4D 毫米波雷达读取数据篇（一）

1、硬件：

xavier-nx、创芯科技linux版本canfd盒子、纳雷科技SR-75 4D毫米波雷达（支持波特率4M的总线协议，can最多只能到1M，所以用canfd）

windows系统使用官方的软件读取到的雷达点云：

linux系统canfd读取到的点云，用python绘制：

2、canfd代码部分：

库文件：libcontrolcanfd.so
[注意]：需要找厂家进行本地linux系统的交叉编译才可以运行

#
#python3.8.8 64位（python 32位要用32位的DLL）
#
# V2.0  -- add CAN frame send and recv. add close dev. add filter.
#
from ctypes import *
import time
from unittest import result
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
import numpy as np

 
VCI_USBCAN2 = 41
STATUS_OK = 1
INVALID_DEVICE_HANDLE  = 0
INVALID_CHANNEL_HANDLE = 0
TYPE_CAN = 0
TYPE_CANFD = 1

class VCI_INIT_CONFIG(Structure):  
    _fields_ = [("AccCode", c_uint),
                ("AccMask", c_uint),
                ("Reserved", c_uint),
                ("Filter", c_ubyte),
                ("Timing0", c_ubyte),
                ("Timing1", c_ubyte),
                ("Mode", c_ubyte)
                ]  
class VCI_CAN_OBJ(Structure):  
    _fields_ = [("ID", c_uint),
                ("TimeStamp", c_uint),
                ("TimeFlag", c_ubyte),
                ("SendType", c_ubyte),
                ("RemoteFlag", c_ubyte),
                ("ExternFlag", c_ubyte),
                ("DataLen", c_ubyte),
                ("Data", c_ubyte*8),
                ("Reserved", c_ubyte*3)
                ] 
 
### structure
class _ZCAN_CHANNEL_CAN_INIT_CONFIG(Structure):
    _fields_ = [("acc_code", c_uint),
                ("acc_mask", c_uint),
                ("reserved", c_uint),
                ("filter",   c_ubyte),
                ("timing0",  c_ubyte),
                ("timing1",  c_ubyte),
                ("mode",     c_ubyte)]

class _ZCAN_CHANNEL_CANFD_INIT_CONFIG(Structure):
    _fields_ = [("acc_code",     c_uint),
                ("acc_mask",     c_uint),
                ("abit_timing",  c_uint),
                ("dbit_timing",  c_uint),
                ("brp",          c_uint),
                ("filter",       c_ubyte),
                ("mode",         c_ubyte),
                ("pad",          c_ushort),
                ("reserved",     c_uint)]

class _ZCAN_CHANNEL_INIT_CONFIG(Union):
    _fields_ = [("can", _ZCAN_CHANNEL_CAN_INIT_CONFIG), ("canfd", _ZCAN_CHANNEL_CANFD_INIT_CONFIG)]

class ZCAN_CHANNEL_INIT_CONFIG(Structure):
    _fields_ = [("can_type", c_uint),
                ("config", _ZCAN_CHANNEL_INIT_CONFIG)]
				
class ZCAN_CAN_FRAME(Structure):
    _fields_ = [("can_id",  c_uint, 29),
                ("err",     c_uint, 1),
                ("rtr",     c_uint, 1),
                ("eff",     c_uint, 1), 
                ("can_dlc", c_ubyte),
                ("__pad",   c_ubyte),
                ("__res0",  c_ubyte),
                ("__res1",  c_ubyte),
                ("data",    c_ubyte * 8)]

class ZCAN_CANFD_FRAME(Structure):
    _fields_ = [("can_id", c_uint, 29), 
                ("err",    c_uint, 1),
                ("rtr",    c_uint, 1),
                ("eff",    c_uint, 1), 
                ("len",    c_ubyte),
                ("brs",    c_ubyte, 1),
                ("esi",    c_ubyte, 1),
                ("__res",  c_ubyte, 6),
                ("