S! G. B, n
- x- ^# K% Y, H' F/ e
这里用can_id < 0x800只是为了简便, 其实不正确, 这种情况下也有可能是扩展帧, 但通常不会这么用.
3 b b) p4 z2 y; G" A0 O6 t( O1 p% c3 K: t
因为发送最多可以缓存3帧, 所以可以一口气发送3帧, 如case 1处, 也可以一帧一帧发送, 如case 4, case 5, case 6. 这里是1.5ms/3帧或者500us/帧.
: R9 N4 f- S( i' r
7 T8 f; X7 d/ K6 ?因为总线中还有其他节点发送之类的, 有可能发送失败, 这里留了一次发送失败后延时100us重传的机会, 具体情况根据现场可另行调整.+ C" Y' \" D$ v' }2 c2 I! k
# \) o, e) p) t/ ]9 W0 Y& S& J如果fdcan1, fdcan2, fdcan3没有在一个网络中, 可以一口气 fdcan1发送3帧 + fdcan2发送3帧 + fdcan3发送3帧.3 O" B; { |2 C+ C; f
& L6 T- F t4 z: w: B# W
一般车辆总线中发送都是最快10ms内把要发的不同ID的数据一股脑发出去(当然也有20ms, 50ms, 100ms周期的数据这里暂不考虑), 所以这里100us中断计数100次就是10ms.& Z- s' d8 ^( I- ~
- I; h4 ^7 a5 A: d
程序中发送1000*6=6000帧后停止发送, 10ms发6帧, 所以10s后数据就发完了.
. k* _- s4 l+ W `4 }. @% z6 Z( M6 f% i
使用Xavier配合测试一下
" ~/ w ^( a& g& @把STM32的FDCAN1连到Xavier的CAN1上, Xavier CAN1设置:
4 D" S) p9 H' P( O) D' {3 J" M3 G' k8 e0 _5 H3 `
- #!/bin/sh
) q' [* U; j8 w& Y; L - ; `$ {' V% I2 J5 h4 z) n" T+ P
- sudo modprobe can8 g0 i2 w! D1 q) j: n: l7 f' p
- sudo modprobe can_raw. Z% r' T4 a0 ^6 d9 @' a; o
- sudo modprobe mttcan: `2 A0 U4 A/ {4 `$ u" }" C& m
- 2 Q+ a) |. P2 J& a( A
- sudo ip link set down can09 r2 V* N% `/ Y" \
- sudo ip link set can0 type can bitrate 500000 sample-point 0.8 dbitrate 2000000 dsample-point 0.75 fd on restart-ms 100
! |( d5 B" U& h5 M6 |) e& n6 I - sudo ip link set up can0 & B" o5 T6 [9 l+ q& a) M2 a
- sudo ifconfig can0 txqueuelen 1000
+ Y$ v+ ]# ~6 E3 X' F
5 J; Z i' d4 ?: ~- sudo ip link set down can11 d4 d) R; y) w9 W+ D1 f
- sudo ip link set can1 type can bitrate 500000 sample-point 0.8 dbitrate 2000000 dsample-point 0.75 fd on restart-ms 100
4 Z; }: p( I* P$ ~2 M - sudo ip link set up can16 S1 t- b. ~6 N( F! a+ G5 o
- sudo ifconfig can1 txqueuelen 1000
复制代码 Xavier也是仲裁段500Kbit/s, 采样点0.8, 数据段2Mbit/s, 采样点0.75.
1 U& ]3 D+ Z& F" p, M: P4 Z& z% ], E+ q" V: f$ |7 n$ c8 ]
restart-ms 100设置总线Bus-Off时, 100ms后重启.
' \( q3 r' X2 c* _5 T
* A5 s/ M0 B* q& q4 u$ y. }设置完后查看设置状态 ip -details -statistics link show can1:
( H8 O# W( w. I( P% l0 G( B, l$ w/ y" P6 k
- $ ip -details -statistics link show can1
9 b4 ], v; v e4 s, _0 @9 p& ^! Q5 [7 A- I - 6: can1: <NOARP,UP,LOWER_UP,ECHO> mtu 72 qdisc pfifo_fast state UNKNOWN mode DEFAULT group default qlen 1000' \( p, z) K" U: O; Y, j2 S: B/ h
- link/can promiscuity 0
( P: C7 L* z$ n2 O5 U: F - can <FD> state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 100
1 u/ y9 H7 @6 c+ t* Y - bitrate 498701 sample-point 0.792 3 M: T, S3 Y! [0 {/ H M
- tq 26 prop-seg 30 phase-seg1 30 phase-seg2 16 sjw 1
/ h$ n7 Z! E% g" V; g - mttcan: tseg1 2..255 tseg2 0..127 sjw 1..127 brp 1..511 brp-inc 10 E" f* k$ l+ [5 Z* i4 d) l w5 U
- dbitrate 2021052 dsample-point 0.736 " I; K4 X* ]- \, P0 U0 e3 c
- dtq 26 dprop-seg 6 dphase-seg1 7 dphase-seg2 5 dsjw 1# t. l$ |9 q2 k/ e
- mttcan: dtseg1 1..31 dtseg2 0..15 dsjw 1..15 dbrp 1..15 dbrp-inc 16 t- U$ J% k9 u2 a3 C. D
- clock 38400000
. x k$ n0 R- o# L( W6 e - re-started bus-errors arbit-lost error-warn error-pass bus-off+ S. U( t B3 L: D" I( |: Q
- 0 0 0 13 20 0 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535 : I1 B% @8 j* r
- RX: bytes packets errors dropped overrun mcast
0 ^8 a( n! w# Z2 P' ~! J - 64578440 1013451 0 0 0 0 & M$ [6 G- \; ` ?, ~: P8 v
- TX: bytes packets errors dropped carrier collsns 4 L- M+ \7 M; z
- 952448 15914 0 0 0 0
复制代码 位速率和采样点的些许误差测试并无影响.
% L5 ~* Z! w4 M5 i& a
2 J& u9 Z: {1 Z" ]5 L使用 candump -ta -x can1 >24.dat, 这里-ta显示绝对时间, 然后下载STM32程序运行, 上面的6000帧数据全部存到24.dat文件中了, 共计6000行, 这里截取首尾部分显示:; w" u4 ?4 N- C1 b) j
# }' T7 \* j$ |( k, X. }
- (1613988959.105805) can1 RX B - 123 [64] 00 00 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F0 _( K R" S1 u# ]1 [0 \( c# y
- (1613988959.106191) can1 RX B - 124 [64] 00 00 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F8 V* U, \( |/ ]& |* N
- (1613988959.106609) can1 RX B - 125 [64] 00 00 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F
6 `+ X" h; H4 t7 k; O$ }# h - (1613988959.107337) can1 RX B - 12345678 [64] 00 00 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F( s) }: { v$ [* D) \
- (1613988959.107865) can1 RX B - 12345679 [64] 00 00 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F* x" V* g: r7 f5 e7 b) F
- (1613988959.108332) can1 RX B - 1234567A [64] 00 00 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F5 u) \8 t* \' O) x' H" _2 q8 P
- (1613988959.115791) can1 RX B - 123 [64] 00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F
4 t S: q/ h7 d2 i/ l - (1613988959.116215) can1 RX B - 124 [64] 00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F- M% Z& ^' F0 i5 r/ q S
* o* M% D* A& M: I% v4 F* u, t- ... % U3 M3 Y' s7 W+ h
- 6 s$ |& R, @, F0 b1 N9 A8 {& }
- (1613988969.087131) can1 RX B E 12345678 [64] 03 E6 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F3 W, ]/ M* x9 j/ }: r
- (1613988969.087612) can1 RX B E 12345679 [64] 03 E6 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F8 a9 b% b% j) ~( Q) C' U
- (1613988969.088160) can1 RX B E 1234567A [64] 03 E6 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F
, s3 t9 i9 T2 s0 B7 G - (1613988969.095802) can1 RX B E 123 [64] 03 E7 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F
( q5 v! a9 E$ p5 T! F- T" w - (1613988969.095935) can1 RX B E 124 [64] 03 E7 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F3 F+ g6 @4 F8 r0 V5 C/ G
- (1613988969.096294) can1 RX B E 125 [64] 03 E7 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F
9 b9 o6 s x7 _& A" M9 G - (1613988969.097116) can1 RX B E 12345678 [64] 03 E7 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F0 S4 X2 s. ]# X" R+ }: p
- (1613988969.097604) can1 RX B E 12345679 [64] 03 E7 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F l, j: S; X+ y9 p: _; g3 ?
- (1613988969.098102) can1 RX B E 1234567A [64] 03 E7 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F
复制代码 3 I) V/ }- t) c1 ^
这里前三行的格式问题, ESI的404行之前是-, 404行及以后是E, 暂时不解. 其它正常, ID顺序和数据都对得上.
! w% j& t7 w0 v# z: ]4 j+ R8 v& O; a
Xavier发送脚本, ##后面的3表示开启BRS和ESI:
7 f# f/ g& {* y- \- `$ v% X, |6 M) W( `1 a' d- D
- #!/bin/sh
% B {8 d, \+ X0 r( H) {( f& X - x1 A* T( h; t! m9 e
- while true; do
+ y( S9 S. I! o* a+ E2 {; o - cansend can1 18FF0001##3.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16
: M7 Q8 z2 x. } - cansend can1 18FF0002##3.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.161 x/ B6 A( @/ t0 M
- cansend can1 18FF0003##3.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16 8 p+ G! z1 q$ i
- cansend can1 18FF0004##3.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16$ ^& d' j0 o9 ?7 l( j
- cansend can1 18FF0005##3.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.169 c% j4 T6 i( R/ h
- cansend can1 18FF0006##3.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16
: Q& h" v2 p! I/ V% `. Q - sleep 0.01) ?6 f) n! }) G( `
- done
复制代码
" u b2 L7 S9 _" N可以在LPUART1串口中看到收到的数据, 如上面 新消息接收处理 小节配图.
3 I/ t& \0 m7 B7 W$ B# u, _% b8 p6 L9 p. B+ `
核心思想是:
& z( v3 r" h" m, \9 z; l3 D& a% N. B) t( g4 T) ~; K& S
Mode 设置为Classic Master或者Classic Slave, 而不是FD
3 B) ?' ?' {, W5 h. x k; Q! L6 J仲裁段和数据段的通信速率都设置为500Kbit/s
1 ~; B2 s9 ?" S/ k
( p& G% z+ g u: R1 t& Y. }/ C3 w* N
- i4 D2 \/ `# w- Y2 I2 I5 k9 J) F0 r0 i0 C4 B% `
|