\/etc\/apt\/sources.list<\/code>\n# \u9ed8\u8ba4\u6ce8\u91ca\u4e86\u6e90\u7801\u4ed3\u5e93\uff0c\u5982\u6709\u9700\u8981\u53ef\u81ea\u884c\u53d6\u6d88\u6ce8\u91ca\ndeb https:\/\/mirrors.ustc.edu.cn\/ubuntu-ports\/ focal main restricted universe multiverse\n# deb-src https:\/\/mirrors.ustc.edu.cn\/ubuntu-ports\/ focal main main restricted universe multiverse\ndeb https:\/\/mirrors.ustc.edu.cn\/ubuntu-ports\/ focal-updates main restricted universe multiverse\n# deb-src https:\/\/mirrors.ustc.edu.cn\/ubuntu-ports\/ focal-updates main restricted universe multiverse\ndeb https:\/\/mirrors.ustc.edu.cn\/ubuntu-ports\/ focal-backports main restricted universe multiverse\n# deb-src https:\/\/mirrors.ustc.edu.cn\/ubuntu-ports\/ focal-backports main restricted universe multiverse\ndeb https:\/\/mirrors.ustc.edu.cn\/ubuntu-ports\/ focal-security main restricted universe multiverse\n# deb-src https:\/\/mirrors.ustc.edu.cn\/ubuntu-ports\/ focal-security main restricted universe multiverse\n<\/code><\/pre>\n<\/li>\n<\/ul>\n![\"\"](\"http:\/\/qq353838430.gitee.io\/blog_picture\/\u6811\u8393\u6d3eCAN\u901a\u8baf\u6559\u7a0b\/001.png\")
<\/p>\n
2. \u786c\u4ef6\u8fde\u63a5\u548c\u73af\u5883\u51c6\u5907<\/h1>\n
\u8fde\u63a5MCP2515\u548c\u6811\u8393\u6d3espi\u63a5\u53e3\uff0c\u5e76\u5728\u64cd\u4f5c\u7cfb\u7edf\u4e2d\u5f00\u542fspi\uff0c\u6574\u4e2a\u7684\u8fd0\u884c\u539f\u7406\u5c31\u662f\u8ba9MCP2515\u7684CAN \u901a\u8baf\u4f5c\u4e3a\u7f51\u7edc\u901a\u8baf\u63a5\u53e3\uff0c\u6302\u63a5\u5230socketCAN \u4e0a\uff0c\u4f7f\u7528\u7cfb\u7edf\u9a71\u52a8spi\uff0c\u65e0\u9700\u624b\u5de5\u7f16\u5199spi\u9a71\u52a8\u4ee5\u53cacan wrapper\u90e8\u5206\u3002\u9488\u5bf9socketCAN\uff0c\u7f51\u4e0a\u6709\u5f88\u591a\u4f18\u79c0\u7684\u5f00\u6e90\u5de5\u5177\u53ef\u4ee5\u4f7f\u7528\uff0c\u7b14\u8005\u8fd9\u91cc\u4f7f\u7528\u7684\u662fcantools \uff0c\u53ef\u4ee5\u4f7f\u7528dbc\u8fdb\u884c\u62a5\u6587\u683c\u5f0f\u89e3\u6790\u3002<\/p>\n
2.1. \u786c\u4ef6\u8fde\u63a5<\/h2>\nRPi Pin RPi Label CAN Module\n02---------5V------------VCC\n06---------GND-----------GND\n19---------GPIO10--------MOSI (SI)\n21---------GPIO9---------MISO (SO)\n22---------GPIO25--------INT\n23---------GPIO11--------SCK\n24---------GPIO8---------CS\n<\/code><\/pre>\n2.2. \u73af\u5883\u51c6\u5907<\/h2>\n\n- \u5b89\u88c5socket can\u5de5\u5177\u4ee5\u53cacantools\u5de5\u5177\n
sudo apt install can-utils\npip3 install cantools\n<\/code><\/pre>\n<\/li>\n- \u4f7f\u80fd\u6811\u8393\u6d3eSPI\u5e76\u52a0\u8f7dMCP2515\u5185\u6838\u9a71\u52a8\n
\u9488\u5bf9Ubuntu server \u64cd\u4f5c\u7cfb\u7edf\uff0c\u5728\/boot\/firmware\/usercfg.txt<\/code>\u6587\u4ef6\u540e\u6dfb\u52a0\u5982\u4e0b\u5185\u5bb9\uff0c\u82e5\u64cd\u4f5c\u7cfb\u7edf\u4e3aRaspberry Pi OS\uff0c\u5219\u5728\/boot\/config.txt<\/code>\u6587\u4ef6\u540e\u6dfb\u52a0\u5982\u4e0b\u5185\u5bb9:<\/p>\ndtparam=spi=on\ndtoverlay=mcp2515-can0,oscillator=16000000,interrupt=25\ndtoverlay=spi1-1cs\n<\/code><\/pre>\n<\/li>\n- \u91cd\u542f
sudo reboot -h now<\/code><\/li>\n<\/ul>\n2.3. \u68c0\u6d4bMCP2515\u662f\u5426\u88ab\u6b63\u786e\u6302\u8f7d<\/h2>\n
\u8f93\u5165sudo ifconfig -a<\/code>\u6307\u4ee4\u53ef\u4ee5\u770b\u5230\u5df2\u7ecf\u6302\u8f7d\u4e86\u7f51\u7edc\u901a\u8baf\u5361CAN0\uff0c\u5982\u6ca1\u6709ifconfig\uff0c\u5219\u4f7f\u7528sudo apt install net-tools<\/code>\u8fdb\u884c\u5b89\u88c5<\/p>\nubuntu@ubuntu:~$ sudo ifconfig -a\ncan0: flags=193<UP,RUNNING,NOARP> mtu 16\n unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)\n RX packets 9343435 bytes 74747480 (74.7 MB)\n RX errors 0 dropped 0 overruns 0 frame 0\n TX packets 8 bytes 64 (64.0 B)\n TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0\n\neth0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500\n ether b8:27:eb:c2:61:84 txqueuelen 1000 (Ethernet)\n RX packets 0 bytes 0 (0.0 B)\n RX errors 0 dropped 0 overruns 0 frame 0\n TX packets 0 bytes 0 (0.0 B)\n TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0\n<\/code><\/pre>\n\u8f93\u5165 sudo ip -s -d link show can0<\/code> \u67e5\u770bcan0 \u901a\u8baf\u662f\u5426\u8fdb\u5165ready\u72b6\u6001\u3002<\/p>\nubuntu@ubuntu:~$ sudo ip -s -d link show can0\n3: can0: <NOARP,ECHO> mtu 16 qdisc pfifo_fast state DOWN mode DEFAULT group default qlen 10\n link\/can promiscuity 0 minmtu 0 maxmtu 0\n can state STOPPED restart-ms 0\n bitrate 1000000 sample-point 0.750\n tq 125 prop-seg 2 phase-seg1 3 phase-seg2 2 sjw 1\n mcp251x: tseg1 3..16 tseg2 2..8 sjw 1..4 brp 1..64 brp-inc 1\n clock 8000000\n re-started bus-errors arbit-lost error-warn error-pass bus-off\n 0 0 0 0 0 0 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535\n RX: bytes packets errors dropped overrun mcast\n 74955120 9369390 0 0 0 0\n TX: bytes packets errors dropped carrier collsns\n 64 8 0 0 0 0\n<\/code><\/pre>\n3. CAN \u901a\u8baf\u8bbe\u7f6e\u53ca\u7a0b\u5e8f\u5f00\u53d1<\/h1>\n
\u5982\u4e0a\u6b65\u9aa4\u5982\u679c\u5df2\u7ecf\u5b8c\u6210\uff0c\u5219\u53ef\u8fdb\u884c\u76f8\u5173CAN \u901a\u8baf\u5f00\u53d1\uff0c\u4f7f\u7528python\u548cc\u90fd\u53ef\u4ee5\uff0c\u56e0\u4e3a\u7cfb\u7edf\u652f\u6301\u547d\u4ee4\u884c\u8fdb\u884c\u62a5\u6587\u53d1\u9001\u8bfb\u53d6\u53ca\u8bbe\u5b9a\uff0c\u6240\u4ee5python\u53ef\u4ee5\u7b80\u5355\u7684\u8c03\u7528\u7cfb\u7edf\u547d\u4ee4\u3002c\u7684\u8bdd\u4e0d\u5efa\u8bae\u8c03\u7528\u7cfb\u7edf\u547d\u4ee4\uff0c\u800c\u662f\u4f7f\u7528socket\u63a5\u53e3\u8fdb\u884c\u7f16\u7a0b\u3002<\/p>\n
\u9700\u6ce8\u610f\uff0c\u7531\u4e8e\u786c\u4ef6\u9650\u5236\uff0c\u6b64\u65b9\u6848can\u901a\u8baf\u6ce2\u7279\u7387\u6700\u9ad8\u4ec5\u652f\u6301500Kbps<\/p>\n
3.1. \u7cfb\u7edf\u547d\u4ee4<\/h2>\n\n- \u5173\u95edcan0\n
sudo ip link set can0 down<\/code><\/p>\n<\/li>\n- \n
\u8bbe\u7f6e\u6ce2\u7279\u7387 500K ,\u9700\u6ce8\u610fbitrate \u9700\u8981\u96642\u624d\u662f\u5e38\u89c4\u7684\u901a\u8baf\u6ce2\u7279\u7387<\/p>\n
sudo ip link set can0 type can bitrate 1000000<\/code><\/p>\n<\/li>\n- \n
\u5f00\u542fcan0<\/p>\n
sudo ip link set can0 up<\/code><\/p>\n<\/li>\n- \n
\u67e5\u770b\u72b6\u6001<\/p>\n
sudo ip -s -d link show can0<\/code><\/p>\n<\/li>\n- \n
\u63a5\u6536\u62a5\u6587\u547d\u4ee4<\/p>\n
candump any,0:0,#FFFFFFFF<\/code><\/p>\n<\/li>\n- \n
\u8054\u5408 cantools \u4f7f\u7528dbc\u6587\u4ef6\u8fdb\u884c\u62a5\u6587\u89e3\u7801<\/p>\n
candump can0 | cantools decode temp.dbc<\/code><\/p>\n<\/li>\n- \n
\u53d1\u9001\u62a5\u6587\u547d\u4ee4<\/p>\n
cansend can0 123#1122334455667788<\/code><\/p>\n<\/li>\n- \n
\u8bbe\u7f6e\u56de\u73af \u6ce2\u7279\u7387 250K ,\u7528\u4e8e\u6d4b\u8bd5can\u901a\u8def,\u5728\u6ca1\u6709\u5176\u5b83\u786c\u4ef6\u8fde\u63a5\u6d4b\u8bd5\u7684\u60c5\u51b5\u4e0b\uff0c\u53ef\u4ee5\u8bbe\u5b9a\u6210\u56de\u73af\uff0c\u81ea\u53d1\u81ea\u6536<\/p>\n
sudo ip link set can0 type can bitrate 500000 loopback on<\/code><\/p>\n<\/li>\n<\/ul>\n3.2. c\u8bed\u8a00\u8c03\u7528socket\u63a5\u53e3\u8fdb\u884c\u5f00\u53d1<\/h2>\n\/**\n *-----------------------------------------------------------------------------\n * @file can_control.c\n * @brief \n * @author Tomato\n * @version 0.1\n * @date 2021-07-22\n * @note [change history] \n * \n * @copyright NAAAAA\n *-----------------------------------------------------------------------------\n *\/\n\n#include <stdio.h>\n#include <stdlib.h>\n#include <string.h>\n#include <unistd.h>\n#include <net\/if.h>\n#include <sys\/ioctl.h>\n#include <sys\/socket.h>\n#include <linux\/can.h>\n#include <linux\/can\/raw.h>\n#define command \"ip link set can0 type can bitrate 1000000\"\/\/\u5c06CAN0\u6ce2\u7279\u7387\u8bbe\u7f6e\u4e3a500K\n#define up \"ifconfig can0 up\"\/\/\u6253\u5f00CAN0\n#define down \"ifconfig can0 down\"\/\/\u5173\u95edCAN0\n\nint can_init()\n{\n \/\/\u5173\u95edCAN\u8bbe\u5907\uff0c\u8bbe\u7f6e\u6ce2\u7279\u7387\u540e\uff0c\u91cd\u65b0\u6253\u5f00CAN\u8bbe\u5907\n system(down);\n system(command);\n system(up);\n return 0;\n}\n\nint can_send(can_frame frame)\n{\n int s, nbytes;\n struct sockaddr_can addr;\n struct ifreq ifr;\n \/\/\u521b\u5efa\u5957\u63a5\u5b57\n s = socket(PF_CAN, SOCK_RAW, CAN_RAW);\n strcpy(ifr.ifr_name, \"can0\" );\n \/\/\u6307\u5b9a can0 \u8bbe\u5907\n ioctl(s, SIOCGIFINDEX, &ifr); \n addr.can_family = AF_CAN;\n addr.can_ifindex = ifr.ifr_ifindex;\n \/\/\u5c06\u5957\u63a5\u5b57\u4e0e can0 \u7ed1\u5b9a\n bind(s, (struct sockaddr *)&addr, sizeof(addr));\n \/\/\u53d1\u9001 frame[0]\n nbytes = write(s, &frame, sizeof(frame));\n if(nbytes != sizeof(frame))\n {\n printf(\"Send Error frame[0]\\n!\");\n }\n close(s);\n return 0;\n}\n\nint can_receive(struct can_frame * r_frame,unsigned int filter_id)\n{\n int s, nbytes = 0;\n struct sockaddr_can addr;\n struct ifreq ifr;\n struct can_frame frame;\n struct can_filter rfilter;\n\n \/\/ Initial fram\n memset(&frame,0,sizeof(can_frame));\n \/\/\u521b\u5efa\u5957\u63a5\u5b57\n s = socket(PF_CAN, SOCK_RAW, CAN_RAW);\n strcpy(ifr.ifr_name, \"can0\" );\n \/\/\u6307\u5b9a can0 \u8bbe\u5907\n ioctl(s, SIOCGIFINDEX, &ifr); \n addr.can_family = AF_CAN;\n addr.can_ifindex = ifr.ifr_ifindex;\n \/\/\u5c06\u5957\u63a5\u5b57\u4e0e can0 \u7ed1\u5b9a\n bind(s, (struct sockaddr *)&addr, sizeof(addr));\n \/\/\u8bbe\u7f6e\u8fc7\u6ee4\u89c4\u5219\uff0c\u53d6\u6d88\u5f53\u524d\u6ce8\u91ca\u4e3a\u7981\u7528\u8fc7\u6ee4\u89c4\u5219\uff0c\u5373\u4e0d\u63a5\u6536\u6240\u6709\u62a5\u6587\uff0c\n \/\/ \u4e0d\u8bbe\u7f6e\u6b64\u9879\uff08\u5373\u5982\u5f53\u524d\u4ee3\u7801\u88ab\u6ce8\u91ca\uff09\u4e3a\u63a5\u6536\u6240\u6709ID\u7684\u62a5\u6587\u3002\n if (filter_id != 0)\n {\n rfilter.can_id = 0x123;\n \/\/ CAN_EFF_MASK | CAN_SFF_MASK\n rfilter.can_mask = CAN_SFF_MASK;\n setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));\n }\n while (nbytes == 0)\n {\n \/\/\u63a5\u6536\u603b\u7ebf\u4e0a\u7684\u62a5\u6587\u4fdd\u5b58\u5728frame\u4e2d\n nbytes = read(s, &frame, sizeof(frame));\n }\n *r_frame = frame;\n#ifdef MSG_DEBUG\n printf(\"the nbytes:%d\\n\", nbytes);\n printf(\"length:%d\", sizeof(frame));\n printf(\"ID=0x%X DLC=%d\\n\", frame.can_id, frame.can_dlc);\n printf(\"data0=0x%02x\\n\",frame.data[0]);\n printf(\"data1=0x%02x\\n\",frame.data[1]);\n printf(\"data2=0x%02x\\n\",frame.data[2]);\n printf(\"data3=0x%02x\\n\",frame.data[3]);\n printf(\"data4=0x%02x\\n\",frame.data[4]);\n printf(\"data5=0x%02x\\n\",frame.data[5]);\n printf(\"data6=0x%02x\\n\",frame.data[6]);\n printf(\"data7=0x%02x\\n\",frame.data[7]);\n#endif\n return 0;\n}\n\nint led_ctl_on(void)\n{\n struct can_frame frame;\n memset(&frame, 0, sizeof(can_frame));\n frame.can_id = 0x101;\n frame.can_dlc = 8;\n frame.data[0] = 1;\n can_send(frame);\n return 0;\n}\n\nint led_ctl_off(void)\n{\n struct can_frame frame;\n memset(&frame, 0, sizeof(can_frame));\n frame.can_id = 0x101;\n frame.can_dlc = 8;\n frame.data[0] = 2;\n can_send(frame);\n return 0;\n}\n\nfloat can_get_vol(void)\n{\n float vol_vle = 0;\n struct can_frame frame;\n memset(&frame, 0, sizeof(can_frame));\n \/\/ wait until can frame 100 received\n can_receive(&frame,0);\n printf(\"###############################\\n\");\n printf(\"length:%d\", sizeof(frame));\n printf(\"ID=0x%X DLC=%d\\n\", frame.can_id, frame.can_dlc);\n printf(\"data0=0x%02x\\n\",frame.data[0]);\n printf(\"data1=0x%02x\\n\",frame.data[1]);\n printf(\"data2=0x%02x\\n\",frame.data[2]);\n printf(\"data3=0x%02x\\n\",frame.data[3]);\n printf(\"data4=0x%02x\\n\",frame.data[4]);\n printf(\"data5=0x%02x\\n\",frame.data[5]);\n printf(\"data6=0x%02x\\n\",frame.data[6]);\n printf(\"data7=0x%02x\\n\",frame.data[7]);\n\n vol_vle = (float)frame.data[0]\/50;\n return vol_vle;\n}\n\nint main(int argc, char* argv[])\n{\n char control_str[15]; \n float vol_val = 0;\n\n if (argc < 2) {\n printf(\"can_control service_type\\n\"\n \" example: .\/can_control led_off\/led_on\/get_vol\\n\"\n );\n return 0;\n }\n strcpy(control_str,argv[1]);\n\n \/\/ debug\n printf(\"Argc : %d\\n\",argc);\n printf(\"Argv : %s\\n , %s\\n\",argv[0], argv[1]);\n\n \/\/ can_init();\n if (strcmp(control_str,\"led_off\")==0)\n {\n led_ctl_off();\n }\n else if (strcmp(control_str,\"led_on\")==0)\n {\n led_ctl_on();\n }\n else if (strcmp(control_str,\"get_vol\")==0)\n {\n vol_val = can_get_vol();\n printf(\"Voltage is : %5.2f V\\n\", vol_val);\n }\n else\n {\n \/* Do nothing *\/\n }\n return 0;\n}\n<\/code><\/pre>\n3.3. \u5b9e\u9645\u6548\u679c<\/h2>\n
![\"\"](\"http:\/\/qq353838430.gitee.io\/blog_picture\/\u6811\u8393\u6d3eCAN\u901a\u8baf\u6559\u7a0b\/can\u7ed3\u679c.png\")
<\/p>\n","protected":false},"excerpt":{"rendered":"
\u6811\u8393\u6d3eCAN\u901a\u8baf\u6559\u7a0b – MCP2515 1. \u6954 2. \u786c\u4ef6\u8fde\u63a5\u548c\u73af\u5883\u51c6\u5907 2.1. \u786c\u4ef6\u8fde\u63a5 2.2. \u73af […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3],"tags":[],"_links":{"self":[{"href":"https:\/\/jiangshibo.cn\/index.php\/wp-json\/wp\/v2\/posts\/100"}],"collection":[{"href":"https:\/\/jiangshibo.cn\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/jiangshibo.cn\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/jiangshibo.cn\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/jiangshibo.cn\/index.php\/wp-json\/wp\/v2\/comments?post=100"}],"version-history":[{"count":2,"href":"https:\/\/jiangshibo.cn\/index.php\/wp-json\/wp\/v2\/posts\/100\/revisions"}],"predecessor-version":[{"id":102,"href":"https:\/\/jiangshibo.cn\/index.php\/wp-json\/wp\/v2\/posts\/100\/revisions\/102"}],"wp:attachment":[{"href":"https:\/\/jiangshibo.cn\/index.php\/wp-json\/wp\/v2\/media?parent=100"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/jiangshibo.cn\/index.php\/wp-json\/wp\/v2\/categories?post=100"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/jiangshibo.cn\/index.php\/wp-json\/wp\/v2\/tags?post=100"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
![\"\"](\"http:\/\/qq353838430.gitee.io\/blog_picture\/\u6811\u8393\u6d3eCAN\u901a\u8baf\u6559\u7a0b\/MCP2515.png\")
<\/p>\n