前景提要
CANFD基础知识可参考前篇:
本篇用起来, 连接关系如下:
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.
STM32工程搭建
STM32CubeMX配置步骤如下:
-
MCU选择: 打开
STM32CubeMX, 点击ACCESS TO MCU SELECTOR, 选择STM32G474VETx -
调试端口配置为SWD:
Pinout & Configuration->System Core->SYS->Debug选择Serial Wire -
Pinout & Configuration->System Core->RCC->HSE选择Crystal/Ceramic Resonator -
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):
-
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:
-
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:
-
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:
-
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:
-
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. -
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 -
点击右上角
GENERATE CODE按钮生成代码, 点击Open Project按钮打开工程.
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:
Flash Download选项卡 -> 勾选Reset and Run, 这样下载后可以自动复位运行.Pack选项卡, 去掉默认的Enable勾选
到此配置结束. 下面是手动添加的代码详解
串口配置
为 LPUART1 添加printf支持:
#include <stdio.h>
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&hlpuart1, (uint8_t *)&ch, 1, 0xFFFF);
return ch;
}
100us定时器
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.
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim6); //Starts the TIM Base generation in interrupt mode.
/* USER CODE END 2 */
uint8_t tim6_flag = 0;
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if(htim->Instance == TIM6) {
tim6_flag = 1;
}
}
FDCAN配置
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.
FDCAN_FilterTypeDef sFilterConfig1;
void fdcan1_config(void)
{
sFilterConfig1.IdType = FDCAN_STANDARD_ID;
sFilterConfig1.FilterIndex = 0;
sFilterConfig1.FilterType = FDCAN_FILTER_RANGE;
sFilterConfig1.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig1.FilterID1 = 0x00;
sFilterConfig1.FilterID2 = 0x7FF;
if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig1) != HAL_OK)
{
Error_Handler();
}
sFilterConfig1.IdType = FDCAN_EXTENDED_ID;
sFilterConfig1.FilterIndex = 0;
sFilterConfig1.FilterType = FDCAN_FILTER_RANGE;
sFilterConfig1.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig1.FilterID1 = 0x00;
sFilterConfig1.FilterID2 = 0x1FFFFFFF;
if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig1) != HAL_OK)
{
Error_Handler();
}
/* Configure global filter on both FDCAN instances:
Filter all remote frames with STD and EXT ID
Reject non matching frames with STD ID and EXT ID */
if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK)
{
Error_Handler();
}
/* Activate Rx FIFO 0 new message notification on both FDCAN instances */
if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
{
Error_Handler();
}
if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_BUS_OFF, 0) != HAL_OK)
{
Error_Handler();
}
/* Configure and enable Tx Delay Compensation, required for BRS mode.
TdcOffset default recommended value: DataTimeSeg1 * DataPrescaler
TdcFilter default recommended value: 0 */
HAL_FDCAN_ConfigTxDelayCompensation(&hfdcan1, hfdcan1.Init.DataPrescaler * hfdcan1.Init.DataTimeSeg1, 0);
HAL_FDCAN_EnableTxDelayCompensation(&hfdcan1);
HAL_FDCAN_Start(&hfdcan1);
}
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:
sFilterConfig1.FilterType = FDCAN_FILTER_MASK;
sFilterConfig1.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig1.FilterID1 = 0;
sFilterConfig1.FilterID2 = 0;
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.
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:
#define SRAMCAN_FLE_NBR ( 8U) /* Max. Filter List Extended Number */
FDCAN2, FDCAN3的配置和FDCAN1类似.
Bus-Off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, 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:
void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
{
//__HAL_FDCAN_CLEAR_FLAG(hfdcan, FDCAN_FLAG_BUS_OFF);
if(hfdcan->Instance == FDCAN1) {
MX_FDCAN1_Init();
fdcan1_config();
} else if(hfdcan->Instance == FDCAN2) {
MX_FDCAN2_Init();
fdcan2_config();
} else if(hfdcan->Instance == FDCAN3) {
MX_FDCAN3_Init();
fdcan3_config();
} else {
}
}
新消息接收处理
直接把接收的消息通过2M波特率的串口打印出来.
FDCAN_RxHeaderTypeDef RxHeader1;
FDCAN_RxHeaderTypeDef RxHeader2;
FDCAN_RxHeaderTypeDef RxHeader3;
//RxHeader1.DataLength => can_dlc
//0x00000 => 0
//0x10000 => 1
//0x20000 => 2
//0x30000 => 3
//0x40000 => 4
//0x50000 => 5
//0x60000 => 6
//0x70000 => 7
//0x80000 => 8
//0x90000 => 12
//0xA0000 => 16
//0xB0000 => 20
//0xC0000 => 24
//0xD0000 => 32
//0xE0000 => 48
//0xF0000 => 64
uint8_t dlc2len[]={0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64};
uint8_t can_dlc2len(uint32_t RxHeader_DataLength)
{
return dlc2len[RxHeader_DataLength>>16];
}
uint8_t cnt = 0;
uint8_t brs[] = {'-', 'B'};
uint8_t esi[] = {'-', 'E'};
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != 0) {
//HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader2, RxData2);
//RxHeader2.Identifier++;
//fdcan2_transmit(RxHeader2.Identifier, RxData2);
//HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader1, RxData1);
//memset(&RxHeader1, 0, sizeof(FDCAN_RxHeaderTypeDef));
HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader1, RxData1);
if (hfdcan->Instance == FDCAN1) {
printf("fdcan1, ");
} else if (hfdcan->Instance == FDCAN2) {
printf("fdcan2, ");
} else if (hfdcan->Instance == FDCAN3) {
printf("fdcan3, ");
}
printf("0x%8X, %02d, %c, %c:",RxHeader1.Identifier,
can_dlc2len(RxHeader1.DataLength),
brs[RxHeader1.BitRateSwitch>>20 & 0x1],
esi[RxHeader1.ErrorStateIndicator>>31 & 0x1]);
for(cnt = 0; cnt < can_dlc2len(RxHeader1.DataLength); cnt++) {
printf(" %02X", RxData1[cnt]);
}
printf("\n\r");
//if (hfdcan->Instance == FDCAN1) {
// HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader1, RxData1);
// //echo
// RxHeader1.Identifier++;
// fdcan1_transmit(RxHeader1.Identifier, RxHeader1.DataLength, RxData1);
//} else if(hfdcan->Instance == FDCAN2) {
// HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader2, RxData2);
// //echo
// RxHeader2.Identifier++;
// fdcan2_transmit(RxHeader2.Identifier, RxHeader2.DataLength, RxData2);
//} else if(hfdcan->Instance == FDCAN3) {
// HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader3, RxData3);
// //echo
// RxHeader3.Identifier++;
// fdcan3_transmit(RxHeader3.Identifier, RxHeader3.DataLength, RxData3);
//} else {
//
//}
}
}
注意注释中 RxHeader.DataLength => can_dlc 的对应关系.
示例如图:
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.
printf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.
发送处理
发送开启了BRS和ESI, 如果发送失败, 就延时100us后重发一次.
#include <string.h>
FDCAN_TxHeaderTypeDef TxHeader1;
FDCAN_TxHeaderTypeDef TxHeader2;
FDCAN_TxHeaderTypeDef TxHeader3;
typedef struct {
uint8_t flag;
FDCAN_TxHeaderTypeDef TxHeader;
uint8_t TxData[64];
} FDCAN_SendFailTypeDef;
FDCAN_SendFailTypeDef fdcan1_send_fail = {0};
FDCAN_SendFailTypeDef fdcan2_send_fail = {0};
FDCAN_SendFailTypeDef fdcan3_send_fail = {0};
void fdcan1_transmit(uint32_t can_id, uint32_t DataLength, uint8_t tx_data[])
{
TxHeader1.Identifier = can_id;
TxHeader1.IdType = FDCAN_EXTENDED_ID;
if(can_id < 0x800) { //exactly not right
TxHeader1.IdType = FDCAN_STANDARD_ID;
}
TxHeader1.TxFrameType = FDCAN_DATA_FRAME;
TxHeader1.DataLength = DataLength;
TxHeader1.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
TxHeader1.BitRateSwitch = FDCAN_BRS_ON;
TxHeader1.FDFormat = FDCAN_FD_CAN;
TxHeader1.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
TxHeader1.MessageMarker = 0; //marker++; //Tx Event FIFO Use
if(HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader1, tx_data) != HAL_OK) {
fdcan1_send_fail.flag = 1;
memcpy(&fdcan1_send_fail.TxHeader, &TxHeader1, sizeof(FDCAN_TxHeaderTypeDef));
memcpy(fdcan1_send_fail.TxData, tx_data, can_dlc2len(DataLength));
}
}
int main(void)
{
...
/* USER CODE BEGIN 2 */
fdcan1_config();
fdcan2_config();
fdcan3_config();
for(uint8_t i = 0; i < 64; i++) {
TxData1[i] = i;
TxData2[i] = i;
TxData3[i] = i;
}
HAL_TIM_Base_Start_IT(&htim6);
uint32_t count = 0;
uint32_t cnt_100us = 0;
uint32_t cnt_500us = 0;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
if(tim6_flag && count < 1000) {
tim6_flag = 0;
TxData1[0] = count >> 8 & 0xFF;
TxData1[1] = count & 0xFF;
++cnt_100us;
cnt_500us = cnt_100us / 5;
if(cnt_500us && (cnt_100us%5==0) ) {
switch(cnt_500us) {
case 1: fdcan1_transmit(0x123, FDCAN_DLC_BYTES_64, TxData1);
fdcan1_transmit(0x124, FDCAN_DLC_BYTES_64, TxData1);
fdcan1_transmit(0x125, FDCAN_DLC_BYTES_64, TxData1); break;
case 4: fdcan1_transmit(0x12345678, FDCAN_DLC_BYTES_64, TxData1); break;
case 5: fdcan1_transmit(0x12345679, FDCAN_DLC_BYTES_64, TxData1); break;
case 6: fdcan1_transmit(0x1234567A, FDCAN_DLC_BYTES_64, TxData1); break;
case 7: /* next send */ break;
case 8: break;
case 20: ++count; cnt_100us = 0; break; //10ms
}
} else { //fail retransmission once
if(fdcan1_send_fail.flag) {
fdcan1_transmit(fdcan1_send_fail.TxHeader.Identifier,
fdcan1_send_fail.TxHeader.DataLength,
fdcan1_send_fail.TxData);
fdcan1_send_fail.flag = 0;
}
if(fdcan2_send_fail.flag) {
fdcan2_transmit(fdcan2_send_fail.TxHeader.Identifier,
fdcan2_send_fail.TxHeader.DataLength,
fdcan2_send_fail.TxData);
fdcan2_send_fail.flag = 0;
}
if(fdcan3_send_fail.flag) {
fdcan3_transmit(fdcan3_send_fail.TxHeader.Identifier,
fdcan3_send_fail.TxHeader.DataLength,
fdcan3_send_fail.TxData);
fdcan3_send_fail.flag = 0;
}
}
}
}
/* USER CODE END 3 */
}
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.
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.
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.
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.
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.
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.
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.
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.
使用Xavier配合测试一下
把STM32的FDCAN1连到Xavier的CAN1上, Xavier CAN1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
sudo ip link set down can1
sudo ip link set can1 type can bitrate 500000 sample-point 0.8 dbitrate 2000000 dsample-point 0.75 fd on restart-ms 100
sudo ip link set up can1
sudo ifconfig can1 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 can1:
$ ip -details -statistics link show can1
6: can1: <NOARP,UP,LOWER_UP,ECHO> mtu 72 qdisc pfifo_fast state UNKNOWN mode DEFAULT group default qlen 1000
link/can promiscuity 0
can <FD> state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 100
bitrate 498701 sample-point 0.792
tq 26 prop-seg 30 phase-seg1 30 phase-seg2 16 sjw 1
mttcan: tseg1 2..255 tseg2 0..127 sjw 1..127 brp 1..511 brp-inc 1
dbitrate 2021052 dsample-point 0.736
dtq 26 dprop-seg 6 dphase-seg1 7 dphase-seg2 5 dsjw 1
mttcan: dtseg1 1..31 dtseg2 0..15 dsjw 1..15 dbrp 1..15 dbrp-inc 1
clock 38400000
re-started bus-errors arbit-lost error-warn error-pass bus-off
0 0 0 13 20 0 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535
RX: bytes packets errors dropped overrun mcast
64578440 1013451 0 0 0 0
TX: bytes packets errors dropped carrier collsns
952448 15914 0 0 0 0
位速率和采样点的些许误差测试并无影响.
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:
(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
(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 3F
(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
(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
(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
(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
(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
(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
...
(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
(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
(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
(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
(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
(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
(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
(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
(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
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.
Xavier发送脚本, ##后面的3表示开启BRS和ESI:
#!/bin/sh
while true; do
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
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
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
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
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
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
sleep 0.01
done
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.
完整工程下载
https://download.csdn.net/download/weifengdq/15421717
某些参数的详细中文注释也可以参考这一篇: STM32H7的FDCAN
关于用作Classic CAN
可参考之前的文章 STM32CubeMX_CAN_CAN3_FDCAN.
核心思想是:
Mode设置为Classic Master或者Classic Slave, 而不是FD- 仲裁段和数据段的通信速率都设置为500Kbit/s
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