CAN总线与嵌入式系统通信：实时性和可靠性的平衡

#include <SPI.h>
#include <mcp2515.h>

MCP2515 CAN;

void setup() {
  Serial.begin(9600);
  if(CAN.begin(CAN_100KBPS) == CAN_OK) {
    Serial.println("CAN Bus Initialized Successfully!");
  }
  else {
    Serial.println("Error Initializing CAN Bus...");
  }
}

void loop() {
  // 发送数据
  CAN.openTXBuffer(TXB0, 0, false);
  CAN.sendMsgBuf(0x100, 0, 8);  // 发送一个8字节的数据包

  // 接收数据
  if(CAN.readMsgBuf(&len, buf) == CAN_OK) {
    Serial.print("Received Data: ");
    for(int i = 0; i < len; i++) {
      Serial.print(buf[i], HEX);
      Serial.print(" ");
    }
    Serial.println();
  }

  delay(1000);
}

#include "stm32f4xx_hal.h"
CAN_HandleTypeDef hcan1;

void SystemClock_Config(void);

int main(void) {
  HAL_Init();
  SystemClock_Config();
  HAL_CAN_Init(&hcan1);

  CAN_TxHeaderTypeDef TxHeader;
  uint8_t TxData[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};

  TxHeader.StdId = 0x100;
  TxHeader.RTR = CAN_RTR_DATA;
  TxHeader.IDE = CAN_ID_STD;
  TxHeader.DLC = 8;

  if (HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox) != HAL_OK) {
    Error_Handler();
  }

  // 接收数据
  CAN_RxHeaderTypeDef RxHeader;
  uint8_t RxData[8];

  if (HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &RxHeader, RxData) == HAL_OK) {
    // 处理接收到的数据
  }

  while (1) {
    // 主循环
  }
}

import can

# 初始化CAN总线
bus = can.interface.Bus(channel='can0', bustype='socketcan')

# 创建一个CAN消息
msg = can.Message(arbitration_id=0x100, data=[0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08])

# 发送消息
bus.send(msg)

# 接收消息
received_msg = bus.recv()
print("Received:", received_msg)

#include <stdint.h>
#include <machine.h>
#include "iodefine.h"

void main(void) {
  SYSTEM.PRCR.WORD = 0xA502;  // Disable write protection

  MSTP_CAN0 = 0;             // Enable CAN0 module
  CAN0.BIT.MCR = 0x001;      // Release from HALT
  CAN0.BIT.BCR = 0x000;      // CAN Operation Mode

  // 配置CAN消息对象
  CAN0.MBX.CANID = 0x100;
  CAN0.MBX.DLC = 8;
  CAN0.MBX.IDE = 0;
  CAN0.MBX.RTR = 0;
  CAN0.MBX.TX  = 1;

  uint8_t data[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
  for (int i = 0; i < 8; i++) {
    CAN0.MBX.MDATA[i] = data[i];
  }

  CAN0.MBX.TRMREQ = 1;      // Request Transmission

  while (1) {
    // 主循环
  }
}

#include <Arduino.h>
#include <ESP32CAN.h>

CAN_device_t CAN_cfg;

void setup() {
  Serial.begin(115200);
  CAN_cfg.speed = CAN_SPEED_100KBPS;
  CAN_cfg.tx_pin_id = GPIO_NUM_5;
  CAN_cfg.rx_pin_id = GPIO_NUM_4;

  if (can_init(&CAN_cfg) == ESP_OK) {
    Serial.println("CAN Initialized Successfully!");
  } else {
    Serial.println("Error Initializing CAN...");
  }
}

void loop() {
  CAN_frame_t frame;
  frame.FIR.B.FF = CAN_frame_std;
  frame.MsgID = 0x100;
  frame.FIR.B.DLC = 8;
  frame.data.u8[0] = 0x01;
  frame.data.u8[1] = 0x02;
  frame.data.u8[2] = 0x03;
  frame.data.u8[3] = 0x04;
  frame.data.u8[4] = 0x05;
  frame.data.u8[5] = 0x06;
  frame.data.u8[6] = 0x07;
  frame.data.u8[7] = 0x08;

  can_send_frame(&frame);
  delay(1000);

  CAN_frame_t rx_frame;
  if (can_receive_frame(&rx_frame, portMAX_DELAY)) {
    Serial.print("Received Data: ");
    for (int i = 0; i < rx_frame.FIR.B.DLC; i++) {
      Serial.print(rx_frame.data.u8[i], HEX);
      Serial.print(" ");
    }
    Serial.println();
  }
}

# 启用CAN总线
sudo modprobe can
sudo modprobe can-dev
sudo modprobe can-raw

# 创建CAN接口
sudo ip link set can0 type can bitrate 500000
sudo ifconfig can0 up

# 发送CAN消息
cansend can0 100#0102030405060708

# 接收CAN消息
candump can0

#include "definitions.h"

int main(void) {
  SYSTEM_Initialize();
  CAN_MESSAGE message;
  uint8_t data[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};

  while (1) {
    message.id = 0x100;
    message.data = data;
    message.dataLength = 8;
    message.msgAttr = MSG_TX_DATA_FRAME;
    CAN1_MessageTransmit(&message);
    while (CAN1_IsTxMessagePending() == true) {
      // 等待消息发送完成
    }
    // 接收CAN消息
    CAN1_MessageReceive(&message);
  }
}