FPGA Zynq MPSOC ZU5EV 下CAN 应用编程
声明:本文是学习赛灵思 Zynq UltraScale+ MPSoC 5EV过程中写的笔记,便于以后复习,参考《 ug1144-petalinux-tools-reference-guide》、黑金Zynq UltraScale+ MPSoC 5EV开发板资料、正点原子Linux C应用编程。
目录
1、CAN设备配置
1.1、使用ifconfig -a
命令查看CAN
驱动是否加载成功
1.2、配置开启CAN及配置波特率
sudo ip link set can4 down // 先关闭CAN4 再设备波特率
sudo ip link set can4 type can bitrate 500000 // 设置波特率为500000
ip -details link show can4 // 查看 can4配置信息
sudo ip link set can4 up // 开启 can4
2、SocketCan应用编程基础知识
2.1、创建socket
套接字
CAN
总线套接字采用标准的网络套接字操作完成,网络套接字在头文件<sys/socket.h>
中有定义。创建CAN
套接字方式如下:
int s = -1;
/* 创建套接字 */
s = socket(PF_CAN,SOCK_RAW,CAN_RAW);
if(0 > s)
{
perror("socket error");
exit(EXIT_FAILURE);
}
2.2、将套接字与CAN
设备进行绑定
struct ifreq ifr = {0};
struct sockaddr_can can_addr = {0};
int ret;
strcpy(ifr.ifr_name,"can0");//指定名字
//灵活设置CAN口
sprintf(ifr.ifr_name,"can%d",1);
ioctl(s,SIOCGIFINDEX,&ifr);
can_addr.can_family = AF_CAN;
can_addr.can_ifindex = ifr.ifr_ifindex;
/* 将套接字与 can0 进行绑定 */
ret = bind(s,(struct sockaddr *)&can_addr,sizeof(can_addr));
if(0 > ret)
{
perror("bind error");
close(s);
exit(EXIT_FAILURE);
}
2.3、设置过滤规则
struct can_filter rfilter[2]; // 定义一个can_filter 结构体对象
// 填充过滤规则,只接收ID为(can_id&can_mask)的报文
rfilter[0].can_id = 0x60A;
rfilter[0].can_mask = 0x7FF;
rfilter[1].can_id = 0x60B;
rfilter[1].can_mask = 0x7FF;
// 调用 setsockopt 设置过滤规则
setsockopt(s,SOL_CAN_RAW,CAN_RAW_FILTER,&rfilter,sizeof(rfilter));
如果应用程序功能仅是发送数据,则可省去接收队列,setsockopt()函数的第4个参数设为NULL
,第五个参数设置为0:
setsockopt(s,SOL_CAN_RAW,CAN_RAW_FILTER,NULL,0);
2.4、数据发送
CAN
总线每一次通信使用struct can_frame
结构体将数据封装成帧,struct can_frame
定义如下:
struct can_frame {
canid_t can_id; /* CAN 标识符 */
__u8 can_dlc; /* 数据长度(最长为 8 个字节) */
__u8 __pad; /* padding */
__u8 __res0; /* reserved / padding */
__u8 __res1; /* reserved / padding */
__u8 data[8]; /* 数据 */
};
can_id
为帧的标识符,如果是标准帧,就使用 can_id
的低 11 位;如果为扩展帧,就使用 0~28 位。can_id
的第 29、30、31 位是帧的标志位,用来定义帧的类型,定义如下:
#define CAN_EFF_FLAG 0x80000000U /* 扩展帧的标识 */
#define CAN_RTR_FLAG 0x40000000U /* 远程帧的标识 */
#define CAN_ERR_FLAG 0x20000000U /* 错误帧的标识,用于错误检查 */
/* mask */
#define CAN_SFF_MASK 0x000007FFU /* <can_id & CAN_SFF_MASK>获取标准帧 ID */
#define CAN_EFF_MASK 0x1FFFFFFFU /* <can_id & CAN_EFF_MASK>获取标准帧 ID */
#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
数据发送使用write()
函数实现,发送报文ID为0x123
,数据为:0xA0、0xB0、0xC0
;定义如下:
struct can_frame frame; //定义一个 can_frame 变量
int ret;
frame.can_id = 123;//如果为扩展帧,那么 frame.can_id = CAN_EFF_FLAG | 123;
frame.can_dlc = 3; //数据长度为 3
frame.data[0] = 0xA0; //数据内容为 0xA0
frame.data[1] = 0xB0; //数据内容为 0xB0
frame.data[2] = 0xC0; //数据内容为 0xC0
ret = write(sockfd, &frame, sizeof(frame)); //发送数据
if(sizeof(frame) != ret) //如果 ret 不等于帧长度,就说明发送失败
perror("write error");
要发送远程帧(帧 ID 为 123),可采用如下方法进行发送:
struct can_frame frame;
frame.can_id = CAN_RTR_FLAG | 123;
write(sockfd, &frame, sizeof(frame));
2.5、数据接收
使用read()
函数实现:
struct can_frame frame;
int ret = read(sockfd, &frame, sizeof(frame));
3、FPGA Zynq MPSOC CAN 发送数据
3.1、can_send.c
–CAN
发送数据具体实现如下:
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <linux/fs.h>
#include <sys/types.h>
#include <sys/ioctl.h>
#include <stdbool.h>
int s;
int main(int argc, char *argv[])
{
int cannum = atoi(argv[1]);
char buf[60];
sprintf(buf,"ifconfig can%d down",cannum);// 关闭CAN
system(buf);
sprintf(buf,"ip link set can%d type can bitrate 500000",cannum);// 设置CAN 波特率500000
system(buf);
sprintf(buf,"ifconfig can%d up",cannum);//开启CAN
system(buf);
struct can_frame frame1[2] = {{0}};
struct sockaddr_can addr;
struct ifreq ifr;
s = socket(PF_CAN, SOCK_RAW, CAN_RAW); //创建套接字
if(0 > s)
{
perror("socket error");
exit(EXIT_FAILURE);
}
sprintf(ifr.ifr_name, "can%d",cannum);
ioctl(s, SIOCGIFINDEX, &ifr); //指定can设备--can0 can1...
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
int ret = bind(s, (struct sockaddr *)&addr, sizeof(addr)); //将套接字与can%d 绑定
if(0 > ret)
{
perror("bind error");
close(s);
exit(EXIT_FAILURE);
}
//待发送的数据
struct can_frame frame = {0};
frame.data[0] = 0xA0;
frame.data[1] = 0xB0;
frame.data[2] = 0xC0;
frame.data[3] = 0xD0;
frame.data[4] = 0xE0;
frame.data[5] = 0xF0;
frame.can_dlc = 6; // 数据字节数
frame.can_id = 0x123; // 报文ID
//设置过滤规则: 仅发送数据 不接收报文*/
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &frame, sizeof(frame));
for(;;)
{
//发送数据
ret = write(s,&frame,sizeof(frame));
if(sizeof(frame) != ret) //如果ret不等于报文长度 说明发送失败
{
perror("write error");
goto out;
}
sleep(1); //发送时延 1s发一次
}
out:
close(s);
exit(EXIT_SUCCESS);
return 0;
}
3.2、使用aarch64-linux-gnu-gcc
交叉编译器编译程序
aarch64-linux-gnu-gcc -o can_send can_send.c
如果没有ARM
交叉编译环境,则使用如下命令安装:
sudo apt-get install gcc-9-aarch64-linux-gnu
sudo apt-get install gcc-aarch64-linux-gnu
查看aarch64-linux-gnu-gcc
版本号
aarch64-linux-gnu-gcc -v
3.3、将生成的可执行文件can_send 拷贝到
/home/root/目录下;使用如下命令运行
can_send`
./can_updata 4 // 4是对应的CAN 设备号 MPSOC 5EV 可以引出多路CAN
3.4、把CAN
卡CAN_H
接 MPSOC 5EV CAN4_H
;CAN
卡 CAN_L
接 MPSOC 5EV CAN4_L
;
3.5、设置CAN卡参数,打开对应通道,启用终端电阻;
CAN卡会收到FPGA MPSOC 5EV 发送过来的如下报文
4、FPGA Zynq MPSOC CAN 接收数据
4.1、can_read.c
–CAN
接收数据源码
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>
int main(int argc, char *argv[])
{
int cannum = atoi(argv[1]);
char buf[60];
sprintf(buf,"ifconfig can%d down",cannum);// 关闭CAN
system(buf);
sprintf(buf,"ip link set can%d type can bitrate 500000",cannum);// 设置CAN 波特率500000
system(buf);
sprintf(buf,"ifconfig can%d up",cannum);//开启CAN
system(buf);
struct ifreq ifr = {0};
struct sockaddr_can can_addr = {0};
struct can_frame frame = {0};
int sockfd = -1;
int i;
int ret;
sockfd = socket(PF_CAN,SOCK_RAW,CAN_RAW);
if(0 > sockfd)
{
perror("socket error");
exit(EXIT_FAILURE);
}
sprintf(ifr.ifr_name, "can%d",cannum);
//strcpy(ifr.ifr_name, "can4");
ioctl(sockfd, SIOCGIFINDEX, &ifr); //指定can设备--can0 can1...
can_addr.can_family = AF_CAN;
can_addr.can_ifindex = ifr.ifr_ifindex;
ret = bind(sockfd, (struct sockaddr *)&can_addr, sizeof(can_addr)); //将套接字与can%d 绑定
if(0 > ret)
{
perror("bind error");
close(sockfd);
exit(EXIT_FAILURE);
}
for(;;)
{
if(0 > read(sockfd,&frame,sizeof(struct can_frame)))
{
perror("read error");
break;
}
if(frame.can_id & CAN_ERR_FLAG)
{
printf("Error frame!\n");
break;
}
if(frame.can_id & CAN_EFF_FLAG)
{
printf("扩展帧 <0x%08x>",frame.can_id & CAN_EFF_MASK);
}
else
{
printf("标准帧 <0x%03x>",frame.can_id & CAN_SFF_MASK);
}
if(frame.can_id & CAN_RTR_FLAG)
{
printf("remote request\n");
continue;
}
printf("[%d]",frame.can_dlc);
for(int i = 0; i < frame.can_dlc; i++)
{
printf("%02x",frame.data[i]);
}
printf("\n");
}
close(sockfd);
exit(EXIT_SUCCESS);
}
使用aarch64-linux-gnu-gcc
交叉编译器编译程序
aarch64-linux-gnu-gcc -o can_read can_read.c
将生成的可执行文件can_read
拷贝到/home/root/
目录下;使用如下命令运行can_read
Welcome to follow my weixingongzhonghao "Kevin的学习站"