前景提要8 [3 u$ J: t! s6 Z: l h% T
CANFD基础知识可参考前篇:
6 l. O* k( O: V1 ^5 L& m3 p, {5 O! TJetson Xavier/XavierNX/TX2 CANFD 配置使用
* J; }- X1 h9 sSTM32 CANFD 基础知识/ s) A* ~7 j6 c) s& Y' e- M) I8 _. Z! e
本篇用起来, 连接关系如下:
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2 |8 k$ H5 ^! A; x; C4 ^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.
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3 o8 p5 z1 w, d' f7 pSTM32工程搭建7 y$ P7 W7 p# g- Z8 r' C3 o4 L$ c
STM32CubeMX配置步骤如下:; C& l; X, t; [! J* d
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MCU选择: 打开 STM32CubeMX, 点击 ACCESS TO MCU SELECTOR, 选择 STM32G474VETx
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7 b- v. c% d2 S e调试端口配置为SWD: Pinout & Configuration -> System Core -> SYS -> Debug 选择 Serial Wire+ t+ `2 r" @: g: D Q
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Pinout & Configuration -> System Core -> RCC -> HSE 选择 Crystal/Ceramic Resonator9 ?5 J9 g4 z0 w% ~7 H1 c
, h# f0 J6 a2 iClock 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):$ n2 z$ S6 \0 H, A+ w
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/ S8 u; s; E/ P+ i. E) W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:" U, v4 t; j4 K# ^! T+ H) g# |0 _% \
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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:
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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:
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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.1 B9 l1 Q# d9 b- \
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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* M: S# {0 V# E0 r. M+ ~5 \6 o" ^% m
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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.3 D) L$ p. D- ]* j( L0 R! z% Y
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Keil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:% y8 J- c0 O6 K5 f. K6 Q. _8 V
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Flash Download选项卡 -> 勾选Reset and Run, 这样下载后可以自动复位运行.% S3 I& x4 q) k! g
Pack选项卡, 去掉默认的Enable勾选6 e& W* I& d9 |4 x. \8 r/ Z5 ~
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
. W1 f; A2 p3 B0 j" u k* \为 LPUART1 添加printf支持:8 v; a& G+ p6 b, g
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- #include <stdio.h>
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2 g0 Y3 @' B: ^8 n. H- #ifdef __GNUC__4 N' A/ |# ]/ j' ^
- #define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
+ r+ `6 s5 O& k4 |$ q2 v# {7 _ - #else8 ^9 `% | E. X7 k+ F
- #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)! j% U& J0 Y) Q; r/ o' k" L
- #endif /* __GNUC__ */# q: \* i k0 _ [+ _/ S
- u5 G% w: r# ^/ D4 }- PUTCHAR_PROTOTYPE1 J& d4 s! I/ S+ q+ s3 E" `
- {
: z8 H( v$ R+ X/ k/ l7 s& p - HAL_UART_Transmit(&hlpuart1, (uint8_t *)&ch, 1, 0xFFFF);5 W* x* G6 p6 }7 \' Y- l8 }
- return ch;
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100us定时器+ ] ?* i% ^: d5 [; Z
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.+ Y8 P. L, g! O( F7 `: E
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- /* USER CODE BEGIN 2 */
. P4 O! k0 \3 N. ^ b) e- I - HAL_TIM_Base_Start_IT(&htim6); //Starts the TIM Base generation in interrupt mode.
: l6 c! m$ W! {+ j* F/ I - /* USER CODE END 2 */6 v9 Q3 R4 u# Z* k9 L% S5 C' j/ s7 P
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- uint8_t tim6_flag = 0;$ P0 s- O5 N* m+ s) u
- void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) % v3 ]2 y& q M1 i4 T3 _. b
- {
+ \ D" l* x e! L$ F - if(htim->Instance == TIM6) {% j# ?& _9 U/ [/ E
- tim6_flag = 1;. k0 x L. y" _, m
- }
8 }, E2 M. P5 M Z+ ^" D - }
复制代码
6 s, x! q3 i+ n& k/ a. y: eFDCAN配置
) D. z1 b9 W. D0 P" ~' `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.1 w, M0 Q! c1 A- L8 g
" |- t2 d( ]5 y) |- FDCAN_FilterTypeDef sFilterConfig1;. |- r V# A2 a7 D& f- H
0 M# Z8 W$ W( k# T5 `- void fdcan1_config(void)+ k1 y+ z' O8 c4 a3 E! O+ D0 O2 p
- { \- F0 Y+ f" [0 y0 Z7 d0 g
- sFilterConfig1.IdType = FDCAN_STANDARD_ID;
2 |8 k) d, d+ l7 U - sFilterConfig1.FilterIndex = 0;
2 Y" z9 W& c, @: b - sFilterConfig1.FilterType = FDCAN_FILTER_RANGE;
9 z9 n* m. }" i' @% q - sFilterConfig1.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
: J7 D+ h: k* q4 Y - sFilterConfig1.FilterID1 = 0x00;" {) D. z7 V8 r0 F+ s
- sFilterConfig1.FilterID2 = 0x7FF;9 O. G" O# r: \- C8 G1 t
- if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig1) != HAL_OK)
/ e4 T" g5 L& A& v - {
9 p/ V4 X/ C2 Q8 Q' D+ b E. }* h - Error_Handler();
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- sFilterConfig1.IdType = FDCAN_EXTENDED_ID;
1 `" A, i+ O/ |. d* j - sFilterConfig1.FilterIndex = 0;
+ M! j: O2 z. s - sFilterConfig1.FilterType = FDCAN_FILTER_RANGE;/ b8 C, @* I- b4 b" h' ]
- sFilterConfig1.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
# a! ^2 [9 k$ B8 `' Y - sFilterConfig1.FilterID1 = 0x00;; r/ G( v1 t$ \6 N5 Z% |
- sFilterConfig1.FilterID2 = 0x1FFFFFFF;
* }! V2 t. b$ A A k# c) B - if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig1) != HAL_OK)
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- Error_Handler();
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- F% R: F6 Y+ Z% r* H$ s: x- /* Configure global filter on both FDCAN instances:2 \. T5 { e# A+ T% C1 f4 P
- Filter all remote frames with STD and EXT ID* D$ C+ S" P4 K( h/ R' V: u& p7 Y
- Reject non matching frames with STD ID and EXT ID */
% M! J; o5 U! ^ - if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK)# L$ m" f/ o* {# ?1 ~5 m/ X
- {
; k5 ~+ M4 B B7 l# u! Y - Error_Handler();
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' v7 f: D% ~- m+ R- /* Activate Rx FIFO 0 new message notification on both FDCAN instances */) L y; s+ w. x- H- ~
- if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)6 k9 T) N5 F: L1 H; c
- {
" v. X- x. X# J/ @5 z% i/ F - Error_Handler();, G( Y: }6 t) p# Z3 y
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- if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_BUS_OFF, 0) != HAL_OK)8 G6 ~9 t" u+ w+ F% N
- {) M* U$ T+ N: O# n/ _, i$ F) [
- Error_Handler();+ E) _( Y# D7 l. o6 U4 o
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- & \' A) A( U6 Q. L& C3 P
- /* Configure and enable Tx Delay Compensation, required for BRS mode.9 D4 R0 h% B- E; `9 Q K: e
- TdcOffset default recommended value: DataTimeSeg1 * DataPrescaler" x" q9 l+ G) Y4 q4 y' X B' o
- TdcFilter default recommended value: 0 */
2 X- M& O; _3 U- |; `' c$ J+ | - HAL_FDCAN_ConfigTxDelayCompensation(&hfdcan1, hfdcan1.Init.DataPrescaler * hfdcan1.Init.DataTimeSeg1, 0);( F) u: n5 D) | h# ]
- HAL_FDCAN_EnableTxDelayCompensation(&hfdcan1);) Q5 B- {+ m& }$ A, u. A4 w2 Z
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- HAL_FDCAN_Start(&hfdcan1);5 t0 E- q* a/ {( e- `$ }: f5 A
- }
复制代码
9 C0 U! E8 Y; ~# }9 t- S$ C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:7 w7 m- I8 h" y- J- `8 }& I0 i
- sFilterConfig1.FilterType = FDCAN_FILTER_MASK;
- {0 I: q% C. ?( g0 d - sFilterConfig1.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
. \$ c' S% |1 L! r1 ?3 r2 |5 h - sFilterConfig1.FilterID1 = 0;4 _7 \7 g5 _1 f' F- h
- 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.
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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:; O8 X, `" x: o0 b5 _
- #define SRAMCAN_FLE_NBR ( 8U) /* Max. Filter List Extended Number */
复制代码
' s }0 `; G: t3 Z8 D8 D( LFDCAN2, FDCAN3的配置和FDCAN1类似.
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Bus-Off处理
: R% K4 H+ _- w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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" L' i9 D* g+ Q5 h' J: r- void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)# K( D9 b$ ?/ Z/ C7 r: p
- {
% T, A7 m" p5 {, U- {! Z - //__HAL_FDCAN_CLEAR_FLAG(hfdcan, FDCAN_FLAG_BUS_OFF);
4 }; O& R Y8 f, x3 Y - if(hfdcan->Instance == FDCAN1) {6 t! g- p% U$ T X8 U3 w# X
- MX_FDCAN1_Init();
) ~5 R ~8 ~; a) p1 u - fdcan1_config();; {/ ]3 O( M% Y+ h
- } else if(hfdcan->Instance == FDCAN2) {1 X* o4 Y+ p2 g0 }
- MX_FDCAN2_Init();3 @& S( F- v% \$ @! g2 C
- fdcan2_config();
% ?$ g. W; z* j2 v - } else if(hfdcan->Instance == FDCAN3) {
3 k1 H8 K1 }1 B2 T+ p9 x' c. } - MX_FDCAN3_Init();
0 U' e6 E3 Z T' f; w5 i+ [ - fdcan3_config();, a/ M: L! C+ G, e4 W
- } else {+ n- a" K+ {% ~: t. m! v6 ~
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- }
复制代码
1 d- }- w/ a5 W0 }新消息接收处理0 p5 ]6 ^# f7 Q. w4 x
直接把接收的消息通过2M波特率的串口打印出来.
) m2 g5 ~3 j& A+ P* E( L- FDCAN_RxHeaderTypeDef RxHeader1; Z3 _0 b1 q$ L8 Q8 _5 j
- FDCAN_RxHeaderTypeDef RxHeader2;
7 x, a: h2 a. f8 N# ~% i - FDCAN_RxHeaderTypeDef RxHeader3;
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- //RxHeader1.DataLength => can_dlc
0 w. c: H6 q# M, H! E - //0x00000 => 0 1 m0 t4 p6 l. a5 i
- //0x10000 => 1
- {2 m5 o }9 ]- j7 \# r - //0x20000 => 2 3 h3 S- K$ s, U+ t0 [5 Y9 X
- //0x30000 => 3
3 u& \: m1 u; ~2 T2 U - //0x40000 => 4
; Z4 Q0 d' S6 n% y0 b" q! {9 B' V+ g) M - //0x50000 => 5 : K' t" g" c5 D! Q# F5 `. y, ?
- //0x60000 => 6 4 z% d1 v! ?: z% |* H1 C {$ Q
- //0x70000 => 7
, { Y1 O8 v9 S7 Q c; x - //0x80000 => 8 * B, a" y8 A. v5 `# b9 O
- //0x90000 => 12; [0 I g5 m+ ?, e5 w; k
- //0xA0000 => 16
v: _+ B6 X1 I' r; H* |: O4 y - //0xB0000 => 20" ~ ~. Y! J T
- //0xC0000 => 24
3 O3 k- H4 v2 ^& |8 ` - //0xD0000 => 32
) t h+ [/ V8 \, x) h2 ` - //0xE0000 => 48* }2 k. @" Z2 Y+ ^
- //0xF0000 => 64
/ L. W" y* c1 r. t6 W$ L - uint8_t dlc2len[]={0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64};, L, s" t7 f0 W; V! l0 z# @4 K
- uint8_t can_dlc2len(uint32_t RxHeader_DataLength)
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- return dlc2len[RxHeader_DataLength>>16];
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- uint8_t cnt = 0;( E, J2 L: X3 |
- uint8_t brs[] = {'-', 'B'};( a% h* e* i' S: l5 n8 _
- uint8_t esi[] = {'-', 'E'}; U% k7 p7 t8 H
- void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
+ j$ J, z5 w8 S2 c8 ~$ A. P- \% w" k - {
' b3 @$ |1 q2 a5 ~) ? - if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != 0) {; J! q/ d5 X+ Q' X
- //HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader2, RxData2);
/ u! Y1 Y' K: H - //RxHeader2.Identifier++;
: U6 y' M+ l3 ?/ E" M. o - //fdcan2_transmit(RxHeader2.Identifier, RxData2);
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- //HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader1, RxData1);( y( ?: }$ _; s% I/ t2 ] C! F
- //memset(&RxHeader1, 0, sizeof(FDCAN_RxHeaderTypeDef));# C0 B0 U' @) _5 N1 k
: V( I. l. O1 y0 x% ^- HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader1, RxData1);, h" e* B2 C7 W+ ?9 E5 r
- if (hfdcan->Instance == FDCAN1) {7 T- x* |' l( K% ]( [8 c, e3 {
- printf("fdcan1, ");
7 o, h# k& M9 T- S - } else if (hfdcan->Instance == FDCAN2) { * J' r" ~; j% {; [( f
- printf("fdcan2, ");
4 e: l3 J! X- n' X& ]4 t - } else if (hfdcan->Instance == FDCAN3) {' K) ]2 f# m Z; b# \3 A8 K
- printf("fdcan3, ");
% A* Z6 O* A& r4 k' P. M - }% W( {2 d/ b* A3 Q8 a1 k: S
- printf("0x%8X, %02d, %c, %c:",RxHeader1.Identifier,
) H/ X# g' h' M9 f$ O) t - can_dlc2len(RxHeader1.DataLength), . Q" r+ j; k7 z* x
- brs[RxHeader1.BitRateSwitch>>20 & 0x1],
) `5 V0 @, n/ s% M4 S - esi[RxHeader1.ErrorStateIndicator>>31 & 0x1]);
( ]/ u) t3 X' f. r. F, H - for(cnt = 0; cnt < can_dlc2len(RxHeader1.DataLength); cnt++) {
& v9 G: N# Q7 O) b: Z' L# R& M - printf(" %02X", RxData1[cnt]);; Q1 v4 ~0 W- {+ D8 {$ ?/ ~6 v
- }
# t) G) \! P3 u T4 h. O - printf("\n\r");( a# `# u7 @; U2 V
- 0 t$ ^' D4 C3 R3 T s
/ |' d; D% L( r' l$ R) u- //if (hfdcan->Instance == FDCAN1) {. }+ H) M5 A, w% g% h7 n
- // HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader1, RxData1);
! V5 b4 z5 p( P" V9 [ _0 A6 ^4 [ - // //echo3 o/ n' y f8 G! r Y) |5 ~( ^4 X
- // RxHeader1.Identifier++;
' z+ `4 L6 q2 E' { - // fdcan1_transmit(RxHeader1.Identifier, RxHeader1.DataLength, RxData1);1 `1 D$ z) T; U- g- u9 }
- //} else if(hfdcan->Instance == FDCAN2) {: U2 |# l8 D3 p# G( ?) b$ Z
- // HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader2, RxData2);% p" [& @8 h% X( [% e( X
- // //echo8 ?5 O$ i1 O. j. s1 P5 E; }
- // RxHeader2.Identifier++;
: H/ i# \9 X+ ` - // fdcan2_transmit(RxHeader2.Identifier, RxHeader2.DataLength, RxData2);
; L5 Z/ ]! |5 D: k - //} else if(hfdcan->Instance == FDCAN3) {5 T: S$ d$ j: ]2 v% N" v$ B1 V
- // HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader3, RxData3);
3 F3 f; C2 f5 m* w/ H6 ]' c - // //echo# z c1 `: H1 j) A9 }5 I( ~7 N
- // RxHeader3.Identifier++;. d# I# n% z6 e* Y
- // fdcan3_transmit(RxHeader3.Identifier, RxHeader3.DataLength, RxData3);# m# i, j, X- w
- //} else {! P+ v1 o4 I Y; K; m0 F* ^& [: E
- // 4 w; t! ]! v" i$ F+ y( A
- //}
# ]! y5 q1 C6 c( q - }
- `9 _7 s8 H& F - }
复制代码
7 |9 K0 ?+ P0 F/ ~. s0 [" G注意注释中 RxHeader.DataLength => can_dlc 的对应关系.1 C( v$ n8 M m9 S. I- D) f
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示例如图:
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6 y4 T7 p( p4 |1 h* ~/ J! x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.
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% r2 M* H5 X" Q, X4 T1 H- xprintf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.
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发送处理5 z$ F, y8 V5 u4 G% K; K
发送开启了BRS和ESI, 如果发送失败, 就延时100us后重发一次.# I- [+ O2 o- N$ j7 I- Q) i3 [; l
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- #include <string.h>
2 Y5 @0 i5 H2 D$ n - . q; W. u3 r7 I3 x& S% g
- FDCAN_TxHeaderTypeDef TxHeader1;2 y( N6 r% w ]; F
- FDCAN_TxHeaderTypeDef TxHeader2;) ]. ]7 o: `# Y$ a- c6 {: M/ D/ G
- FDCAN_TxHeaderTypeDef TxHeader3;
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- typedef struct {
Z' t% i) l+ C7 B( Q, B2 \ - uint8_t flag;& \' l) W ]3 C+ q6 [
- FDCAN_TxHeaderTypeDef TxHeader;
8 n6 r/ }$ a4 Z6 Q: V8 L* M - uint8_t TxData[64];( a" P+ L7 y3 q" c1 k$ b9 k+ E4 D8 W- i2 x
- } FDCAN_SendFailTypeDef;
# S* I$ w1 w! Z# o
: ?: Y) A6 Y# f, B8 Y& u* {- FDCAN_SendFailTypeDef fdcan1_send_fail = {0};
0 c( z7 j Z: ` d6 H+ g - FDCAN_SendFailTypeDef fdcan2_send_fail = {0};
/ y6 I3 @9 }4 S! \5 x v. J* f9 t - FDCAN_SendFailTypeDef fdcan3_send_fail = {0};
& K6 Y; I. o! @( R+ m - : k# C* c$ G6 R6 Y# P
- void fdcan1_transmit(uint32_t can_id, uint32_t DataLength, uint8_t tx_data[])" l7 I5 H; Z6 \" @; h
- {# t% f) a6 j2 P" H, F0 E2 y. N
- TxHeader1.Identifier = can_id;
8 L7 p! v' l9 e8 ` - TxHeader1.IdType = FDCAN_EXTENDED_ID;
C9 B# U: K# \7 v: X - if(can_id < 0x800) { //exactly not right
& J+ s, V/ ?/ w# J. q - TxHeader1.IdType = FDCAN_STANDARD_ID;
) z# `/ X: G W; n' r0 C - }$ g8 }! l* F c- `" [6 \
- TxHeader1.TxFrameType = FDCAN_DATA_FRAME;
) l, q, u% k4 W' |5 { [; p. q/ m8 Z - TxHeader1.DataLength = DataLength;% O2 w8 l+ g- j) Q
- TxHeader1.ErrorStateIndicator = FDCAN_ESI_ACTIVE;3 r; `& N# x( X6 K, q! A# Y3 M1 A
- TxHeader1.BitRateSwitch = FDCAN_BRS_ON;
" P8 Q. s: T" [) } - TxHeader1.FDFormat = FDCAN_FD_CAN;
8 h7 h4 f& R# F9 w# n' G# L& B7 x - TxHeader1.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
5 G9 ?. _. x W" x: x) B - TxHeader1.MessageMarker = 0; //marker++; //Tx Event FIFO Use" Q1 m7 {7 `" ?; @
- if(HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader1, tx_data) != HAL_OK) {
% \6 \7 H4 [7 P4 t% T - fdcan1_send_fail.flag = 1;
9 z& I' m" T0 ]3 e - memcpy(&fdcan1_send_fail.TxHeader, &TxHeader1, sizeof(FDCAN_TxHeaderTypeDef));% ?7 W# Z- x0 Y6 b* N6 h; c9 \5 N5 o
- memcpy(fdcan1_send_fail.TxData, tx_data, can_dlc2len(DataLength));9 \8 g ^' m3 Y$ |
- }
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- & i& B6 N2 F! l0 E% K
- int main(void)
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- ...' n7 ^! ~* X; {- T9 \) o
- /* USER CODE BEGIN 2 */
0 l# o& Q' s% M: `7 M - fdcan1_config();
. x0 i$ j$ O9 q P* F, s* O - fdcan2_config();
/ d6 o( i( R* V$ e6 K - fdcan3_config();
9 g* W1 K8 p" u# ` - - t# y; p6 e, `( [# O5 h; Y" d
- for(uint8_t i = 0; i < 64; i++) {
8 V" \- u7 c( |1 w4 S5 T - TxData1<i> = i;9 W& z H+ p# q/ f
- </i>TxData2 = i;
2 l" I7 I R3 s7 {& G! F - TxData3 = i;
# r2 R/ h! J' i( a+ K) f - }/ z5 j! d5 |2 I- ]
- X @4 } `& e# J% v2 S& J- HAL_TIM_Base_Start_IT(&htim6);
0 f9 P; Q5 M2 c5 {" D - uint32_t count = 0;! C. [; e' `. M
- uint32_t cnt_100us = 0;3 _, B# D/ R7 ~6 }) R$ {
- uint32_t cnt_500us = 0;3 A+ D- i3 b* {; E& V, J0 O
- /* USER CODE END 2 */
3 }$ V* c3 z# b1 M/ {( q
7 ~0 R2 u& w1 s- /* Infinite loop */
1 {9 Z9 P0 ]# j7 h. F# x! R) i - /* USER CODE BEGIN WHILE */6 q) c8 v: j" `
- while (1)
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- /* USER CODE END WHILE */
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3 f% o- e W, B+ [! Y2 |- /* USER CODE BEGIN 3 */
: Q: P8 H, O7 h% g/ S5 N# K - if(tim6_flag && count < 1000) {
, F% o3 g$ o$ G6 x/ p - tim6_flag = 0;- [. v1 P( X {/ V8 O: h/ ]
- TxData1[0] = count >> 8 & 0xFF;. a \3 h" C( j* k: {) S2 I
- TxData1[1] = count & 0xFF;
! D! u5 a. K) \" z. O7 T5 o3 e# \ - # a( C- z4 N8 E; r d5 H& @5 T
- ++cnt_100us;8 t2 W, h5 Y; q0 a* V
- cnt_500us = cnt_100us / 5;+ x* s9 l, p% A: N8 ^! p
- if(cnt_500us && (cnt_100us%5==0) ) {
8 H) {$ Q6 D# g - switch(cnt_500us) {8 N! C5 T, K; `6 z
- case 1: fdcan1_transmit(0x123, FDCAN_DLC_BYTES_64, TxData1); # {- A4 t% z/ ~: F; k4 f$ _
- fdcan1_transmit(0x124, FDCAN_DLC_BYTES_64, TxData1);
# e- [* r) K" \7 O; J+ }. G5 R - fdcan1_transmit(0x125, FDCAN_DLC_BYTES_64, TxData1); break;
, l( g3 ^2 y( O7 s/ f, U' i) ~ - case 4: fdcan1_transmit(0x12345678, FDCAN_DLC_BYTES_64, TxData1); break;3 D$ B! l k: i# Z1 w
- case 5: fdcan1_transmit(0x12345679, FDCAN_DLC_BYTES_64, TxData1); break;
: n, ?- E( a G/ V - case 6: fdcan1_transmit(0x1234567A, FDCAN_DLC_BYTES_64, TxData1); break;
; W" Y( |6 o0 M - case 7: /* next send */ break;& r, C8 I" O t
- case 8: break;0 a6 ]. M: t# Y6 F* }' P8 ^# S
- case 20: ++count; cnt_100us = 0; break; //10ms
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- } else { //fail retransmission once
0 }* t; r9 }1 K9 R - if(fdcan1_send_fail.flag) {
) O" D$ f7 \ B - fdcan1_transmit(fdcan1_send_fail.TxHeader.Identifier, . U( @. Z1 P0 k6 j
- fdcan1_send_fail.TxHeader.DataLength,
/ s' G7 Q" f7 m! D O2 e" d! L - fdcan1_send_fail.TxData);4 x: }& J' }: X `; |
- fdcan1_send_fail.flag = 0;4 V! G3 S' e2 i% X/ y* V
- }$ y+ y1 p: O" y' Y2 F) Q
- if(fdcan2_send_fail.flag) {* @9 o6 v- Y1 f6 T' E( s+ @: U
- fdcan2_transmit(fdcan2_send_fail.TxHeader.Identifier, 0 K1 q2 V; A+ t6 e( {
- fdcan2_send_fail.TxHeader.DataLength,
2 w/ U6 u7 _3 A n+ G$ h - fdcan2_send_fail.TxData);
, u9 D9 {, x4 J9 Z) x - fdcan2_send_fail.flag = 0;* G9 ?% v3 E2 w' i" I9 Z" z
- }
& ?- k$ J) W m: J* F# i5 R - if(fdcan3_send_fail.flag) {+ o2 z+ S! W: O2 _6 C! N" H7 W
- fdcan3_transmit(fdcan3_send_fail.TxHeader.Identifier, ( L% h( t) r$ I( A) Q/ L5 q. K' H
- fdcan3_send_fail.TxHeader.DataLength,
9 }' J: w( N0 u3 w& b - fdcan3_send_fail.TxData);
' `1 I) D, c. z/ r* z0 U - fdcan3_send_fail.flag = 0;
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- }
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- /* USER CODE END 3 */
4 z% v( w1 e9 y1 z - }
复制代码 7 `* W1 |; L" _6 ]& Y* A: {3 J
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.- V W1 V" V3 ?
* [( J7 b7 `! L" D3 n1 ^' _, c' |! x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.
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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.0 [8 c4 I/ S: u8 r1 ^2 k5 o+ R
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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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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." W$ T0 ?( X* a# S# ?
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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.. j ^- E( ?. |# y& h/ }9 k5 `7 Y* J
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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.
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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.
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使用Xavier配合测试一下8 @7 h7 {' X' c" h& t3 [+ ^
把STM32的FDCAN1连到Xavier的CAN1上, Xavier CAN1设置:
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- #!/bin/sh
* U; R5 }7 e4 {# x - * r/ ~7 ^& C) t1 ]: q: j
- sudo modprobe can& V! h: g A; K, P
- sudo modprobe can_raw
( |% M: g) w: G - sudo modprobe mttcan
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/ v. e3 N1 @2 N8 H- sudo ip link set down can0+ `. `% w- o# k/ C) P( G; I
- sudo ip link set can0 type can bitrate 500000 sample-point 0.8 dbitrate 2000000 dsample-point 0.75 fd on restart-ms 100
% u; z8 ]1 y" k% P" V$ K - sudo ip link set up can0
- Y. o( P5 l. k s; Q - sudo ifconfig can0 txqueuelen 1000! b. v: h) U# C( G
" x' l" b, \2 l6 r7 ~% g+ x& \9 {- sudo ip link set down can1% J: K* `. I0 o/ r- k2 H5 C# J
- sudo ip link set can1 type can bitrate 500000 sample-point 0.8 dbitrate 2000000 dsample-point 0.75 fd on restart-ms 100- @1 R, A. _) T+ u1 u' [
- sudo ip link set up can1
% k3 q8 f; b E( V; k - sudo ifconfig can1 txqueuelen 1000
复制代码
) ]8 A0 v3 P8 `1 i5 UXavier也是仲裁段500Kbit/s, 采样点0.8, 数据段2Mbit/s, 采样点0.75.
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, C7 B) D/ D. Z8 W2 b( _3 G* wrestart-ms 100设置总线Bus-Off时, 100ms后重启.
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设置完后查看设置状态 ip -details -statistics link show can1:
% F" G7 W8 U) C4 m- p1 e( o; a: `9 ~' Z
- $ ip -details -statistics link show can1+ ?5 w; D! P) G" w+ c! k: R* H1 ^/ X
- 6: can1: <NOARP,UP,LOWER_UP,ECHO> mtu 72 qdisc pfifo_fast state UNKNOWN mode DEFAULT group default qlen 1000
: Q T0 U$ R2 \! l% Q/ E - link/can promiscuity 0
r7 @+ W7 a5 a- |8 a - can <FD> state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 100 & R, g; L. N" i" Z
- bitrate 498701 sample-point 0.792 - g& B- `' i/ n! z; }3 ?
- tq 26 prop-seg 30 phase-seg1 30 phase-seg2 16 sjw 1# n/ i, R6 f+ w+ v4 a: U( b
- mttcan: tseg1 2..255 tseg2 0..127 sjw 1..127 brp 1..511 brp-inc 17 x/ v, \* K3 U9 M1 S: b" V
- dbitrate 2021052 dsample-point 0.736 5 V. D( {( g/ z; P7 C1 |* P
- dtq 26 dprop-seg 6 dphase-seg1 7 dphase-seg2 5 dsjw 1
$ t5 `' Z$ R( G- }. V - mttcan: dtseg1 1..31 dtseg2 0..15 dsjw 1..15 dbrp 1..15 dbrp-inc 19 b5 C! l# h% Y0 @& v6 C7 L
- clock 38400000. ?/ r8 g4 d) Y" [4 h5 j' U `
- re-started bus-errors arbit-lost error-warn error-pass bus-off4 O8 p9 o0 L, @$ m6 H
- 0 0 0 13 20 0 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535
% f# u2 p2 D2 m# [ - RX: bytes packets errors dropped overrun mcast
3 k Q" e, r6 A$ w" g H - 64578440 1013451 0 0 0 0
& W; }, o+ D/ w& R4 P - TX: bytes packets errors dropped carrier collsns
, q% g3 {+ _) W% B6 r - 952448 15914 0 0 0 0
复制代码
& P L, J9 ]- @ a5 S位速率和采样点的些许误差测试并无影响.
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( `* d' \( a J# B% T% l1 r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:) p2 M+ s9 x% C7 c! }! X
& ?/ s. D" ?+ T- u" s* E- (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 W& |: v- j! ]8 E$ w: W9 N3 s0 i - (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 3F3 A. S2 Z+ r* r' ?" Y( w H5 i* _
- (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 3F2 O; [, N- d+ n+ M3 s/ P
- (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 3F5 ]! u* v$ `( a8 C* |, V6 e! Q3 w/ w
- (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
. A9 N4 W7 g( V& D p8 r G0 o - (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
( `9 Y" |! b. t# \ o4 x - (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
- H# }6 k h% |0 j - (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 R* W4 Q( v/ w
0 C' ?: m. _( y4 T- ...
' m0 [1 R$ F6 g. Z - ; T* U4 ]7 A# O
- (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 3F4 Z, F! `: O. \& A
- (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
+ y% Q. ~! Y# e5 p; @1 R - (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
3 N3 }+ J3 h7 k4 G3 R3 M - (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
2 `. j& j* b- D; V - (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) Y. n! d% ^8 S
- (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 S* G+ Y- U - (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
: p. {+ p. M4 O - (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
, I5 Q0 O; W$ l; z9 z - (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
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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.
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: }5 s. a+ w6 m; h# r1 M5 S/ `0 b3 LXavier发送脚本, ##后面的3表示开启BRS和ESI:
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- while true; do. g1 c: D8 e1 [# r R
- 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' k. y" \# T9 y# h+ d8 Z
- 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
3 Z1 ]1 ]) w6 s) c! M3 e n& P - 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 7 g1 Z1 y9 G6 k
- cansend can1 18FF0004##3.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.16.01.02.03.04.05.06.07.08.09.10.11.12.13.14.15.161 y5 K3 X$ a& ~$ |
- 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
7 e+ D6 E2 ~! z/ R0 J; g - 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 4 D4 s- M/ D$ z5 X! B9 R' W& P
- sleep 0.017 }' t/ d0 p2 i9 J ?
- done
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2 a, e C* c( x+ m2 B/ Y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.
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