前景提要' j2 R9 a# k: }; B/ c
CANFD基础知识可参考前篇:
& y2 r+ p \2 {2 qJetson Xavier/XavierNX/TX2 CANFD 配置使用
; W4 c0 ^0 f* _6 x: O4 I+ k2 Z) gSTM32 CANFD 基础知识
- e$ v+ L1 W2 N& K/ C/ `本篇用起来, 连接关系如下:
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CAN收发器均选用支持2M及以上CANFD的收发器, LPUART到PC用STLINK连接.7 {, ]0 V4 a9 C( s) j" C9 i0 q) u
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STM32工程搭建
9 K3 b* Q" E& x4 G% M* SSTM32CubeMX配置步骤如下:0 |! H$ T9 T( U6 I7 O! ^& I
) _4 y" Q, w( i* a$ R) m( JMCU选择: 打开 STM32CubeMX, 点击 ACCESS TO MCU SELECTOR, 选择 STM32G474VETx' w$ b0 O* c7 c1 l+ N3 w
, C4 M+ ^# C4 a W2 X \; e/ T调试端口配置为SWD: Pinout & Configuration -> System Core -> SYS -> Debug 选择 Serial Wire
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Pinout & Configuration -> System Core -> RCC -> HSE 选择 Crystal/Ceramic Resonator" X5 K; V( d) R s* k5 [1 m2 E4 \
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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):. B( j; J3 p# N6 x4 j. x g7 \
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, q+ D9 ]- b2 @" F, ]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:$ Z! h9 @2 d+ x& V# A, z
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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:
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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:. n) c7 k) i8 x9 Q# a% s
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FDCAN2, 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:+ y8 d4 M5 v: }( i, \) j
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7 i. o7 K% _: d9 v
; e, k" w3 L% v5 m5 oProject 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.# l) Y3 W4 H! |3 p4 O z" X5 ~
* N$ O, @2 \, s5 |, R
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
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点击右上角 GENERATE CODE 按钮生成代码, 点击Open Project按钮打开工程.
7 h) H' J8 |0 _( f
) c6 h7 O _0 J$ `/ D* EKeil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:
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) o& \' J# l) M1 k- P: W+ ?Flash Download选项卡 -> 勾选Reset and Run, 这样下载后可以自动复位运行.- u1 d' k( u% @ Z2 o# Q6 h0 |9 y+ \
Pack选项卡, 去掉默认的Enable勾选
) N/ ]/ Y) n; W' c- C到此配置结束. 下面是手动添加的代码详解
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串口配置6 A5 Y1 O; h( `# f' _
为 LPUART1 添加printf支持:) U' C, V, O: U2 [" d+ X
. l- [& F8 z/ u% h# }5 O- O% l( J
- #include <stdio.h>4 R$ A& n* F, ~" @/ r4 f
- ! Y R+ N' w" K
- #ifdef __GNUC__) h0 w9 Q" J7 v: c
- #define PUTCHAR_PROTOTYPE int __io_putchar(int ch) s: z, |8 `6 ~3 t# r/ {. g
- #else
2 |- v; s4 y, w4 ` - #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
% ?# j7 x2 ]6 y" Q6 @ - #endif /* __GNUC__ */
% H! b$ ?# {( p0 O3 P
$ r! R* p5 c/ ?- PUTCHAR_PROTOTYPE5 P! R! W9 w* V2 a4 Y V& Y5 N
- {
! n' A" b. U! D% \, r4 N - HAL_UART_Transmit(&hlpuart1, (uint8_t *)&ch, 1, 0xFFFF);
" x- z! Y0 O: I( U, a4 W - return ch;
/ B/ ]: e6 N) \2 d7 E# N - }
复制代码
7 p) \' R# g* P100us定时器
: Q) L' {( W( ?2 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.
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- /* USER CODE BEGIN 2 */
0 }: {9 _- M: ~3 W8 h7 u - HAL_TIM_Base_Start_IT(&htim6); //Starts the TIM Base generation in interrupt mode.. q& k1 ~+ a' T4 W# M$ X4 C1 [
- /* USER CODE END 2 */7 Y# D8 w+ N% p! x9 \& C
' j/ ^, W8 l1 w( K+ G. F0 d. `- uint8_t tim6_flag = 0;
- m6 z( f i5 i, S! N) t/ | - void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
8 |% _8 k' P" q# K - {
9 W: U; l( `* _$ a3 q' u - if(htim->Instance == TIM6) {) c- w" J) J0 r0 p. x8 I
- tim6_flag = 1;
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- }
复制代码
. {" j! }. z' x! q/ U: r8 E7 o% CFDCAN配置: p' ~ i% D( [/ F
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.$ W0 y6 B& q* D8 S; ~0 k
, ~& q! }2 z+ d- m/ {& m- FDCAN_FilterTypeDef sFilterConfig1;" O* A5 S7 t5 e4 {5 p3 O+ g4 c& K
f- |# v8 x8 W# ^2 } q- void fdcan1_config(void)' I0 W' `( l" H0 v1 P t- k
- {
( S: R0 M* `5 i9 l - sFilterConfig1.IdType = FDCAN_STANDARD_ID;
+ |2 r! H$ R5 c - sFilterConfig1.FilterIndex = 0;; \& e i; z4 Z( l" B5 q
- sFilterConfig1.FilterType = FDCAN_FILTER_RANGE;: ]" t! C0 r' g, X6 t, I& `
- sFilterConfig1.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;4 I& q7 x/ ?* K$ F. g
- sFilterConfig1.FilterID1 = 0x00;1 ]8 A# r( ?+ H
- sFilterConfig1.FilterID2 = 0x7FF;' _. z& T1 W0 R, d1 l1 @, N- C1 S
- if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig1) != HAL_OK); ]4 Z; s" p# u4 ]- _- N- k
- {
; I: A8 O4 F3 \1 E. q2 } - Error_Handler();+ r+ T" P4 @+ s, Q3 g8 B
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- ( C: n' R! `: L) M! h3 F( p
- sFilterConfig1.IdType = FDCAN_EXTENDED_ID;
, U c9 R B! t: U% k ~ - sFilterConfig1.FilterIndex = 0;
! d f, t2 b! B7 k9 p0 I( q - sFilterConfig1.FilterType = FDCAN_FILTER_RANGE;
, F2 j* k4 z7 q7 a' @ - sFilterConfig1.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
2 [* r# H7 ]9 s/ F - sFilterConfig1.FilterID1 = 0x00;
% ?- x( G. |. Q& {) o8 A4 e - sFilterConfig1.FilterID2 = 0x1FFFFFFF;
$ y! N- Z! L, S9 k - if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig1) != HAL_OK)* Z, M4 Z5 S: S) \9 H3 _
- {5 K: y2 C; m) m5 A
- Error_Handler();* x: `+ a* T; X8 V2 i1 y
- }- v7 \2 s5 e- v$ c: @; S% @2 P9 y
; z J) Z, s4 q, R# i- /* Configure global filter on both FDCAN instances:, U% q7 f5 w7 z1 z& p$ X, K
- Filter all remote frames with STD and EXT ID% m, f& d$ z2 N
- Reject non matching frames with STD ID and EXT ID */6 v" _- P8 x! i' f7 z9 c _4 F' O- r
- if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK)
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- Error_Handler();
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- /* Activate Rx FIFO 0 new message notification on both FDCAN instances */
% O* s' b% ~! s. d, L) a - if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)& l0 ]( T2 I. W( {% ~: s' }
- {
$ ]+ V# Q. L+ ~+ r - Error_Handler();
# A% [0 r$ W% @0 v$ x$ N. C2 V - }
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1 {+ D) U" ~ H. z6 G- if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_BUS_OFF, 0) != HAL_OK)
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- Error_Handler();9 w7 M3 i' T+ R4 H* o
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- : F; s; t u( @4 I- D. }+ @
- /* Configure and enable Tx Delay Compensation, required for BRS mode.9 X5 P% h3 [ p: a$ ], n' w
- TdcOffset default recommended value: DataTimeSeg1 * DataPrescaler
( @# u" H, W1 S4 i, L( [ - TdcFilter default recommended value: 0 */
; y' D* T6 i5 R! e* O) a - HAL_FDCAN_ConfigTxDelayCompensation(&hfdcan1, hfdcan1.Init.DataPrescaler * hfdcan1.Init.DataTimeSeg1, 0);
8 ?' `; Q- Z, n/ o/ v o - HAL_FDCAN_EnableTxDelayCompensation(&hfdcan1);* U( M8 d) Y! V+ q4 a
7 l- F. a$ E4 U+ K, W! E- HAL_FDCAN_Start(&hfdcan1);
) b, ]: k8 t" f6 H# \8 V - }
复制代码
* o3 j4 ~8 k+ p! ?5 f9 T- b' G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:
! E o5 [8 H4 K8 Q c- sFilterConfig1.FilterType = FDCAN_FILTER_MASK;
' W4 Z" v/ z& X& F: W% B% Q - sFilterConfig1.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;+ w, C \ _0 K+ @% j9 F( {
- sFilterConfig1.FilterID1 = 0;
/ j1 p2 \" a2 C - sFilterConfig1.FilterID2 = 0;
复制代码 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.8 o; ^# v0 B& [: ?! E+ X
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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:1 c7 D4 r4 J0 n( }. n
- #define SRAMCAN_FLE_NBR ( 8U) /* Max. Filter List Extended Number */
复制代码 7 y; N3 C# c' |) f$ f' b
FDCAN2, FDCAN3的配置和FDCAN1类似.
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Bus-Off处理
( t% z: H3 u O( u- }8 J! |+ F+ j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:
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- void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)& V C2 s; C8 y" Z7 ]
- {
( m( l+ [- E2 F+ w - //__HAL_FDCAN_CLEAR_FLAG(hfdcan, FDCAN_FLAG_BUS_OFF);
& {/ r! g) b: R$ e8 w+ K# c2 Z - if(hfdcan->Instance == FDCAN1) {
j9 w* U7 i! g* G - MX_FDCAN1_Init();
" k# L# ^3 |- a$ C2 a+ {+ Q; m5 a - fdcan1_config();
: M( {. k! U* ~: v/ O1 P - } else if(hfdcan->Instance == FDCAN2) {
$ v) f6 E |- d - MX_FDCAN2_Init();2 D- [2 b) w7 s& Y5 g% w) f. }
- fdcan2_config();# H, C# I8 O- |
- } else if(hfdcan->Instance == FDCAN3) {. d2 e4 @6 f2 y3 Z
- MX_FDCAN3_Init();
* D& l% l) X2 [; W3 a, A - fdcan3_config();7 T; Z5 O# P5 y( {6 M* n& G
- } else {# J4 r9 ]0 V+ p# u! j6 `) j$ }# ^
- }
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新消息接收处理
# ~( v. O# ?6 U$ A直接把接收的消息通过2M波特率的串口打印出来.( z4 K j( O1 ?6 ^% J5 ~
- FDCAN_RxHeaderTypeDef RxHeader1;
D5 W9 _8 d0 _/ @2 D! x3 K, i - FDCAN_RxHeaderTypeDef RxHeader2;
0 E8 v0 X0 z/ _ - FDCAN_RxHeaderTypeDef RxHeader3;
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0 F/ b0 N/ z% _' i: P4 M# S- //RxHeader1.DataLength => can_dlc
& O% _! b0 ~$ V2 n l. ~ - //0x00000 => 0
/ E9 ~( j/ z4 Y! C - //0x10000 => 1 ! `0 P* L! t, O$ c9 K
- //0x20000 => 2
! b9 ]1 m9 \- {3 }+ `. x - //0x30000 => 3
/ o+ V; a+ d+ p$ d - //0x40000 => 4
$ m2 I0 C9 u5 F; D - //0x50000 => 5
: Q* ?) L) O" H T) Y0 d - //0x60000 => 6
- b# j4 O) D( n* B - //0x70000 => 7
1 ]* F5 x5 @. i6 L" s& K5 Y - //0x80000 => 8
" Y% A8 I. o+ p! m1 }3 M3 L; s5 e3 ? - //0x90000 => 12
* X o3 c: f( U; `/ g2 s - //0xA0000 => 16
3 N: k$ v" N0 [0 ?4 ] - //0xB0000 => 20
; h# T* M' }9 @# O - //0xC0000 => 24' b$ W8 ] L( e u/ F$ P
- //0xD0000 => 32! ~# @, k8 f/ L, ?: z# n0 H/ F5 b
- //0xE0000 => 48* E- Y3 W- m" E; [# {
- //0xF0000 => 64
! a( q9 G. ^" l8 G - uint8_t dlc2len[]={0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64};# c7 T2 G5 s- K" D
- uint8_t can_dlc2len(uint32_t RxHeader_DataLength)
+ A; B0 Z {3 z1 _5 P+ t; ?. z - {" N) [ k* z# N2 d) M
- return dlc2len[RxHeader_DataLength>>16];
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4 z1 {) P. b; @3 i7 \; w- uint8_t cnt = 0; P1 Y9 U2 u7 d4 k( R
- uint8_t brs[] = {'-', 'B'};
% k% p2 x& i* x4 ]2 H - uint8_t esi[] = {'-', 'E'};
- B4 x. _! D, L5 i6 a/ l1 L' [ - void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
6 j. F; v; i9 m) a9 H - {
! w2 n) I7 |' S4 @7 S. M - if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != 0) {
0 A2 R9 K2 M/ E, I - //HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader2, RxData2);
+ K( f! ~4 u: E. U5 L - //RxHeader2.Identifier++;
' w/ v# G! s7 u/ F' X1 }( A7 N - //fdcan2_transmit(RxHeader2.Identifier, RxData2);
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+ y7 _/ G- {0 d- //HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader1, RxData1);
. R1 u7 k* c' \4 \( o - //memset(&RxHeader1, 0, sizeof(FDCAN_RxHeaderTypeDef));
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# J$ g2 P- k! C& B1 U/ s. _9 b- HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader1, RxData1);0 o( T2 J4 ~$ x% D+ @& u
- if (hfdcan->Instance == FDCAN1) {8 G6 c8 F( u8 u. j, h
- printf("fdcan1, ");# m' N" f( | O7 t$ x6 j1 M; n
- } else if (hfdcan->Instance == FDCAN2) {
: Z- b" e2 D9 A3 y8 A. C - printf("fdcan2, ");
7 K0 a9 K( |6 l7 c2 ^8 p8 ~ - } else if (hfdcan->Instance == FDCAN3) {
. g9 _! U5 n! W" L3 t4 [, l- p. G - printf("fdcan3, ");
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- printf("0x%8X, %02d, %c, %c:",RxHeader1.Identifier, ( M7 [* e1 a5 D/ g" k, k) @
- can_dlc2len(RxHeader1.DataLength),
) a/ g1 s+ X X - brs[RxHeader1.BitRateSwitch>>20 & 0x1],
6 d- s2 ^. ^4 X8 z - esi[RxHeader1.ErrorStateIndicator>>31 & 0x1]);( d6 X. m: ~1 `. ?: W- t% _
- for(cnt = 0; cnt < can_dlc2len(RxHeader1.DataLength); cnt++) {$ @5 R9 L4 t: R, k" W
- printf(" %02X", RxData1[cnt]);
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- printf("\n\r");
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- * Y. d% W3 O! D* n8 T, r
- //if (hfdcan->Instance == FDCAN1) {
# f% P1 r$ U) ]* l% _5 O5 c - // HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader1, RxData1);8 ~ ]8 ]4 f/ ]* O0 Z2 E& q" `
- // //echo
* h5 W+ U/ g2 e9 s - // RxHeader1.Identifier++;
" S. {4 s R, g- p5 Y7 @* c - // fdcan1_transmit(RxHeader1.Identifier, RxHeader1.DataLength, RxData1);
3 }! c8 M! X: b4 p - //} else if(hfdcan->Instance == FDCAN2) {0 Y" p E N' u( x4 b
- // HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader2, RxData2);$ f! A# b9 b( W4 e) e
- // //echo; F- s2 E- m) X4 n
- // RxHeader2.Identifier++;8 X4 I5 _- [) H9 Z, ?/ ]% S/ j
- // fdcan2_transmit(RxHeader2.Identifier, RxHeader2.DataLength, RxData2);! N \7 i' _6 F7 F- M
- //} else if(hfdcan->Instance == FDCAN3) {
. w# D. a0 H& M - // HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader3, RxData3);
& H; W; t; z; k' i- E+ d - // //echo
% H4 m2 d# h7 P+ T0 u! V - // RxHeader3.Identifier++;# m, a8 U" K2 ?% F' i
- // fdcan3_transmit(RxHeader3.Identifier, RxHeader3.DataLength, RxData3);
7 ?& }$ I; O" H* D' B1 m$ _ - //} else {( T1 g* K; \. t. f0 _# g! B7 [6 J |
- // ! @0 i6 y& j- c6 \
- //}
8 E* @) g. a9 A3 b - }
& W- j9 h8 n6 c! Y0 `6 ? - }
复制代码 ( ^0 ^8 n( s) V8 E7 f
注意注释中 RxHeader.DataLength => can_dlc 的对应关系.0 z, o- u$ `) a: G6 A; e$ R7 E$ g( C$ u
5 }- v1 d6 Y4 X' Q% g# ]示例如图:" g- n4 M" ~5 H# d/ x1 v
& C; D- |$ \8 B5 f
. p% L; k$ {6 h( G% j* {8 R" j4 G1 C; T2 U2 d$ |5 Q7 y7 M
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.9 P- x- y1 ]3 ?" [
) Z# Y( }- a) s7 L' x$ [& ~, Gprintf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.
& i- K0 o8 k& j. ^
: C4 f- s; [+ f, \% d0 N发送处理- ]8 o& A% m" x; x
发送开启了BRS和ESI, 如果发送失败, 就延时100us后重发一次.0 ^ {- R; g: j; f, q5 ]
% s( q- D9 A+ e9 i! f% m5 p- #include <string.h>
0 B) \8 c" D* t# n
# _, K7 A/ a- }4 b+ B0 [- FDCAN_TxHeaderTypeDef TxHeader1;2 Q" I R. d. R# N+ w6 @
- FDCAN_TxHeaderTypeDef TxHeader2;5 l5 `5 z& F) l+ f
- FDCAN_TxHeaderTypeDef TxHeader3;
/ m, n/ ]8 H( u0 U* k! m
+ E" M- B" v% i* a1 T- typedef struct { { B4 t% X' F# w& m
- uint8_t flag;; j- L; |: l7 Q) k
- FDCAN_TxHeaderTypeDef TxHeader;( l( ^7 U# v$ \8 Z z, _
- uint8_t TxData[64];$ S! k' y* p# n1 ]; B; L
- } FDCAN_SendFailTypeDef;& [6 J2 H+ c7 W5 j4 n8 @; \0 h' `
- 3 H& c: M% U+ G7 `2 }$ Y
- FDCAN_SendFailTypeDef fdcan1_send_fail = {0};9 k' H) @; ~6 _5 _ P
- FDCAN_SendFailTypeDef fdcan2_send_fail = {0};1 l/ @4 L+ b' d! U0 E7 l P
- FDCAN_SendFailTypeDef fdcan3_send_fail = {0};
' u; `& ~% l9 ^1 C$ Z, E' f - 0 r$ E" N$ c0 }
- void fdcan1_transmit(uint32_t can_id, uint32_t DataLength, uint8_t tx_data[]), r0 J C# }2 I$ Z" V5 R$ l( K
- {
* r3 \, P* u0 g1 H" W5 c" i. F3 o - TxHeader1.Identifier = can_id;
( D) V6 a* y( E j+ d6 v l/ ~ - TxHeader1.IdType = FDCAN_EXTENDED_ID;& N5 n& T( f+ X2 O) w. h
- if(can_id < 0x800) { //exactly not right
$ ?5 P# X% _* B! X4 s( Y, z - TxHeader1.IdType = FDCAN_STANDARD_ID;
6 u) w a9 a7 A/ c1 W - }
5 F9 }. H7 Z0 u3 H - TxHeader1.TxFrameType = FDCAN_DATA_FRAME;
" C: U" Y0 K e( T+ ^, f# A - TxHeader1.DataLength = DataLength;
- o3 T! d0 Y: U0 B, K - TxHeader1.ErrorStateIndicator = FDCAN_ESI_ACTIVE;7 F/ \$ ^* I' |; _) Z; x. r' f
- TxHeader1.BitRateSwitch = FDCAN_BRS_ON;3 L: }8 ~& b: @7 k4 g0 k7 {
- TxHeader1.FDFormat = FDCAN_FD_CAN;7 g/ v# i' H. X8 u& u( T
- TxHeader1.TxEventFifoControl = FDCAN_NO_TX_EVENTS;$ O4 T- K/ B9 m; C1 f
- TxHeader1.MessageMarker = 0; //marker++; //Tx Event FIFO Use
- E; l! _ Z; q+ e! A1 |7 a - if(HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader1, tx_data) != HAL_OK) {
. g9 |/ z1 L: f - fdcan1_send_fail.flag = 1;! T2 ], |/ _, A: K4 k/ }9 c
- memcpy(&fdcan1_send_fail.TxHeader, &TxHeader1, sizeof(FDCAN_TxHeaderTypeDef));
0 b' f/ s5 U1 E- o - memcpy(fdcan1_send_fail.TxData, tx_data, can_dlc2len(DataLength));
8 Q+ q. z& d2 Y8 C+ o; V - } ; o3 O3 j k0 i$ K; b- \( v* P o
- }: D2 H5 y0 E+ T2 T, ]7 E% z
- ) r; a( n" w9 q
- int main(void)
: S; V& S" ]/ q - {9 {% O& K+ l: y) n
- ...
5 E8 L0 W4 `# I' w9 g q( t$ H - /* USER CODE BEGIN 2 */4 B3 d/ Q* }' k( B: l+ u3 ?
- fdcan1_config();; P/ t( e* s, g0 y5 w- H N
- fdcan2_config();
7 S* G5 \4 A9 j( ^" a2 p2 s, \ - fdcan3_config();6 k, w& L) L/ D+ v+ w& H. h( |2 n3 f
- 4 H) u% E$ O- a7 {/ D- a
- for(uint8_t i = 0; i < 64; i++) {4 S8 P, M8 c' [
- TxData1<i> = i;
2 z8 ] n; n6 S# Z% ~* ~ - </i>TxData2 = i;
z! |) w1 Y6 C9 g0 } |% W - TxData3 = i;% v4 J" ^. @" f( o+ i
- }
8 P$ m; v5 S6 ? - ' k! U5 n" i- c: g, y) W7 X @7 w
- HAL_TIM_Base_Start_IT(&htim6);. m$ n. u% H' ~& M$ l6 C
- uint32_t count = 0;
9 L/ D. U* |* E3 d - uint32_t cnt_100us = 0;4 z% F1 G4 l. i2 p
- uint32_t cnt_500us = 0;: F- D& i+ j9 T
- /* USER CODE END 2 */7 f1 n# S" C1 ^+ b4 k
- 4 M* u5 U# ]9 u4 F: B1 [
- /* Infinite loop */
- |4 q+ o1 j3 r& ~0 Z- \ - /* USER CODE BEGIN WHILE */ n# H8 ?3 l- W
- while (1)% I2 R; ^- N1 i6 g, w
- {4 G2 E, F- \+ @$ @
- /* USER CODE END WHILE */2 I9 o* B* D" A
8 j/ N d1 Y. L- /* USER CODE BEGIN 3 */" ~2 n0 Z% X) H8 w1 j* ?
- if(tim6_flag && count < 1000) {
J! c$ s0 w" _, O9 x - tim6_flag = 0;, Q5 x( z5 D% E; U, i1 e( F. ?
- TxData1[0] = count >> 8 & 0xFF;
7 L- J L1 ?$ W3 S - TxData1[1] = count & 0xFF;2 y! }9 q, ?# }3 N1 |: Q+ @
- 6 V3 [; q/ p) ?
- ++cnt_100us;
( L. U) c( U* R( V# m& v - cnt_500us = cnt_100us / 5;' Q& M; Y( C( W2 i' z5 A' T
- if(cnt_500us && (cnt_100us%5==0) ) {
+ T& Q& d4 M' k - switch(cnt_500us) {2 @4 {$ H- N+ X
- case 1: fdcan1_transmit(0x123, FDCAN_DLC_BYTES_64, TxData1); " Z2 e* S1 N) R) p5 ?$ ]
- fdcan1_transmit(0x124, FDCAN_DLC_BYTES_64, TxData1);, K, Z$ h1 ] e
- fdcan1_transmit(0x125, FDCAN_DLC_BYTES_64, TxData1); break;6 y* X0 X2 P8 z6 N
- case 4: fdcan1_transmit(0x12345678, FDCAN_DLC_BYTES_64, TxData1); break;
, c0 h; B8 E8 L2 c6 i1 t9 t8 S - case 5: fdcan1_transmit(0x12345679, FDCAN_DLC_BYTES_64, TxData1); break;
5 ~ l; _: \& s: C - case 6: fdcan1_transmit(0x1234567A, FDCAN_DLC_BYTES_64, TxData1); break;; [$ n6 H3 f* N$ [- k
- case 7: /* next send */ break;
: X* E8 @8 Z( e J. ? - case 8: break;
0 Q; z# f3 n& V3 K1 \2 T( k1 X - case 20: ++count; cnt_100us = 0; break; //10ms$ Q |5 _7 \7 l" v& t! s7 N
- }! j9 p% h9 u! h, r( s0 O5 u
- } else { //fail retransmission once# _; u! g6 F3 l4 u
- if(fdcan1_send_fail.flag) {$ c$ ~9 J4 l! z+ x4 d( R' w% I5 n
- fdcan1_transmit(fdcan1_send_fail.TxHeader.Identifier,
, v+ }! c# i: {' l' C/ t3 i - fdcan1_send_fail.TxHeader.DataLength,
5 b5 d! S; V( a3 k - fdcan1_send_fail.TxData);( `* [' f8 N5 m, X, E. y8 S
- fdcan1_send_fail.flag = 0;
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- if(fdcan2_send_fail.flag) {2 x! ] J4 L: @8 ]
- fdcan2_transmit(fdcan2_send_fail.TxHeader.Identifier, ; Z- Q7 ^! ^: \# ]5 T
- fdcan2_send_fail.TxHeader.DataLength,
0 I; k) g$ ~- g! H" D - fdcan2_send_fail.TxData);
: a: Y3 G2 Q) _4 C- M( U - fdcan2_send_fail.flag = 0;
( u1 W* ~) ^& G0 A; T+ W* K - }
; e% c/ w, m& p4 a* B - if(fdcan3_send_fail.flag) {4 K; }: R7 m$ y: H
- fdcan3_transmit(fdcan3_send_fail.TxHeader.Identifier,
7 K1 K& I1 W, C+ O/ H5 u. w - fdcan3_send_fail.TxHeader.DataLength,
6 M. j" o* ~$ G# d - fdcan3_send_fail.TxData);
% a* _$ M! X8 K - fdcan3_send_fail.flag = 0;
* o- |* X" N/ i% g - }
7 A n8 q- M; q3 k% {5 S - }
+ q. K/ |; y1 E) Z6 _9 e - }9 X g, {2 g) n- e
- }" K" p. g$ @2 G, }6 Z
- /* USER CODE END 3 */ 1 I% q' r) w U: Y) ^: O) N) y) s
- }
复制代码
' p. l- \2 E4 J5 gfdcan2, 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.
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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.$ N! q' T* p9 F+ D( p2 \
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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.
1 ?5 }- P) ^4 D- M5 Q0 {
0 ` Z* t4 c4 u7 U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.
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9 v+ V& K5 K# G! g; y7 j4 |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.
& y" c- C% ]: Z: E
( c, r- r! r1 W6 @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.
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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.8 H5 A6 M, }! G3 v
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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.6 c" U+ d9 L/ s& A1 c% Q7 P* J
# ~ ]; M0 n# }- p, T使用Xavier配合测试一下3 A: h5 N% c9 N9 u2 R% t
把STM32的FDCAN1连到Xavier的CAN1上, Xavier CAN1设置:9 ]$ c# [/ P% u' D
! P( q- v. `) i/ X' h& r
- #!/bin/sh) Q" g9 c8 l7 V% Q* K$ _: e' `
/ N! h0 E! r! \ Q9 i! E5 t/ x- sudo modprobe can
! i% [+ P. g; u - sudo modprobe can_raw
! Q( \2 S F2 g2 F* R5 I1 r2 v - sudo modprobe mttcan7 B' {6 t) G! S" W) N% b* ?! G
- 1 S6 K% C" v% e) T5 j) Q
- sudo ip link set down can0
7 `; b+ S2 P1 @ ^( u' V4 z8 e. ?$ N - sudo ip link set can0 type can bitrate 500000 sample-point 0.8 dbitrate 2000000 dsample-point 0.75 fd on restart-ms 100
7 _- d/ L& n7 T# A7 x- e - sudo ip link set up can0 $ ~+ ]9 `0 i" {# w9 p
- sudo ifconfig can0 txqueuelen 10004 u% Q- _3 U$ @; S1 Y
- 1 [$ U% ?. d1 K
- sudo ip link set down can1! y7 H. ]' U7 q3 I
- sudo ip link set can1 type can bitrate 500000 sample-point 0.8 dbitrate 2000000 dsample-point 0.75 fd on restart-ms 1009 Y- ~$ D7 g/ m$ V9 j4 ~; C( l
- sudo ip link set up can1" y1 P( e* i. D7 `4 I
- sudo ifconfig can1 txqueuelen 1000
复制代码 5 I, A, J- ] k
Xavier也是仲裁段500Kbit/s, 采样点0.8, 数据段2Mbit/s, 采样点0.75.& l5 t, l3 V: [1 b+ k! O$ j
/ V- Y9 X) G- @& {3 [0 zrestart-ms 100设置总线Bus-Off时, 100ms后重启.) k/ c2 S4 P% F& n% p
7 p# z4 n" n1 Q i* x" K% n设置完后查看设置状态 ip -details -statistics link show can1:
1 R: B) v7 i4 s9 @; X& u4 b# h( G0 i u5 b( x) b
- $ ip -details -statistics link show can10 r2 X B/ f! C7 v3 R* Y' P# ]1 t8 N
- 6: can1: <NOARP,UP,LOWER_UP,ECHO> mtu 72 qdisc pfifo_fast state UNKNOWN mode DEFAULT group default qlen 10004 j f: M/ p' C- c" u. j; I. B
- link/can promiscuity 0 / I) T+ D9 h3 I/ k6 U
- can <FD> state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 100 / @9 d6 f1 G( K. N* m
- bitrate 498701 sample-point 0.792
4 ~( s9 Z Q, @ - tq 26 prop-seg 30 phase-seg1 30 phase-seg2 16 sjw 1
6 a: K# g8 ~' n6 p8 W - mttcan: tseg1 2..255 tseg2 0..127 sjw 1..127 brp 1..511 brp-inc 1
) p W- m" w" l- f! k - dbitrate 2021052 dsample-point 0.736
4 l5 N* g4 ~/ R% |# _1 K - dtq 26 dprop-seg 6 dphase-seg1 7 dphase-seg2 5 dsjw 1
& H- d1 r' O0 L: @! D9 G; k6 ^ - mttcan: dtseg1 1..31 dtseg2 0..15 dsjw 1..15 dbrp 1..15 dbrp-inc 14 ]- Q; B1 F; F5 I
- clock 38400000
; O) p% f, p2 R/ q - re-started bus-errors arbit-lost error-warn error-pass bus-off t- V" u3 c$ `- W- ^6 Z
- 0 0 0 13 20 0 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535
0 k8 A0 V- o% ^2 e - RX: bytes packets errors dropped overrun mcast : I- s8 }, j7 f* K8 ~; k
- 64578440 1013451 0 0 0 0
; A$ q( B5 f0 q1 E. Z. B2 z - TX: bytes packets errors dropped carrier collsns
+ W1 b( f5 |2 N. C1 r. R9 N- X* E3 F6 z - 952448 15914 0 0 0 0
复制代码 : h3 \/ w& V7 q
位速率和采样点的些许误差测试并无影响.1 }2 V( e% a1 G( o: Y& p) G) s
2 x# @! I3 u. }8 X+ o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:) |0 [7 |5 C4 ~2 }" U+ H j1 i
# j4 w$ u. A" Q+ A8 m/ w! w
- (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 3F& @9 c) N8 u) @' g+ `& _
- (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 3F5 M2 Y$ i" u9 D/ U
- (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
8 |6 o' w" m& K8 z3 k5 y - (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
2 e7 f0 x4 j 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
: P9 f. i7 O+ I* S \; D - (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 3F$ S7 E0 s7 p+ X0 [! J) Y l7 j
- (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 3F3 _. J# W; A" R
- (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
: Q4 ?9 m9 C9 m: h
# U) O6 _! j0 ^- ...
4 z1 m$ ?2 O9 c0 E. I8 p& \ - ! O- |: B$ |5 W2 [4 L9 M) g7 S: R9 }
- (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 3F
( j/ } \- ~7 x8 \ - (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 3F; y0 q/ b* F- H" T9 q1 \9 b9 J& {
- (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
& C9 B6 G+ k2 W" w# K+ ~ - (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 3F8 Z1 Y6 s! c) w1 Y7 L
- (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 3F
6 p, h* }0 u: I" v; ^! k - (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
3 N9 M( o8 A' f - (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 3F/ B6 X: ^6 b6 C/ ]* a; K; Q& U
- (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
) f; q0 n4 v! M - (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 6 w1 `5 a I4 w ~* v6 H
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.
4 Z* a) l) w- o5 r9 q! i3 T L
% g0 V! z9 Q4 ~/ X: kXavier发送脚本, ##后面的3表示开启BRS和ESI:, v5 h c0 I7 m* B- s0 }& |
! }9 f g( I' u% }- #!/bin/sh& T" A* I) k4 f
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/ g g1 T5 P+ `8 @5 f - 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
' g' I( n3 }" A, i2 l( ^( d+ s - cansend can1 18FF0002##3.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16
" o) m) [/ O$ _$ _' M6 l - 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 2 K; P1 E" ~. Z/ I# n( p N' |' k
- 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
0 m# p% S3 C" d* c/ R - cansend can1 18FF0005##3.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16
8 Y5 U* e$ Y- {$ E. E3 } - 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
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复制代码
" r/ B+ m0 ^2 F; U4 h7 P/ P1 o" b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./ Q3 w1 \ B2 z+ B0 D: H
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