can通讯修改波特率

发布于 2021-04-08 17:11:35 浏览：1821 订阅该版

4 个回答

mii 2021-04-08

这家伙很懒，什么也没写！

只想静静 2021-04-08

这家伙很懒，什么也没写！

flashman2002 2021-04-08

这家伙很懒，什么也没写！

mii 2021-04-08

这家伙很懒，什么也没写！

只想静静 2021-04-09

这家伙很懒，什么也没写！

@mii 设置成250后，500也不行了，但是250也不行，我直接用的就是例程
#include <rtthread.h>
#include "rtdevice.h"

#define CAN_DEV_NAME       "can1"      /* CAN 设备名称 */

static struct rt_semaphore rx_sem;     /* 用于接收消息的信号量 */
static rt_device_t can_dev;            /* CAN 设备句柄 */

/* 接收数据回调函数 */
static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size)
{
    /* CAN 接收到数据后产生中断，调用此回调函数，然后发送接收信号量 */
    rt_sem_release(&rx_sem);

return RT_EOK;
}

static void can_rx_thread(void *parameter)
{
    int i;
    rt_err_t res;
    struct rt_can_msg rxmsg = {0};

/* 设置接收回调函数 */
    rt_device_set_rx_indicate(can_dev, can_rx_call);

#ifdef RT_CAN_USING_HDR
    struct rt_can_filter_item items[5] =
    {
        RT_CAN_FILTER_ITEM_INIT(0x100, 0, 0, 1, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x100~0x1ff，hdr 为 - 1，设置默认过滤表 */
        RT_CAN_FILTER_ITEM_INIT(0x300, 0, 0, 1, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x300~0x3ff，hdr 为 - 1 */
        RT_CAN_FILTER_ITEM_INIT(0x211, 0, 0, 1, 0x7ff, RT_NULL, RT_NULL), /* std,match ID:0x211，hdr 为 - 1 */
        RT_CAN_FILTER_STD_INIT(0x486, RT_NULL, RT_NULL),                  /* std,match ID:0x486，hdr 为 - 1 */
        {0x555, 0, 0, 1, 0x7ff, 7,}                                       /* std,match ID:0x555，hdr 为 7，指定设置 7 号过滤表 */
    };
    struct rt_can_filter_config cfg = {5, 1, items}; /* 一共有 5 个过滤表 */
    /* 设置硬件过滤表 */
    res = rt_device_control(can_dev, RT_CAN_CMD_SET_FILTER, &cfg);
    RT_ASSERT(res == RT_EOK);
#endif

while (1)
    {
        /* hdr 值为 - 1，表示直接从 uselist 链表读取数据 */
        rxmsg.hdr = -1;
        /* 阻塞等待接收信号量 */
        rt_sem_take(&rx_sem, RT_WAITING_FOREVER);
        /* 从 CAN 读取一帧数据 */
        rt_device_read(can_dev, 0, &rxmsg, sizeof(rxmsg));
        /* 打印数据 ID 及内容 */
        rt_kprintf("ID:%x", rxmsg.id);
        for (i = 0; i < 8; i++)
        {
            rt_kprintf("%2x", rxmsg.data[i]);
        }

rt_kprintf("\n");
    }
}

int can_sample(int argc, char *argv[])
{
    struct rt_can_msg msg = {0};
    rt_err_t res;
    rt_size_t  size;
    rt_thread_t thread;
    char can_name[RT_NAME_MAX];

if (argc == 2)
    {
        rt_strncpy(can_name, argv[1], RT_NAME_MAX);
    }
    else
    {
        rt_strncpy(can_name, CAN_DEV_NAME, RT_NAME_MAX);
    }
    /* 查找 CAN 设备 */
    can_dev = rt_device_find(can_name);
    if (!can_dev)
    {
        rt_kprintf("find %s failed!\n", can_name);
        return RT_ERROR;
    }

/* 初始化 CAN 接收信号量 */
    rt_sem_init(&rx_sem, "rx_sem", 0, RT_IPC_FLAG_FIFO);

/* 以中断接收及发送方式打开 CAN 设备 */
    res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
    RT_ASSERT(res == RT_EOK);
    /* 创建数据接收线程 */
    thread = rt_thread_create("can_rx", can_rx_thread, RT_NULL, 1024, 25, 10);
    if (thread != RT_NULL)
    {
        rt_thread_startup(thread);
    }
    else
    {
        rt_kprintf("create can_rx thread failed!\n");
    }

msg.id = 0x78;              /* ID 为 0x78 */
    msg.ide = RT_CAN_STDID;     /* 标准格式 */
    msg.rtr = RT_CAN_DTR;       /* 数据帧 */
    msg.len = 8;                /* 数据长度为 8 */
    /* 待发送的 8 字节数据 */
    msg.data[0] = 0x00;
    msg.data[1] = 0x11;
    msg.data[2] = 0x22;
    msg.data[3] = 0x33;
    msg.data[4] = 0x44;
    msg.data[5] = 0x55;
    msg.data[6] = 0x66;
    msg.data[7] = 0x77;
    /* 发送一帧 CAN 数据 */
    size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
    if (size == 0)
    {
        rt_kprintf("can dev write data failed!\n");
    }

return res;
}
/* 导出到 msh 命令列表中 */
MSH_CMD_EXPORT(can_sample, can device sample);

mii 2021-04-09

这家伙很懒，什么也没写！

flashman2002 2021-04-09

这家伙很懒，什么也没写！

请登录后再发布评论，点击登录

追加回复

flashman2002 2021-04-08

这家伙很懒，什么也没写！

只想静静 2021-04-08

这家伙很懒，什么也没写！

flashman2002 2021-04-08

这家伙很懒，什么也没写！

只想静静 2021-04-09

这家伙很懒，什么也没写！

/*
 * 缁嬪绨〒鍛礋閿涙俺绻栭弰顖欑娑擄拷 CAN 鐠佹儳顦担璺ㄦ暏娓氬鈻�
 * 娓氬鈻肩�电厧鍤禍锟� can_sample 閸涙垝鎶ら崚鐗堝付閸掑墎绮撶粩锟�
 * 閸涙垝鎶ょ拫鍐暏閺嶇厧绱￠敍姝漚n_sample can1
 * 閸涙垝鎶ょ憴锝夊櫞閿涙艾鎳℃禒銈囶儑娴滃奔閲滈崣鍌涙殶閺勵垵顩︽担璺ㄦ暏閻拷 CAN 鐠佹儳顦崥宥囆為敍灞艰礋缁屽搫鍨担璺ㄦ暏姒涙顓婚惃锟� CAN 鐠佹儳顦�
 * 缁嬪绨崝鐔诲厴閿涙岸锟芥俺绻� CAN 鐠佹儳顦崣鎴︼拷浣风鐢嶇礉楠炶泛鍨卞杞扮娑擃亞鍤庣粙瀣复閺�鑸垫殶閹诡喚鍔ч崥搴㈠ⅵ閸楁媽绶崙鎭掞拷锟�
*/

#include <rtthread.h>
#include "rtdevice.h"
#include "settings.h"
#include "xgldprocess.h"
#include "bq_samp.h"
#include "power.h"
#include <rtdbg.h>

#define CAN_DEV_NAME       "can1"      /* CAN 鐠佹儳顦崥宥囆� */

static struct rt_semaphore rx_sem;     /* 閻€劋绨幒銉︽暪濞戝牊浼呴惃鍕繆閸欑兘鍣� */
static rt_device_t can_dev;            /* CAN 鐠佹儳顦崣銉︾労 */

/* 閹恒儲鏁归弫鐗堝祦閸ョ偠鐨熼崙鑺ユ殶 */
static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size)
{
    /* CAN 閹恒儲鏁归崚鐗堟殶閹诡喖鎮楁禍褏鏁撴稉顓熸焽閿涘矁鐨熼悽銊︻劃閸ョ偠鐨熼崙鑺ユ殶閿涘瞼鍔ч崥搴″絺闁焦甯撮弨鏈典繆閸欑兘鍣� */
    rt_sem_release(&rx_sem);

return RT_EOK;
}

int can_write( rt_uint32_t id ,rt_uint8_t *buffer)
{
    rt_size_t  size;
    struct rt_can_msg msg = {0};

msg.id = id&0x3fffffff;
    msg.ide = RT_CAN_EXTID;
    msg.rtr = RT_CAN_DTR;
    msg.len = 8;
    msg.data[0] = buffer[0];
    msg.data[1] = buffer[1];
    msg.data[2] = buffer[2];
    msg.data[3] = buffer[3];
    msg.data[4] = buffer[4];
    msg.data[5] = buffer[5];
    msg.data[6] = buffer[6];
    msg.data[7] = buffer[7];

size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
    if (size == 0)
    {
        rt_kprintf("can dev write data failed!\n");
    }
    return size;
}

extern unsigned short CANTime4;
unsigned short rqVol = 0;
void CAN_ChargeState(int id,unsigned char *data){
    unsigned short vol = 0;
    unsigned short amp = 0;

unsigned char state = 0;
    vol = data[0]*256 + data[1];
    amp = data[2]*256 + data[3];
    vol = vol;
    amp = amp;
    state = data[4];
    rt_kprintf("allowVol = %d ### realVol = %d\n",xgldsettings.bat_ParamData.reqVol,vol);
    rt_kprintf("allowAmp = %d ### realAmp = %d\n",xgldsettings.bat_ParamData.reqAmp*10,amp);
    rt_kprintf("contralState = %d\n",state);

unsigned char buf[8] = {0};
    buf[0] = (rqVol ) >> 8 & 0xff;
    buf[1] = (rqVol ) & 0xff;
    buf[2] = (getXgldSettings()->bat_ParamData.reqAmp *10) >> 8 & 0xff;
    buf[3] = (getXgldSettings()->bat_ParamData.reqAmp *10) & 0xff;
    buf[4] = getXgldSettings()->bat_ParamData.canContral;
    buf[5] = getXgldSettings()->bat_SystemData.SYS_SOC;
    buf[6] = 0;
    buf[7] = 0;
    //CAN閫氳婵�娲绘柟寮�
#if 0
    if(id == 0x18FF50E5)
    {
        xgldsettings.bat_SystemState.CANState = true;
        if((getXgldSettings()->bms_WorkState != Charge) && (getXgldSettings()->bat_SystemState.chargeFullSt == false) &&
                (getXgldSettings()->bms_WorkState != Fault))
        {
            xgldsettings.bat_ParamData.reqAmp = getXgldSettings()->bat_ParamData.maxReqAmp;
            rqVol = getXgldSettings()->bat_ParamData.reqVol;
            xgldsettings.bat_SystemState.OBCState = true;
            xgldsettings.bat_ParamData.canContral = 0;
        }

if((getXgldSettings()->bat_SystemState.chargeFullSt == true) || (state & 0x17)){
            xgldsettings.bat_ParamData.canContral = 1;//缁欏厖鐢垫満鍙戦�佸仠姝㈡姤鏂�
            xgldsettings.bat_ParamData.reqAmp = 0;
            rqVol = 0;
            APP_CAN_PRINT("bigAmp=%d\n",getXgldSettings()->bat_AmpType.bigBranchAmp);
            if(getXgldSettings()->bat_AmpType.bigBranchAmp <= 1000){
                xgldsettings.bat_SystemState.OBCState = false;
            }
        }else{
            CANTime4 = 0;
            if(getXgldSettings()->bat_CellVolType.volHigh >= 4100){
                xgldsettings.bat_ParamData.reqAmp = getXgldSettings()->bat_ParamData.maxReqAmp / 2;
            }
        }
        can_write(0x1806E5F4,buf);
    }
#endif
}

static void can_rx_thread(void *parameter){
    //int i;
    //rt_err_t res;
    struct rt_can_msg rxmsg = {0};

/* 鐠佸墽鐤嗛幒銉︽暪閸ョ偠鐨熼崙鑺ユ殶 */
    rt_device_set_rx_indicate(can_dev, can_rx_call);

#ifdef RT_CAN_USING_HDR
    struct rt_can_filter_item items[5] =
    {
        RT_CAN_FILTER_ITEM_INIT(0x100, 0, 0, 1, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x100~0x1ff閿涘dr 娑擄拷 - 1閿涘矁顔曠純顕�绮拋銈堢箖濠娿倛銆� */
        RT_CAN_FILTER_ITEM_INIT(0x300, 0, 0, 1, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x300~0x3ff閿涘dr 娑擄拷 - 1 */
        RT_CAN_FILTER_ITEM_INIT(0x211, 0, 0, 1, 0x7ff, RT_NULL, RT_NULL), /* std,match ID:0x211閿涘dr 娑擄拷 - 1 */
        RT_CAN_FILTER_STD_INIT(0x486, RT_NULL, RT_NULL),                  /* std,match ID:0x486閿涘dr 娑擄拷 - 1 */
        {0x555, 0, 0, 1, 0x7ff, 7,}                                       /* std,match ID:0x555閿涘dr 娑擄拷 7閿涘本瀵氱�规俺顔曠純锟� 7 閸欑柉绻冨銈堛�� */
    };
    struct rt_can_filter_config cfg = {5, 1, items}; /* 娑擄拷閸忚鲸婀� 5 娑擃亣绻冨銈堛�� */
    /* 鐠佸墽鐤嗙涵顑挎鏉╁洦鎶ょ悰锟� */
    res = rt_device_control(can_dev, RT_CAN_CMD_SET_FILTER, &cfg);
    RT_ASSERT(res == RT_EOK);
#endif

while (1)
    {
        /* hdr 閸婇棿璐� - 1閿涘矁銆冪粈铏规纯閹恒儰绮� uselist 闁炬崘銆冪拠璇插絿閺佺増宓� */
        rxmsg.hdr = -1;
        /* 闂冭顢ｇ粵澶婄窡閹恒儲鏁规穱鈥冲娇闁诧拷 */
        rt_sem_take(&rx_sem, RT_WAITING_FOREVER);
        /* 娴狅拷 CAN 鐠囪褰囨稉锟界敮褎鏆熼幑锟� */
        rt_device_read(can_dev, 0, &rxmsg, sizeof(rxmsg));
        /* 閹垫挸宓冮弫鐗堝祦 ID 閸欏﹤鍞寸�癸拷 */
        rt_kprintf("ID:%x\n", rxmsg.id);
        CAN_ChargeState(rxmsg.id,rxmsg.data);
        for (unsigned char i = 0; i < 8; i++)
        {
            rt_kprintf("%2x", rxmsg.data[i]);
        }
//
//        APP_CAN_PRINT("\n");
        //can_write(0x1806E5F4,buf);
        //rt_thread_delay(1000);//200ms寤舵椂

}
}

int can_write_sample(int argc, char *argv[])
{
    rt_size_t  size, i;
    struct rt_can_msg msg = {0};
    if (argc < 10)
    {
        rt_kprintf("can dev write data failed! \n");
        return RT_ERROR;
    }
    msg.id =  strtol(argv[1], NULL, 0);;              /* ID 娑擄拷 0x78 */
    msg.ide = RT_CAN_EXTID;     /* 閹碘晛鐫嶉弽鐓庣础 */
    msg.rtr = RT_CAN_DTR;       /* 閺佺増宓佺敮锟� */
    msg.len = 8;                /* 閺佺増宓侀梹鍨娑擄拷 8 */
    /* 瀵板懎褰傞柅浣烘畱 8 鐎涙濡弫鐗堝祦 */
    for (i = 0; i < 8; i++)
    {
        msg.data[i] = strtol(argv[2 + i], NULL, 0);
    }

/* 閸欐垿锟戒椒绔寸敮锟� CAN 閺佺増宓� */
    size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
    if (size == 0)
    {
        rt_kprintf("can dev write data failed!\n");
    }
    return size;
}
MSH_CMD_EXPORT(can_write_sample, can device write sample);
int can_sample_init(void)
{

rt_err_t res;

rt_thread_t thread;

/* 閺屻儲澹� CAN 鐠佹儳顦� */
    can_dev = rt_device_find(CAN_DEV_NAME);
    if (!can_dev)
    {
        rt_kprintf("find %s failed!\n", CAN_DEV_NAME);
        return RT_ERROR;
    }

/* 閸掓繂顫愰崠锟� CAN 閹恒儲鏁规穱鈥冲娇闁诧拷 */
    rt_sem_init(&rx_sem, "rx_sem", 0, RT_IPC_FLAG_FIFO);

/* 娴犮儰鑵戦弬顓熷复閺�璺哄挤閸欐垿锟戒焦鏌熷蹇斿ⅵ瀵拷 CAN 鐠佹儳顦� */
    res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
    RT_ASSERT(res == RT_EOK);
//    res = rt_device_control(can_dev, RT_CAN_CMD_SET_BAUD, (void *)CAN500kBaud);
//    RT_ASSERT(res == RT_EOK);
    /* 閸掓稑缂撻弫鐗堝祦閹恒儲鏁圭痪璺ㄢ柤 */
    thread = rt_thread_create("can_rx", can_rx_thread, RT_NULL, 512, 7, 10);
    if (thread != RT_NULL)
    {
        rt_kprintf("CAN_start_up\n");
        rt_thread_startup(thread);
    }
    else
    {
        rt_kprintf("create can_rx thread failed!\n");
    }
    return res;
}
其实就是例程，但是不知道在哪设置的波特率，现在这样就是500可以，250不行，用这个contral函数设置为250后，500和250就都不行了