TC397 CANFD 用例分析
目录
-
- 前言
- 位速率和采样点设置
- Message RAM
- 滤波器设置
- 初始化部分代码汇总
- Bus-Off中断处理
- 发送函数
- 接收中断处理
- 测试
- 微信公众号
前言
参考前几篇:
- Jetson Xavier/XavierNX/TX2 CANFD 配置使用
- STM32 CANFD 基础知识
- STM32G474 CANFD 用例详解
- STM32H750 更好用的CANFD 用例详解
- AURIX TC397 CAN MCMCAN
本篇写TC397的CANFD的使用. TC397有3路MCMCAN组件(CAN0/1/2), 每路MCMCAN组件又支持4个节点, 所以, 共计支持12路CANFD, 资源如下, TC39x-B specific configuration of CAN:
| Parameter | CAN0 | CAN1 | CAN2 |
|---|---|---|---|
| Node size in byte | 1024 | 1024 | 1024 |
| Number of CAN Nodes | 4 | 4 | 4 |
| Number of TTCAN Nodes | 1 | ||
| RAM size in byte | 32768 | 16384 | 16384 |
| Maximum Number of Standard ID Filter Messages per node | 128 | 128 | 128 |
| Maximum Number of Extended ID Filter Messages per node | 64 | 64 | 64 |
| Maximum Number of RxFIFO structures per node | 2 | 2 | 2 |
| Maximum Number of Messages in a Rx buffer per node | 64 | 64 | 64 |
| Maximum Number of Tx Event Messages per node | 32 | 32 | 32 |
| Maximum Number of Tx Messages in a Tx Buffer per node | 32 | 32 | 32 |
| Maximum number of trigger messages per TTCAN node | 64 |
其中:
- CAN0组件支持TTCAN
- 正常每个MCMCAN组件4个节点(4路CANFD, M_CAN)共用的Message RAM大小为 16384 bytes = 4096 words = 16 KB, 相比之下, STM32H7所有FDCAN(目前最多3路)共用10KB
本篇使用TC397的CAN2中0~3节点中的CAN22, 连接到Xavier的CAN0, 仲裁段500K, 采样点0.8; 数据段2M, 采样点0.75.
位速率和采样点设置
TC397的相关计算:
/*
* Bit timing & sampling
* Tq = (BRP+1)/Fcan if DIV8 = 0
* Tq = 8*(BRP+1)/Fcan if DIV8 = 1
* TSync = 1.Tq
* TSeg1 = (TSEG1+1)*Tq >= 3Tq
* TSeg2 = (TSEG2+1)*Tq >= 2Tq
* Bit Time = TSync + TSeg1 + TSeg2 >= 8Tq
*
* Resynchronization:
*
* Tsjw = (SJW + 1)*Tq
* TSeg1 >= Tsjw + Tprop
* TSeg2 >= Tsjw
*/
主时钟频率来自IfxCan_getModuleFrequency()函数, 仿真或打印出来为 80MHz.
有两种方法设置位速率和采样点:
- 设置 位速率, 采样点, SJW, calculateBitTimingValues设为True, 然后初始化节点函数中会自动计算位时间填入寄存器
- 设置 BRP, TSEG1, TSEG2, SJW, calculateBitTimingValues设为False, 然后初始化节点函数中会直接把这些值填入寄存器
第一种的示例:
g_mcmcan22.canNodeConfig.baudRate.baudrate = 500000;
//10000*(1+TSeg1)/(1 + TSeg1 + TSeg2)
g_mcmcan22.canNodeConfig.baudRate.samplePoint = 10000*0.8;
//10000* TSeg2 / (1 + TSeg1 + TSeg2) = 10000 - samplePoint
g_mcmcan22.canNodeConfig.baudRate.syncJumpWidth = 2000;
g_mcmcan22.canNodeConfig.fastBaudRate.baudrate = 2000000;
g_mcmcan22.canNodeConfig.fastBaudRate.samplePoint = 10000*0.75;
g_mcmcan22.canNodeConfig.fastBaudRate.syncJumpWidth = 2500;
//TdcOffset default recommended value: DataTimeSeg1 * DataPrescaler
g_mcmcan22.canNodeConfig.fastBaudRate.tranceiverDelayOffset = 28;
g_mcmcan22.canNodeConfig.calculateBitTimingValues = TRUE;
/*
Ifx_Console_print(ENDLINE"moduleFreq: %.2f", IfxCan_getModuleFrequency());
Ifx_Console_print(ENDLINE);
Ifx_Console_print(ENDLINE"NBTP.B.NBRP = %d", g_mcmcan22.canNode.node->NBTP.B.NBRP);
Ifx_Console_print(ENDLINE"NBTP.B.NSJW = %d", g_mcmcan22.canNode.node->NBTP.B.NSJW);
Ifx_Console_print(ENDLINE"NBTP.B.NTSEG1 = %d", g_mcmcan22.canNode.node->NBTP.B.NTSEG1);
Ifx_Console_print(ENDLINE"NBTP.B.NTSEG2 = %d", g_mcmcan22.canNode.node->NBTP.B.NTSEG2);
Ifx_Console_print(ENDLINE);
Ifx_Console_print(ENDLINE"DBTP.B.DBRP = %d", g_mcmcan22.canNode.node->DBTP.B.DBRP);
Ifx_Console_print(ENDLINE"DBTP.B.DSJW = %d", g_mcmcan22.canNode.node->DBTP.B.DSJW);
Ifx_Console_print(ENDLINE"DBTP.B.DTSEG1 = %d", g_mcmcan22.canNode.node->DBTP.B.DTSEG1);
Ifx_Console_print(ENDLINE"DBTP.B.DTSEG2 = %d", g_mcmcan22.canNode.node->DBTP.B.DTSEG2);
Ifx_Console_print(ENDLINE"DBTP.B.TDC = %d", g_mcmcan22.canNode.node->DBTP.B.TDC);
Ifx_Console_print(ENDLINE"TDCR.B.TDCO = %d", g_mcmcan22.canNode.node->TDCR.B.TDCO);
Ifx_Console_print(ENDLINE);
*/
/*
* moduleFreq = 80000000.00
* NBTP.B.NBRP = 7
* NBTP.B.NSJW = 3
* NBTP.B.NTSEG1 = 14
* NBTP.B.NTSEG2 = 3
* DBTP.B.DBRP = 1
* DBTP.B.DSJW = 4
* DBTP.B.DTSEG1 = 13
* DBTP.B.DTSEG2 = 4
* DBTP.B.TDC = 1
* TDCR.B.TDCO = 28
*/
第二种的示例:
//https://www.kvaser.com/support/calculators/can-fd-bit-timing-calculator/
g_mcmcan22.canNodeConfig.baudRate.prescaler = 2 - 1;
g_mcmcan22.canNodeConfig.baudRate.syncJumpWidth = 16 - 1;
g_mcmcan22.canNodeConfig.baudRate.timeSegment1 = 63 - 1;
g_mcmcan22.canNodeConfig.baudRate.timeSegment2 = 16 - 1;
g_mcmcan22.canNodeConfig.fastBaudRate.prescaler = 2 - 1;
g_mcmcan22.canNodeConfig.fastBaudRate.syncJumpWidth = 5 - 1;
g_mcmcan22.canNodeConfig.fastBaudRate.timeSegment1 = 14 - 1;
g_mcmcan22.canNodeConfig.fastBaudRate.timeSegment2 = 5 - 1;
g_mcmcan22.canNodeConfig.fastBaudRate.tranceiverDelayOffset = 28;
g_mcmcan22.canNodeConfig.calculateBitTimingValues = FALSE;
/*
* moduleFreq = 80000000.00
* NBTP.B.NBRP = 1
* NBTP.B.NSJW = 15
* NBTP.B.NTSEG1 = 62
* NBTP.B.NTSEG2 = 15
* DBTP.B.DBRP = 1
* DBTP.B.DSJW = 4
* DBTP.B.DTSEG1 = 13
* DBTP.B.DTSEG2 = 4
* DBTP.B.TDC = 1
* TDCR.B.TDCO = 28
*/
用第二种时, iLLD TC39B Version: 1.0.1.12.0这个版本的IfxCan_Can_initNode()函数有点小bug, IfxCan_Can.c第140行由
IfxCan_Node_setFastBitTimingValues(nodeSfr, config->baudRate.syncJumpWidth, config->baudRate.timeSegment2, config->baudRate.timeSegment1, config->baudRate.prescaler);
改为
IfxCan_Node_setFastBitTimingValues(nodeSfr, config->fastBaudRate.syncJumpWidth, config->fastBaudRate.timeSegment2, config->fastBaudRate.timeSegment1, config->fastBaudRate.prescaler);
正常建议用第一种, 简单省心.
Message RAM
3个MCMCAN组件的起始和终止地址为:
| Module | Base Address | End Address |
|---|---|---|
| CAN0 | 0xF0200000 | 0xF0208FFF |
| CAN1 | 0xF0210000 | 0xF0218FFF |
| CAN2 | 0xF0220000 | 0xF0228FFF |
其中分配给Message RAM的空间为:
- CAN0 Module的前
0x8000 Bytes => 32768 Bytes给了Message RAM - CAN1 Module的前
0x4000 Bytes => 16384 Bytes给了Message RAM - CAN2 Module的前
0x4000 Bytes => 16384 Bytes给了Message RAM
每个MCMCAN组件共4个节点所能使用的最大Message RAM资源如图所示:
如果全部元素都启用, 将占用 128 + 128 + 1152 + 1152 + 1152 + 64 + 576 + 128 = 4480 words = 17920 Bytes = 17.5KB, 超过了16384 bytes = 4096 words = 16 KB的最大Ram限制. 所以还是要有所取舍, 用到的分配, 不用的不分配.
下面会用到的参数总结如下:
- 1 个 11-bit filter element => 1 words, 4个节点的11-bit filter element数量之和不超过128
- 1 个 29-bit filter element => 2 words, 4个节点的29-bit filter element数量之和不超过64
- 1 个 Rx FIFO 0 element => 18 words, 4个节点的Rx FIFO 0 element数量之和不超过64
- 1 个 Tx Buffer element => 18 words, 4个节点的Tx Buffer element数量之和不超过32
0x4000 Bytes空间可以对四路CAN节点平均分配, 每路0x1000 Bytes, 所有资源也可以平分, 每路可以分:
- 32 个 11-bit filter element
- 16 个 29-bit filter element
- 16 个 Rx FIFO 0 element
- 16 个 Rx FIFO 1 element
- 8 个 Tx Buffer element
- …
当然一般不这么搞, 比如我这里只用了CAN22, 其它路不用, 完全可以分多点资源来用:
- 32 个 11-bit filter elements
- 16 个 29-bit filter elements
- 20 个 Rx FIFO 0 elements
- 20 个 Tx Buffer elements
对应的代码如下:
#define MODULE_CAN0_RAM 0xF0200000
#define MODULE_CAN1_RAM 0xF0210000
#define MODULE_CAN2_RAM 0xF0220000
#define NODE0_RAM_OFFSET 0x0
#define NODE1_RAM_OFFSET 0x1000
#define NODE2_RAM_OFFSET 0x2000
#define NODE3_RAM_OFFSET 0x3000
g_mcmcan22.canNodeConfig.messageRAM.baseAddress = MODULE_CAN2_RAM;
//Standard Frame, 32 elements => 32 words => 128 Bytes => 0x80
g_mcmcan22.canNodeConfig.messageRAM.standardFilterListStartAddress = 0x0 + NODE2_RAM_OFFSET;
//Extended Frame, 16 elements => 32 words => 128 Bytes => 0x80
g_mcmcan22.canNodeConfig.messageRAM.extendedFilterListStartAddress = 0x80 + NODE2_RAM_OFFSET;
//RxFIFO0, 20 elements => 360 words => 1440 Bytes => 0x5A0
g_mcmcan22.canNodeConfig.messageRAM.rxBuffersStartAddress = 0x100 + NODE2_RAM_OFFSET;
//Tx FIFO Buffers, 20 elements => 360 words => 1440 Bytes => 0x5A0
g_mcmcan22.canNodeConfig.messageRAM.txBuffersStartAddress = 0x6A0 + NODE2_RAM_OFFSET;
//Total: 128 + 128 + 1440 + 1440 = 3136 Bytes => 0xC40 Bytes
对应的资源分配如图所示:
滤波器设置
拿出1个标准帧滤波器+1个扩展帧滤波器, 用掩码的方式, 设置全接收到RxFIFO0中, 其它滤波器先不用:
g_mcmcan22.canFilter.number = 0;
g_mcmcan22.canFilter.elementConfiguration = IfxCan_FilterElementConfiguration_storeInRxFifo0;
g_mcmcan22.canFilter.type = IfxCan_FilterType_classic;
g_mcmcan22.canFilter.id1 = 0;
g_mcmcan22.canFilter.id2 = 0;
g_mcmcan22.canFilter.rxBufferOffset = IfxCan_RxBufferId_0;
IfxCan_Can_setStandardFilter(&(g_mcmcan22.canNode), &(g_mcmcan22.canFilter));
g_mcmcan22.canFilter.number = 0;
g_mcmcan22.canFilter.elementConfiguration = IfxCan_FilterElementConfiguration_storeInRxFifo0;
g_mcmcan22.canFilter.type = IfxCan_FilterType_classic;
g_mcmcan22.canFilter.id1 = 0;
g_mcmcan22.canFilter.id2 = 0;
g_mcmcan22.canFilter.rxBufferOffset = IfxCan_RxBufferId_0;
IfxCan_Can_setExtendedFilter(&(g_mcmcan22.canNode), &(g_mcmcan22.canFilter));
初始化部分代码汇总
#include "Ifx_Types.h"
#include "IfxCan_Can.h"
#include "IfxCan.h"
#define CAN22_TOS IfxSrc_Tos_cpu0
#define MODULE_CAN0_RAM 0xF0200000
#define MODULE_CAN1_RAM 0xF0210000
#define MODULE_CAN2_RAM 0xF0220000
#define NODE0_RAM_OFFSET 0x0
#define NODE1_RAM_OFFSET 0x1000
#define NODE2_RAM_OFFSET 0x2000
#define NODE3_RAM_OFFSET 0x3000
#define MAXIMUM_CAN_DATA_PAYLOAD 16 //words
#define ISR_PRIORITY_CAN22_TX 121
#define ISR_PRIORITY_CAN22_RX 122
#define ISR_PRIORITY_CAN22_BUSOFF 135
typedef struct
{
IfxCan_Can_Config canConfig; /* CAN module configuration structure */
IfxCan_Can canModule; /* CAN module handle */
IfxCan_Can_Node canNode; /* CAN source node handle data structure*/
IfxCan_Can_NodeConfig canNodeConfig; /* CAN node configuration structure */
IfxCan_Filter canFilter; /* CAN filter configuration structure */
IfxCan_Message txMsg; /* Transmitted CAN message structure */
IfxCan_Message rxMsg; /* Received CAN message structure */
uint32 txData[MAXIMUM_CAN_DATA_PAYLOAD]; /* Transmitted CAN data array */
uint32 rxData[MAXIMUM_CAN_DATA_PAYLOAD]; /* Received CAN data array */
} McmcanType;
McmcanType g_mcmcan22;
void init_can22_fd(void)
{
IfxCan_Can_initModuleConfig(&g_mcmcan22.canConfig, &MODULE_CAN2);
IfxCan_Can_initModule(&g_mcmcan22.canModule, &g_mcmcan22.canConfig);
IfxCan_Can_initNodeConfig(&g_mcmcan22.canNodeConfig, &g_mcmcan22.canModule); //set default node value
g_mcmcan22.canNodeConfig.nodeId = IfxCan_NodeId_2; //4 node in 1 module
g_mcmcan22.canNodeConfig.clockSource = IfxCan_ClockSource_both;
g_mcmcan22.canNodeConfig.frame.type = IfxCan_FrameType_transmitAndReceive;
g_mcmcan22.canNodeConfig.frame.mode = IfxCan_FrameMode_fdLongAndFast; //CANFD Long Fast, FDF=1, BRS=1
g_mcmcan22.canNodeConfig.txConfig.txMode = IfxCan_TxMode_fifo;
g_mcmcan22.canNodeConfig.txConfig.txFifoQueueSize = 20;
g_mcmcan22.canNodeConfig.txConfig.dedicatedTxBuffersNumber = 0;
g_mcmcan22.canNodeConfig.txConfig.txEventFifoSize = 0;
g_mcmcan22.canNodeConfig.txConfig.txBufferDataFieldSize = IfxCan_DataFieldSize_64;
g_mcmcan22.canNodeConfig.rxConfig.rxMode = IfxCan_RxMode_fifo0;
g_mcmcan22.canNodeConfig.rxConfig.rxFifo0Size = 20;
g_mcmcan22.canNodeConfig.rxConfig.rxFifo0DataFieldSize = IfxCan_DataFieldSize_64;
g_mcmcan22.canNodeConfig.rxConfig.rxFifo1Size = 0;
g_mcmcan22.canNodeConfig.rxConfig.rxFifo1DataFieldSize = IfxCan_DataFieldSize_64;
g_mcmcan22.canNodeConfig.rxConfig.rxBufferDataFieldSize = IfxCan_DataFieldSize_64;
g_mcmcan22.canNodeConfig.rxConfig.rxFifo0WatermarkLevel = 0; //event use
g_mcmcan22.canNodeConfig.rxConfig.rxFifo1WatermarkLevel = 0;
g_mcmcan22.canNodeConfig.rxConfig.rxFifo0OperatingMode = IfxCan_RxFifoMode_overwrite; //or block
g_mcmcan22.canNodeConfig.rxConfig.rxFifo1OperatingMode = IfxCan_RxFifoMode_overwrite;
g_mcmcan22.canNodeConfig.filterConfig.messageIdLength = IfxCan_MessageIdLength_both;
g_mcmcan22.canNodeConfig.filterConfig.standardListSize = 32; //Standard Frame
g_mcmcan22.canNodeConfig.filterConfig.extendedListSize = 16; //Extended Frame
g_mcmcan22.canNodeConfig.filterConfig.rejectRemoteFramesWithStandardId = TRUE;
g_mcmcan22.canNodeConfig.filterConfig.rejectRemoteFramesWithExtendedId = TRUE;
g_mcmcan22.canNodeConfig.filterConfig.standardFilterForNonMatchingFrames = IfxCan_NonMatchingFrame_reject;
g_mcmcan22.canNodeConfig.filterConfig.extendedFilterForNonMatchingFrames = IfxCan_NonMatchingFrame_reject;
//Message RAM
g_mcmcan22.canNodeConfig.messageRAM.baseAddress = MODULE_CAN2_RAM;
//Standard Frame, 32 elements => 32 words => 128 Bytes => 0x80
g_mcmcan22.canNodeConfig.messageRAM.standardFilterListStartAddress = 0x0 + NODE2_RAM_OFFSET;
//Extended Frame, 16 elements => 32 words => 128 Bytes => 0x80
g_mcmcan22.canNodeConfig.messageRAM.extendedFilterListStartAddress = 0x80 + NODE2_RAM_OFFSET;
//RxFIFO0, 20 elements => 360 words => 1440 Bytes => 0x5A0
//g_mcmcan22.canNodeConfig.messageRAM.rxBuffersStartAddress = 0x100 + NODE2_RAM_OFFSET;
g_mcmcan22.canNodeConfig.messageRAM.rxFifo0StartAddress = 0x100 + NODE2_RAM_OFFSET;
//Tx FIFO Buffers, 20 elements => 360 words => 1440 Bytes => 0x5A0
g_mcmcan22.canNodeConfig.messageRAM.txBuffersStartAddress = 0x6A0 + NODE2_RAM_OFFSET;
//Total: 128 + 128 + 1440 + 1440 = 3136 Bytes
//transmit interrupt
g_mcmcan22.canNodeConfig.interruptConfig.transmissionCompletedEnabled = TRUE;
g_mcmcan22.canNodeConfig.interruptConfig.traco.priority = ISR_PRIORITY_CAN22_TX;
g_mcmcan22.canNodeConfig.interruptConfig.traco.interruptLine = IfxCan_InterruptLine_4;
g_mcmcan22.canNodeConfig.interruptConfig.traco.typeOfService = CAN22_TOS;
//receive interrupt
g_mcmcan22.canNodeConfig.interruptConfig.rxFifo0NewMessageEnabled = TRUE;
g_mcmcan22.canNodeConfig.interruptConfig.rxf0n.priority = ISR_PRIORITY_CAN22_RX;
g_mcmcan22.canNodeConfig.interruptConfig.rxf0n.interruptLine = IfxCan_InterruptLine_5;
g_mcmcan22.canNodeConfig.interruptConfig.rxf0n.typeOfService = CAN22_TOS;
//bus-off interrupt
g_mcmcan22.canNodeConfig.interruptConfig.busOffStatusEnabled = TRUE;
g_mcmcan22.canNodeConfig.interruptConfig.boff.priority = ISR_PRIORITY_CAN22_BUSOFF;
g_mcmcan22.canNodeConfig.interruptConfig.boff.interruptLine = IfxCan_InterruptLine_10;
g_mcmcan22.canNodeConfig.interruptConfig.boff.typeOfService = CAN22_TOS;
//clock: 80M
g_mcmcan22.canNodeConfig.baudRate.baudrate = 500000;
g_mcmcan22.canNodeConfig.baudRate.samplePoint = 10000*0.8;
g_mcmcan22.canNodeConfig.baudRate.syncJumpWidth = 2000;
g_mcmcan22.canNodeConfig.fastBaudRate.baudrate = 2000000;
g_mcmcan22.canNodeConfig.fastBaudRate.samplePoint = 10000*0.75;
g_mcmcan22.canNodeConfig.fastBaudRate.syncJumpWidth = 2500;
g_mcmcan22.canNodeConfig.fastBaudRate.tranceiverDelayOffset = 28;
g_mcmcan22.canNodeConfig.calculateBitTimingValues = TRUE;
IFX_CONST IfxCan_Can_Pins can22_pins = {
&IfxCan_TXD22_P22_8_OUT, IfxPort_OutputMode_pushPull,
&IfxCan_RXD22E_P22_9_IN, IfxPort_InputMode_pullUp,
IfxPort_PadDriver_cmosAutomotiveSpeed4
};
g_mcmcan22.canNodeConfig.pins = &can22_pins;
IfxCan_Can_initNode(&g_mcmcan22.canNode, &g_mcmcan22.canNodeConfig);
//std filter 0
g_mcmcan22.canFilter.number = 0;
g_mcmcan22.canFilter.elementConfiguration = IfxCan_FilterElementConfiguration_storeInRxFifo0;
g_mcmcan22.canFilter.type = IfxCan_FilterType_classic;
g_mcmcan22.canFilter.id1 = 0;
g_mcmcan22.canFilter.id2 = 0;
g_mcmcan22.canFilter.rxBufferOffset = IfxCan_RxBufferId_0; //maybe need change
IfxCan_Can_setStandardFilter(&(g_mcmcan22.canNode), &(g_mcmcan22.canFilter));
g_mcmcan22.canFilter.number = 0;
g_mcmcan22.canFilter.elementConfiguration = IfxCan_FilterElementConfiguration_storeInRxFifo0;
g_mcmcan22.canFilter.type = IfxCan_FilterType_classic;
g_mcmcan22.canFilter.id1 = 0;
g_mcmcan22.canFilter.id2 = 0;
g_mcmcan22.canFilter.rxBufferOffset = IfxCan_RxBufferId_0;
IfxCan_Can_setExtendedFilter(&(g_mcmcan22.canNode), &(g_mcmcan22.canFilter));
g_mcmcan22.rxMsg.readFromRxFifo0 = TRUE;
}
Bus-Off中断处理
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, 初始化开启了Bus-Off中断, 发生Bus-Off时, 直接在中断中初始化节点:
IFX_INTERRUPT(can22IsrBusOffHandler, 0, ISR_PRIORITY_CAN22_BUSOFF);
void can22IsrBusOffHandler(void)
{
IfxCan_Node_clearInterruptFlag(g_mcmcan22.canNode.node, IfxCan_Interrupt_busOffStatus);
init_can22_fd();
}
发送函数
开启了ESI和BRS.
uint8 can22_send_fd(uint32 messageId, IfxCan_DataLengthCode lengthCode, uint32 t_data[])
{
static uint8 i;
// {0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64};
//static uint8 dlc2len[] ={1,1,1,1,1,2,2,2,2,3, 4, 5, 6, 8, 12,16};
IfxCan_Can_initMessage(&g_mcmcan22.txMsg);
//g_mcmcan22.txMsg.bufferNumber = 0;
g_mcmcan22.txMsg.messageId = messageId;
if(messageId < 0x800) {
g_mcmcan22.txMsg.messageIdLength=IfxCan_MessageIdLength_standard;
} else {
g_mcmcan22.txMsg.messageIdLength=IfxCan_MessageIdLength_extended;
}
g_mcmcan22.txMsg.errorStateIndicator = TRUE;
g_mcmcan22.txMsg.dataLengthCode = lengthCode;
g_mcmcan22.txMsg.frameMode = IfxCan_FrameMode_fdLongAndFast; //FDF=1, BRS=1
g_mcmcan22.txMsg.storeInTxFifoQueue = TRUE;
//for(i = 0; i < dlc2len(lengthCode); i++) {
for(i = 0; i < IfxCan_Node_getDataLength(lengthCode); i++) {
g_mcmcan22.txData[i] = t_data[i];
}
if(IfxCan_Status_notSentBusy ==
IfxCan_Can_sendMessage(&g_mcmcan22.canNode, &g_mcmcan22.txMsg, &g_mcmcan22.txData[0]))
{
return 1; //not send
}
return 0; //send success
}
如果不习惯word数组的方式发送, 可以用byte数组拼凑:
uint32 t_data[64];
g_mcmcan22.txData[0] = (t_data[3]<<24) | (t_data[2]<<16) | (t_data[1]<<8) | t_data[0];
g_mcmcan22.txData[1] = (t_data[7]<<24) | (t_data[6]<<16) | (t_data[5]<<8) | t_data[4];
g_mcmcan22.txData[2] = ...
...
接收中断处理
初始化中滤波器设置了全接收到RxFIFO0, 开启了RxFIFO0新消息中断, 这里中断中第 0 word加1后, 返回:
IFX_INTERRUPT(can22IsrRxHandler, 0, ISR_PRIORITY_CAN22_RX);
void can22IsrRxHandler(void)
{
IfxCan_Node_clearInterruptFlag(g_mcmcan22.canNode.node, IfxCan_Interrupt_rxFifo0NewMessage);
//IfxCan_Node_clearRxBufferNewDataFlag(g_mcmcan22.canNode.node, g_mcmcan22.canFilter.rxBufferOffset);
IfxCan_Can_readMessage(&g_mcmcan22.canNode, &g_mcmcan22.rxMsg, g_mcmcan22.rxData);
++g_mcmcan22.rxData[0];
can22_send_fd(g_mcmcan22.rxMsg.messageId, g_mcmcan22.rxMsg.dataLengthCode, g_mcmcan22.rxData);
}
测试
每10ms发送20帧, 发送1000次共20000帧:
void core0_main(void)
{
...
uint32 t_data1[16] = {0x0, 0x9ABCDEF0,
0x12345678, 0x9ABCDEF0,
0x12345678, 0x9ABCDEF0,
0x12345678, 0x9ABCDEF0,
0x12345678, 0x9ABCDEF0,
0x12345678, 0x9ABCDEF0,
0x12345678, 0x9ABCDEF0,
0x12345678, 0x98765430};
while(1)
{
if(time_flag && t_data1[0]<1000) {
time_flag = 0;
++t_data1[0];
can22_send_fd(0x110, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x109, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x108, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x107, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x106, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x105, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x104, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x103, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x102, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x101, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x12345679, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x12345678, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x12345677, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x12345676, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x12345675, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x12345674, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x12345673, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x12345672, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x12345671, IfxCan_DataLengthCode_64, t_data1);
can22_send_fd(0x12345670, IfxCan_DataLengthCode_64, t_data1);
//will lost
//can22_send_fd(0x12345671, t_data1);
}
}
}
把TC397的的CAN22连到Xavier的CAN0上, Xavier CAN0设置:
#!/bin/sh
sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan
sudo ip link set down can0
sudo ip link set can0 type can bitrate 500000 sample-point 0.8 dbitrate 2000000 dsample-point 0.75 fd on restart-ms 100
sudo ip link set up can0
sudo ifconfig can0 txqueuelen 1000
Xavier也是仲裁段500Kbit/s, 采样点0.8, 数据段2Mbit/s, 采样点0.75.
restart-ms 100设置总线Bus-Off时, 100ms后重启.
设置完后查看设置状态 ip -details -statistics link show can0.
使用 candump -ta -x can0 >50.dat, 这里-ta显示绝对时间, 然后下载程序运行, 上面的20000帧数据全部存到50.dat文件中了, 共计20000行这里截取首尾部分显示:
(1614240518.371442) can0 RX B E 110 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.371720) can0 RX B E 109 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.372054) can0 RX B E 108 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.372375) can0 RX B E 107 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.372724) can0 RX B E 106 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.373140) can0 RX B E 105 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.373401) can0 RX B E 104 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.373743) can0 RX B E 103 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.374080) can0 RX B E 102 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.374469) can0 RX B E 101 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.374806) can0 RX B E 12345679 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.375181) can0 RX B E 12345678 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.375562) can0 RX B E 12345677 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.375943) can0 RX B E 12345676 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.376318) can0 RX B E 12345675 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.376696) can0 RX B E 12345674 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.377076) can0 RX B E 12345673 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.377457) can0 RX B E 12345672 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.377831) can0 RX B E 12345671 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.378210) can0 RX B E 12345670 [64] 01 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.381356) can0 RX B E 110 [64] 02 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240518.381692) can0 RX B E 109 [64] 02 00 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
...
(1614240528.360043) can0 RX B E 12345670 [64] E7 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.363191) can0 RX B E 110 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.363530) can0 RX B E 109 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.363872) can0 RX B E 108 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.364214) can0 RX B E 107 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.364589) can0 RX B E 106 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.364922) can0 RX B E 105 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.365249) can0 RX B E 104 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.365582) can0 RX B E 103 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.365922) can0 RX B E 102 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.366264) can0 RX B E 101 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.366642) can0 RX B E 12345679 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.367020) can0 RX B E 12345678 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.367398) can0 RX B E 12345677 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.367776) can0 RX B E 12345676 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.368154) can0 RX B E 12345675 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.368532) can0 RX B E 12345674 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.368909) can0 RX B E 12345673 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.369289) can0 RX B E 12345672 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.369666) can0 RX B E 12345671 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
(1614240528.370065) can0 RX B E 12345670 [64] E8 03 00 00 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 F0 DE BC 9A 78 56 34 12 30 54 76 98
Xavier发送脚本, ##后面的3表示开启BRS和ESI:
#!/bin/sh
while true; do
cansend can0 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
cansend can0 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
cansend can0 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
cansend can0 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
cansend can0 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
cansend can0 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
cansend can0 123##3.00.02
cansend can0 123##1.00.00
sleep 1
done
运行后查看接收:
$ candump -ta -x can0
(1614241024.270962) can0 TX B E 18FF0001 [64] 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
(1614241024.271395) can0 RX B E 18FF0001 [64] 02 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
(1614241024.273719) can0 TX B E 18FF0002 [64] 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
(1614241024.274188) can0 RX B E 18FF0002 [64] 02 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
(1614241024.276424) can0 TX B E 18FF0003 [64] 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
(1614241024.276864) can0 RX B E 18FF0003 [64] 02 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
(1614241024.280558) can0 TX B E 18FF0004 [64] 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
(1614241024.281040) can0 RX B E 18FF0004 [64] 02 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
(1614241024.286257) can0 TX B E 18FF0005 [64] 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
(1614241024.286719) can0 RX B E 18FF0005 [64] 02 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
(1614241024.289169) can0 TX B E 18FF0006 [64] 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
(1614241024.289623) can0 RX B E 18FF0006 [64] 02 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
(1614241024.291607) can0 TX B E 123 [02] 00 02
(1614241024.291688) can0 RX B E 123 [02] 01 02
(1614241024.293145) can0 TX B - 123 [02] 00 00
(1614241024.293243) can0 RX B E 123 [02] 01 00
收到后立即返回.
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