Fire2
neoVI FIRE2 是英特佩斯(intrepidcs)的设备, 支持8路CANFD(最大1M@8M/10M), 2 组各 4 个共 8 个终端电阻可配置,每组同 时最大可开启 2 个终端电阻, 4路LIN, 1路百兆以太网等. 配合上位机Vehicle Spy, 做CCP, XCP, UDS, 数据记录回放等很方便, 功能还是蛮强大的, 当然价格也算感人, 这篇就来盘一下python和fire2的联动.
注意: 这个需要单独供电, 单纯USB带不动. 接口是DB26, 需要自己拿杜邦线插或者买DB26/DB25的单头线. 官方也没有送DB26转DB9的线, 用起来不是很方便.
8路CANFD的命名为:
- HSCAN或者叫HSCAN1
- MSCAN
- HSCAN2/3/4/5/6/7
本篇用到HSCAN和MSCAN, 均配置为500K@2M CANFD, 80%采样点, 开启终端电阻, 使用官方的neoVI Explorer软件配置, 以HSCAN配置为例:
MSCAN可以参考HSCAN来配置.
标准CAN用周立功CAN卡配合做验证, CANFD及后面的用Nvidia的Xavier来做验证.
Python环境搭建
在Win10下测试, 使用64位的python3.9.4, 先安装必要的支持:
- Intrepid Product Drivers, 这个是Fire2需要的驱动, 装过Vehicle Spy的就不用装了, 主要是
icsneo40.dll
这个在Win10的path下 pip install python-can
, 文档参考 python-can — python-can 3.3.4 documentationpip install python-ics
, 这个是IntrepidCS官方维护的, intrepidcs/python_ics: Library for interfacing with Intrepid devices in Python (github.com), 文档参考 python_ics — ics 904.18 documentation (python-ics.readthedocs.io)pip install filelock
, 这个是can.logger会用到的
打开设备
可以参考官方给的例程 open_device_example.py
, 这里删减一下:
import ics
def dev_name(device):
# Return a friendly name of the device (ie. neoVI FIRE2 CY1234)
if int("AA0000", 36) <= device.SerialNumber <= int("ZZZZZZ", 36):
return device.Name + " " + ics.base36enc(device.SerialNumber)
else:
return device.Name + " " + str(device.SerialNumber)
if __name__ == "__main__":
devices = ics.find_devices()
for device in devices:
print(device)
print(dev_name(device)) #neoVI FIRE2 CY1234
ics.open_device(device)
# the device will automatically close here
# because the device object is going out of
# scope.
print("Finished.")
其中:
- device.SerialNumber 是一长串数字, 需要用base36解码一下, 才能得到正常的设备编号CYxxxx这种形式
- 由于只有1个设备, 所以for其实只执行了一次
执行结果:
<ics.ics.NeoDevice neoVI FIRE2 CY1234>
neoVI FIRE2 CY1234
Finished.
发送报文
这里用Fire2的HSCAN这个通道发, 周立功USBCAN2收:
import ics
def open_device(index=0):
device = None
devices = ics.find_devices()
for device in devices:
print(device)
ics.open_device(device)
return device
def transmit_can(device, channel, stdorext, id, data, len):
msg = ics.SpyMessage()
msg.ArbIDOrHeader = id # CAN Arbitration ID
msg.Data = tuple(data[0:len]) # Data Bytes go here
msg.NetworkID = channel # channel of CAN on the device
if stdorext:
# msg.NumberBytesHeader = 4
msg.StatusBitField = ics.SPY_STATUS_XTD_FRAME
# msg parameter here can also be a tuple of messages
ics.transmit_messages(device, msg)
if __name__ == "__main__":
import time
dev = open_device(0)
txdata = [0,1,2,3,4,5,6,7] #list
for i in range(5):
transmit_can(dev, ics.NETID_HSCAN, 0, 0x123, txdata, 7)
transmit_can(dev, ics.NETID_HSCAN, 1, 0x123456AB, txdata, 8)
txdata[0] = txdata[0] + 1
time.sleep(0.1)
print("Finished.")
其中:
-
msg.data接收的数据为tuple类型, 不可改变元素, 所以这里有一个list强制转换成tuple, list的数据是可以改变的
-
channel在
icsnVC40.h
中定义如下, 所以ics.NETID_HSCAN和1是等价的, 发送写成transmit_can(dev, 1, 0x123, txdata)也是可以的:#define NETID_HSCAN 1 #define NETID_MSCAN 2 #define NETID_HSCAN2 42 #define NETID_HSCAN3 44 #define NETID_HSCAN4 61 #define NETID_HSCAN5 62 #define NETID_HSCAN6 96 #define NETID_HSCAN7 97
运行, 就在周立功上位机界面收到这10帧数据:
接收报文
承接上面的发送:
import ics
def open_device(index=0):
device = None
devices = ics.find_devices()
for device in devices:
print(device)
ics.open_device(device)
return device
def transmit_can(device, channel, stdorext, id, data, len):
msg = ics.SpyMessage()
msg.ArbIDOrHeader = id # CAN Arbitration ID
msg.Data = tuple(data[0:len]) # Data Bytes go here
msg.NetworkID = channel # channel of CAN on the device
if stdorext:
# msg.NumberBytesHeader = 4
msg.StatusBitField = ics.SPY_STATUS_XTD_FRAME
# msg parameter here can also be a tuple of messages
ics.transmit_messages(device, msg)
def receive_can(device):
msgs, error_count = ics.get_messages(device)
print("Received {} messages with {} errors.".format(len(msgs), error_count))
for i, m in enumerate(msgs):
if m.NetworkID != ics.NETID_HSCAN:
continue
print('Message #{}\t'.format(i+1), end='')
print('\tArbID: {}\tData: {}'.format(hex(m.ArbIDOrHeader), [hex(x) for x in m.Data]))
if __name__ == "__main__":
import time
dev = open_device(0)
txdata = [0,1,2,3,4,5,6,7] #list
for i in range(5):
transmit_can(dev, ics.NETID_HSCAN, 0, 0x123, txdata, 7)
txdata[0] = txdata[0] + 1
time.sleep(0.1)
# ics.get_messages(dev) # clear cache
time.sleep(1)
receive_can(dev) # display received messages
print("Finished.")
用周立功CAN每200ms发送0x12345678这一帧, 运行接收程序, 发现从open_device开始就在接收, 包括自己发送的:
如果不想受到以前报文的干扰, 可以在接收前先接收一次当作清除缓存:
ics.get_messages(dev) # clear cache
time.sleep(1)
receive_can(dev) # display received messages in 1s
这样运行起来就只展示这1ms内的报文:
CANFD发送接收
代码如下:
import ics
def open_device(index=0):
device = None
devices = ics.find_devices()
for device in devices:
print(device)
ics.open_device(device)
return device
def transmit_can(device, channel, stdorext, id, data, len):
msg = ics.SpyMessage()
msg.ArbIDOrHeader = id # CAN Arbitration ID
msg.Data = tuple(data[0:len]) # Data Bytes go here
msg.NetworkID = channel # channel of CAN on the device
if stdorext:
# msg.NumberBytesHeader = 4
msg.StatusBitField = ics.SPY_STATUS_XTD_FRAME
# msg parameter here can also be a tuple of messages
ics.transmit_messages(device, msg)
def transmit_canfd(device, channel, id, data, len):
msg = ics.SpyMessage()
msg.ArbIDOrHeader = id # CAN Arbitration ID
# msg.Data = tuple(data[0:len])
msg.NetworkID = channel # channel of CAN on the device
msg.Protocol = ics.SPY_PROTOCOL_CANFD
msg.StatusBitField = ics.SPY_STATUS_CANFD
msg.StatusBitField3 = ics.SPY_STATUS3_CANFD_BRS
msg.StatusBitField4 = ics.SPY_STATUS3_CANFD_ESI
msg.ExtraDataPtr = tuple(data[0:len]) # Data Bytes go here
ics.transmit_messages(device, msg)
def receive_can(device):
msgs, error_count = ics.get_messages(device)
print("Received {} messages with {} errors.".format(len(msgs), error_count))
for i, m in enumerate(msgs):
if m.NetworkID != ics.NETID_HSCAN:
continue
print('Message #{}\t'.format(i+1), end='')
if (m.ExtraDataPtr):
print('\tArbID: {}\tData: {}'.format(hex(m.ArbIDOrHeader), [hex(x) for x in tuple(m.ExtraDataPtr)]))
else:
print('\tArbID: {}\tData: {}'.format(hex(m.ArbIDOrHeader), [hex(x) for x in tuple(m.Data)]))
if __name__ == "__main__":
import time
dev = open_device(0)
txdata = [0,1,2,3,4,5,6,7,\
0,1,2,3,4,5,6,7,\
0,1,2,3,4,5,6,7,\
0,1,2,3,4,5,6,7,\
0,1,2,3,4,5,6,7,\
0,1,2,3,4,5,6,7,\
0,1,2,3,4,5,6,7,\
0,1,2,3,4,5,6,7] #list
for i in range(2):
transmit_can(dev, ics.NETID_HSCAN, 0, 0x123, txdata, 7)
transmit_canfd(dev, ics.NETID_HSCAN, 0x456, txdata, 64)
txdata[0] = txdata[0] + 1
time.sleep(0.1)
ics.get_messages(dev) # clear cache
time.sleep(2)
receive_can(dev) # display received messages in 1s
print("Finished.")
其中:
-
can和canfd的发送拆开了, 接收合并成了一个, 用m.ExtraDataPtr是否为空区分
-
开BRS才是真正的可变波特率
msg.StatusBitField3=SPY_STATUS3_CANFD_BRS
-
ESI那个不开的话也可以注释掉
这里用Nvidia的Jetson Xavier来测试, Xavier配置好40Pin脚本后, 配置下CAN1, 500K@2M, 采样点80%:
#!/bin/sh
sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan
sudo ip link set down can1
sudo ip link set can1 type can bitrate 500000 sample-point 0.8 dbitrate 2000000 dsample-point 0.8 fd on restart-ms 100
sudo ip link set up can1 mtu 72
sudo ifconfig can1 txqueuelen 1000
Xavier上写一个发送脚本一直跑着:
#!/bin/sh
while true; do
cansend can1 18FF0000##0.01.02.03.04.05.06.07.08
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
sleep 1
done
Xavier运行candump -td -x can1
进行接收
然后运行上面Fire2的canfd程序, 收到Xavier发过来的报文:
Xavier收到Fire2发来的程序如下:
可以看到0x456开启了BRS, ESI, 发出了64字节数据
can.viewer
python-can有几个小脚本很好用: Scripts — python-can 3.3.4 documentation
先来看can.viwer, 运行:
python3 -m can.viewer -c 1 -i neovi
其中:
-c 1
表示用的通道HSCAN, 等效于-c HSCAN
, 参见上面发送报文小节icsnVC40.h
中的定义#define NETID_HSCAN 1
. 8个通道(HSCAN, MSCAN, HSCAN2, HSCAN3, HSCAN4, HSCAN5, HSCAN6, HSCAN7)分别对应(1,2,42,44,61,62,96,97), 如-c HSCAN2
和-c 42
是等效的. 这种方式只能打开一个通道, 多个通道一起看的话暂时不清楚能不能搞-i neovi
指Fire2- 默认全接收, 如果想滤波, 就用
python3 -m can.viewer -c 1 -i neovi -f 123:1FFFFFFF 18FF0001:1FFFFFFF
这种形式
效果如图, 默认分类显示:
按下ESC或者q键可以退出, 按Ctrl+C不行, c清屏, s排序, 空格键暂停.
更多参数通过 python3 -m can.viewer -h
查看
can.logger
这个用来录包, 运行:
python3 -m can.logger -f 1.log -c 1 -i neovi --filter 123:7FF
其中:
-f 1.log
, 是把log放入1.log文件夹-c 1
表示用的通道HSCAN, 等效于-c HSCAN
, 参见上面发送报文小节icsnVC40.h
中的定义#define NETID_HSCAN 1
. 多个通道一起录的方法暂不清楚-i neovi
指Fire2--filter 123:7FF
, 只接收0x123这一帧, 更多的帧打空格往下写, 如果不要这个滤波器, 默认全接收
1.log效果如下:
更多参数通过 python3 -m can.logger -h
查看
can.player
有录包就有回放, 运行:
python3 -m can.player -c 1 -i neovi 1.log
可以在已经运行candump -td -x -a can1
的xavier上收到按照时间戳回放的数据:
回放完自动停止, 如果不想按照时间戳发, 想最快发完, 可以加 --ignore-timestamps
参数.
更多参数通过 python3 -m can.player -h
查看
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