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最新推荐文章于 2024-07-20 22:19:40 发布

m0_66033234

最新推荐文章于 2024-07-20 22:19:40 发布

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文章标签：算法

本文链接：https://blog.csdn.net/m0_66033234/article/details/138283849

版权


#include <stdio.h>
#include <stdlib.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "esp_err.h"
#include "esp_log.h"
#include "driver/twai.h"
#include "esp_rom_sys.h"

static char *TAG = "Can";

#include "esp_timer.h"
//延时函数
void delay(int count)
{
	int i;
	for(i=1;i<=count;i++)
	;
}

static const twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(48, 47, TWAI_MODE_NORMAL);
static const twai_timing_config_t t_config = TWAI_TIMING_CONFIG_5KBITS();
static const twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();

void CANSendData(uint8_t *buff, uint8_t len)
{
    twai_message_t message;
    message.identifier = 0x0101;
    message.extd = 1;
    if (len > 8)
    {
        len = 8;
    }
    message.data_length_code = len;
    for (int i = 0; i < len; i++)
    {
        message.data[i] = buff[i];
    }
    
    // Queue message for transmission
    esp_err_t reti=twai_transmit(&message, pdMS_TO_TICKS(1000));
    if (reti==ESP_OK){
    //    ShowLog(TAG,"Send to Can",(char *)message.data,message.data_length_code,1);
        printf("sucess");
    }else{
        ESP_LOGI(TAG, "Send to Can Error:%d", reti);
    }
    
}

// void CANSendData(uint8_t *buff, uint8_t len)
// {
//     twai_message_t message;
//     message.identifier = 0x0101;
//     message.extd = 0;
//     if (len > 8)
//     {
//         len = 8;
//     }
//     message.data_length_code = len;
//     for (int i = 0; i < len; i++)
//     {
//         message.data[i] = buff[i];
//     }
    
//     esp_err_t reti=twai_transmit(&message, 1000);
//     if (reti==ESP_OK){
//         ESP_LOGI(TAG, "Send to Can ok:%d", reti);
//         // 传输完成后再次打印发送的数据
//         ESP_LOGI(TAG, "Data transmission completed. Sent data:");
//         for (int i = 0; i < len; i++)
//         {
//             ESP_LOGI(TAG, "Data[%d]: %02X", i, message.data[i]);
//         }
//     }else{
//         ESP_LOGI(TAG, "Send to Can Error:%d", reti);
//     }
// }
void CANREData(void){
    twai_message_t rmessage;
    if (twai_receive(&rmessage, 10000) == ESP_OK)
    {
        printf("re_secess");   
    }
    else{
        printf("re_unsecess");  

    } 
}
   
void Can_task(void *pvParameters)
{
    twai_message_t message;
    // uint8_t dat[8]={1,2,3,4,5,6,7,8};

    vTaskDelay(pdMS_TO_TICKS(1000));
    while (1)
    {
       vTaskDelay(pdMS_TO_TICKS(500));
    //    CANSendData(dat, 8);
       if (twai_receive(&message, pdMS_TO_TICKS(10000)) == ESP_OK)
        {
             for (int i = 0; i < 8; i++)
        {
            ESP_LOGI(TAG, "reData[%d]: %02X", i, message.data[i]);
        }

            //  ShowLog(TAG,"Read from Can",(char *)message.data,message.data_length_code,1);
         //   Deal_ZhuangData(message.identifier,message.data,message.data_length_code);
            if ((!message.extd) && (!message.rtr))
            {
                //ShowLog(TAG,"Read from Can",(char *)message.data,message.data_length_code,1);
            }
        } 
    }
    vTaskDelete(NULL);
}


void app_main(void)
{
    // Install TWAI driver
    if (twai_driver_install(&g_config, &t_config, &f_config) == ESP_OK)
    {
        printf("Driver installed\n");
    }
    else
    {
        printf("Failed to install driver\n");
        return;
    }

    // Start TWAI driver
    if (twai_start() == ESP_OK)
    {
        printf("Driver started\n");
    }
    else
    {
        printf("Failed to start driver\n");
        return;
    }
    xTaskCreate(Can_task, "ccTask", 4096, NULL, 8, NULL);
}

can串口随意发送：

结果如下：