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如何发送或接收CAN数据
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=如何发送或接收 CAN 数据= ==目的== : 本文介绍如何使用 can-utils [1 ]包在 SocketCAN 接口上发送/接收数据。 : can-utils 包含一些用于 Linux®SocketCAN 子系统的用户空间实用程序。它已集成在STM32微处理器系列的 SDK 中。在此示例中,仅使用到 cansend 和 candump,但软件包中还提供了许多其他的工具。 ==准备条件== : 至少需要两个设备才能在 CAN 网络上进行通信。要实现这种配置,请在同一 CAN 总线上连接两个设备。然后,从一个节点发送数据,并在另一节点上接收数据。 : 在开始通信之前,必须在每块板上配置并启用 SocketCAN 接口。[https://wiki.st.com/stm32mpu/wiki/How_to_set_up_a_SocketCAN_interface 请参阅如何设置 SocketCAN 接口]。 ==在CAN总线上发送数据== : 要发送单个帧,请使用 cansend 实用程序: <syntaxhighlight lang="bash"> Board $> cansend can0 123#1122334455667788 </syntaxhighlight> : 获取 cansend 实用程序中的使用帮助信息: <syntaxhighlight lang="bash"> Board $> cansend -h Usage: cansend <device> <can_frame> </syntaxhighlight> : 如果出现帧错误,请尝试下面的操作: <syntaxhighlight lang="bash"> <can_id>#{R|data} for CAN 2.0 frames <can_id>##<flags>{data} for CAN FD frames <can_id> can have 3 (SFF) or 8 (EFF) hex chars {data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally separated by '.') <flags> a single ASCII Hex value (0 .. F) which defines canfd_frame.flags e.g. 5A1#11.2233.44556677.88/123#DEADBEEF/5AA#/123##1/213##311 1F334455#1122334455667788/123#R for remote transmission request. </syntaxhighlight> ==在CAN总线上接收数据== : 要实时显示总线上收到的消息列表,请使用 candump 实用程序: <syntaxhighlight lang="bash"> Board $> candump can0 can0 123 [8] 11 22 33 44 55 66 77 88 </syntaxhighlight> : 在 candump 实用程序上获取帮助信息: <syntaxhighlight lang="bash"> Board $> candump -h Usage: candump [options] <CAN interface>+ (use CTRL-C to terminate candump) Options: -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date) -c (increment color mode level) -i (binary output - may exceed 80 chars/line) -a (enable additional ASCII output) -S (swap byte order in printed CAN data[] - marked with '`' ) -s <level> (silent mode - 0: off (default) 1: animation 2: silent) -b <can> (bridge mode - send received frames to <can>) -B <can> (bridge mode - like '-b' with disabled loopback) -u <usecs> (delay bridge forwarding by <usecs> microseconds) -l (log CAN-frames into file. Sets '-s 2' by default) -L (use log file format on stdout) -n <count> (terminate after receiption of <count> CAN frames) -r <size> (set socket receive buffer to <size>) -D (Don't exit if a "detected" can device goes down. -d (monitor dropped CAN frames) -e (dump CAN error frames in human-readable format) -x (print extra message infos, rx/tx brs esi) -T <msecs> (terminate after <msecs> without any reception) Up to 16 CAN interfaces with optional filter sets can be specified on the commandline in the form: <ifname>[,filter]* Comma separated filters can be specified for each given CAN interface: <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask) <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask) #<error_mask> (set error frame filter, see include/linux/can/error.h) [j|J] (join the given CAN filters - logical AND semantic) CAN IDs, masks and data content are given and expected in hexadecimal values. When can_id and can_mask are both 8 digits, they are assumed to be 29 bit EFF. Without any given filter all data frames are received ('0:0' default filter). Use interface name 'any' to receive from all CAN interfaces. Examples: candump -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8 candump -l any,0~0,#FFFFFFFF (log only error frames but no(!) data frames) candump -l any,0:0,#FFFFFFFF (log error frames and also all data frames) candump vcan2,92345678:DFFFFFFF (match only for extended CAN ID 12345678) candump vcan2,123:7FF (matches CAN ID 123 - including EFF and RTR frames) candump vcan2,123:C00007FF (matches CAN ID 123 - only SFF and non-RTR frames) </syntaxhighlight> ==硬件自检== : 在内部环回测试模式下,FDCAN将发送的消息作为接收消息进行处理。此选项用于硬件自检(无需在 CAN 总线上连接外部 CAN 节点)。 : 要在回环模式下配置和启用 SocketCAN,请执行以下操作: <syntaxhighlight lang="bash"> Board $> ip link set can0 up type can bitrate 1000000 dbitrate 2000000 fd on loopback on [ 78.700698] m_can 4400e000.can can0: bitrate error 0.3% [ 78.704568] m_can 4400e000.can can0: bitrate error 1.6% [ 78.710140] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready </syntaxhighlight> : 要在同一接口上发送和接收消息,请按照下列步骤操作: <syntaxhighlight lang="bash"> Board $> candump can0 -L & [1] 475 Board $> cansend can0 300#AC.AB.AD.AE.75.49.AD.D1 (1539944874.949723) can0 300#ACABADAE7549ADD1 (1539944874.949683) can0 300#ACABADAE7549ADD1 </syntaxhighlight> ==参考== : [https://github.com/linux-can/can-utils/blob/master/README.md CAN-UTILS信息],github.com上的README [[Category:Linux_Operating_System]] [[Category:Networking]] [[Category:Netdev]] [[Category:CAN]]
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