{"id":122536,"date":"2026-11-05T04:41:33","date_gmt":"2026-11-04T20:41:33","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/122536.html"},"modified":"2026-11-05T04:41:33","modified_gmt":"2026-11-04T20:41:33","slug":"stm32-i-mx6ull-can-%e5%8f%8c%e5%90%91%e5%91%bd%e4%bb%a4-ack-%e5%ae%9e%e6%88%98%ef%bc%8802%ef%bc%89%ef%bc%9a50-ms-%e8%b6%85%e6%97%b6%e4%b8%ba%e4%bd%95%e5%8f%8d%e8%80%8c%e5%81%87%e4%b8%a2","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/122536.html","title":{"rendered":"STM32 + i.MX6ULL CAN \u53cc\u5411\u547d\u4ee4\/ACK \u5b9e\u6218\uff0802\uff09\uff1a50 ms \u8d85\u65f6\u4e3a\u4f55\u53cd\u800c\u201c\u5047\u4e22\u5305\u201d"},"content":{"rendered":"

\/* MD \/ \u5bcc\u6587\u672c\u4e2d\u7684 .toc\uff08\u542b\u535a\u5ba2\u56ed\u642c\u5bb6\u7b49\u5d4c\u5957\u7ed3\u6784\uff09\uff1b.toc-box \u5728\u4fa7\u680f\uff0c\u4e0d\u53d7\u5f71\u54cd *\/
\n #content_views .toc,
\n \/* \u7f16\u8f91\u5668\u5e38\u5728\u76ee\u5f55\u524d\u540e\u63d2\u5165\u7a7a p\uff08:empty \u4ecd\u5360 20px\uff09\uff0c\u4e00\u5e76\u53bb\u6389\u907f\u514d\u9876\u7a7a\u9699 *\/
\n #content_views.markdown_views > p:empty:has(+ .toc),
\n #content_views.markdown_views > .toc + p:empty,
\n \/* \u5bcc\u6587\u672c\u65e7\u7248\u76ee\u5f55\u6807\u8bb0 *\/
\n #content_views.htmledit_views #main-toc,
\n #content_views.htmledit_views #hr-toc,
\n #content_views.htmledit_views p[id*=\\”-toc\\”] {
\n display: none !important;
\n }
\n \/* \u76ee\u5f55\u53bb\u6389\u540e\uff0c\u7d27\u8ddf\u7684\u9996\u4e2a\u6807\u9898\u4e0d\u518d\u591a\u51fa\u4e00\u5757\u4e0a\u8fb9\u8ddd *\/
\n #content_views.markdown_views > .toc + h1,
\n #content_views.markdown_views > .toc + h2,
\n #content_views.markdown_views > .toc + h3,
\n #content_views.markdown_views > .toc + h4,
\n #content_views.markdown_views > .toc + p:empty + h1,
\n #content_views.markdown_views > .toc + p:empty + h2,
\n #content_views.markdown_views > .toc + p:empty + h3,
\n #content_views.markdown_views > .toc + p:empty + h4 {
\n margin-top: 0 !important;
\n }<\/p>\n

STM32 + i.MX6ULL CAN \u8bca\u65ad\u4e0e OTA（02）：\u53cc\u5411\u547d\u4ee4\/ACK，\u4ee5\u53ca 50 ms \u8d85\u65f6\u4e3a\u4ec0\u4e48\u662f\u201c\u5047\u4e22\u5305\u201d<\/h2>\n

\u7cfb\u5217\u76ee\u5f55：\u4ece\u201cCAN \u80fd\u901a\u201d\u5230\u201c\u53ef\u8bca\u65ad\u3001\u53ef\u5347\u7ea7\u201d \u4e0a\u4e00\u7bc7：01 \u65e7 CAN \u9879\u76ee\u57fa\u7ebf\u5ba1\u8ba1 \u4ed3\u5e93：stm32-imx6ull-can-diag-ota \u672c\u6587\u5bf9\u5e94 tag：a-v0.2-bidirectional<\/p>\n

AImate \u539f\u6765\u53ea\u6709 STM32 \u2192 Linux \u7684\u5468\u671f\u4e0a\u62a5：<\/p>\n

0x111 PIR
\n0x112 \u6e29\u6e7f\u5ea6
\n0x113 \u5fc3\u8df3<\/p>\n

Linux \u2192 STM32 \u7684 0x221\/0x222\/0x228 \u53ea\u6709 ID \u548c\u5e27\u683c\u5f0f，MCU \u7aef\u6ca1\u6709\u5b9e\u73b0\u3002<\/p>\n

\u8fd9\u4e00\u7bc7\u505a\u4e09\u4ef6\u4e8b：<\/p>\n

  • \u628a\u5355\u5411\u94fe\u8def\u8865\u6210\u53cc\u5411\u547d\u4ee4\/ACK；<\/li>\n
  • \u505a 1000 \u6b21\u547d\u4ee4\u538b\u6d4b；<\/li>\n
  • \u89e3\u91ca\u4e00\u4e2a\u5f88\u5bb9\u6613\u8bef\u5224\u7684\u73b0\u8c61：\u628a ACK \u8d85\u65f6\u6539\u77ed，\u4e22\u5305\u7387\u53cd\u800c\u5347\u9ad8\u3002<\/li>\n
    \n

    TL;DR<\/h3>\n
      \n
    • \u53cc\u5411\u547d\u4ee4\/ACK \u5df2\u8dd1\u901a：0x221\/0x222 \u547d\u4ee4，0x228 \u5206\u7247 ACK\u3002<\/li>\n
    • 1000 \u6b21\u547d\u4ee4：1000\/1000 \u6210\u529f，0 \u91cd\u8bd5，P99 22.06 ms\u3002<\/li>\n
    • 50 ms \u8d85\u65f6\u90a3\u6b21：2006 \u6b21\u5c1d\u8bd5 \/ 1006 \u6b21\u91cd\u8bd5，\u4f46 1000\/1000 \u5168\u90e8\u6210\u529f\u3002<\/li>\n
    • \u8fd9\u4e0d\u662f CAN \u4e22\u5305，\u662f 50 ms \u8d85\u65f6\u5c0f\u4e8e RTT p99（49.85 ms）\u3002<\/li>\n
    • \u53e6\u4e00\u4e2a\u95ee\u9898\u662f STM32 \u7684 APP_REPORT_TICK_MS = 100，\u547d\u4ee4\u6bcf 100 ms \u624d\u5904\u7406\u4e00\u6b21；\u6539\u6210 20 ms \u540e RTT \u4ece\u7ea6 99 ms \u964d\u5230\u7ea6 20 ms\u3002<\/li>\n
    • \u91cd\u590d seq \u9a8c\u8bc1：dup_cmd 300 \u2192 301，\u6ca1\u6709\u91cd\u590d\u6267\u884c\u3002<\/li>\n<\/ul>\n
      \n

      1. \u80cc\u666f：\u539f\u6765\u53ea\u6709\u5355\u5411\u4e0a\u62a5<\/h3>\n

      \u65e7\u5de5\u7a0b\u5df2\u7ecf\u80fd：<\/p>\n

        \n
      • 500 kbps \u6807\u51c6\u5e27；<\/li>\n
      • 0x111\/0x112\/0x113 \u5468\u671f\/\u4e8b\u4ef6\u4e0a\u62a5；<\/li>\n
      • Linux \u7aef candump \u80fd\u6536\u5230\u3002<\/li>\n<\/ul>\n

        \u4f46 Linux \u53d1\u547d\u4ee4\u65f6，STM32 \u7aef\u6ca1\u6709\u89e3\u6790，\u4e5f\u6ca1\u6709 ACK\u3002 \u6240\u4ee5\u201c\u53cc\u5411 CAN \u901a\u4fe1\u201d\u5176\u5b9e\u53ea\u5b8c\u6210\u4e86\u7269\u7406\u5c42\u548c\u5355\u5411\u4e0a\u62a5\u3002<\/p>\n

        \u8fd9\u6b21\u8981\u8865\u7684\u662f\u5e94\u7528\u5c42：<\/p>\n

        Linux \u53d1 0x221\/0x222
        \n \u2193
        \nSTM32 \u6821\u9a8c CRC\u3001\u6267\u884c\u547d\u4ee4
        \n \u2193
        \nSTM32 \u56de 0x228 ACK
        \n \u2193
        \nLinux \u6309 cmd + seq \u5339\u914d<\/p>\n

        \n

        2. \u534f\u8bae：\u547d\u4ee4\u3001ACK\u3001seq<\/h3>\n

        2.1 \u547d\u4ee4\u5e27 0x221\/0x222<\/h4>\n

        8 \u5b57\u8282\u56fa\u5b9a：<\/p>\n\n\u504f\u79fb\u7c7b\u578b\u5b57\u6bb5\u8bf4\u660e<\/tr>\n\n\n\n\n\n
        0<\/td>\nuint8<\/td>\ncmd<\/td>\n\u547d\u4ee4\u7801<\/td>\n<\/tr>\n
        1<\/td>\nuint8<\/td>\nseq<\/td>\n\u6bcf\u6761\u65b0\u547d\u4ee4 +1；\u91cd\u4f20\u590d\u7528\u540c\u4e00 seq<\/td>\n<\/tr>\n
        2\u20265<\/td>\nuint8[4]<\/td>\nargs<\/td>\n\u53c2\u6570，\u5c0f\u7aef，\u672a\u7528\u586b 0<\/td>\n<\/tr>\n
        6\u20267<\/td>\nuint16 LE<\/td>\ncrc16<\/td>\nCRC-16\/CCITT-FALSE，\u8986\u76d6 0\u20265<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

        CRC \u53c2\u6570：<\/p>\n

        poly = 0x1021
        \ninit = 0xFFFF
        \nrefin = false
        \nrefout = false
        \nxorout = 0<\/p>\n

        \u4f8b\u5b50：<\/p>\n

        0x222#10 00 00 00 00 00 94 14<\/p>\n

          \n
        • cmd=0x10：\u67e5\u8be2\u7248\u672c；<\/li>\n
        • seq=0x00；<\/li>\n
        • \u540e\u4e24\u5b57\u8282\u662f CRC16\u3002<\/li>\n<\/ul>\n

          2.2 ACK \u5e27 0x228<\/h4>\n

          ACK \u4e5f\u56fa\u5b9a 8 \u5b57\u8282，\u4f46\u6309 4 \u5b57\u8282\u5206\u7247：<\/p>\n\n\u504f\u79fb\u7c7b\u578b\u5b57\u6bb5\u8bf4\u660e<\/tr>\n\n\n\n\n\n\n
          0<\/td>\nuint8<\/td>\ncmd<\/td>\n\u56de\u663e\u547d\u4ee4\u7801<\/td>\n<\/tr>\n
          1<\/td>\nuint8<\/td>\nseq<\/td>\n\u56de\u663e seq<\/td>\n<\/tr>\n
          2<\/td>\nuint8<\/td>\nstatus<\/td>\n0=OK，1=\u672a\u77e5\u547d\u4ee4，2=\u53c2\u6570\u9519\u8bef，3=\u4e0d\u652f\u6301<\/td>\n<\/tr>\n
          3<\/td>\nuint8<\/td>\nfrag<\/td>\n\u5206\u7247\u53f7，\u4ece 0 \u5f00\u59cb<\/td>\n<\/tr>\n
          4\u20267<\/td>\nuint8[4]<\/td>\ndata<\/td>\n\u8f7d\u8377\u5206\u7247，\u4e0d\u8db3\u8865 0<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

          \u4e3a\u4ec0\u4e48\u9700\u8981\u5206\u7247？<\/p>\n

          0x12 \u67e5\u8be2\u7edf\u8ba1\u8fd4\u56de 11 \u5b57\u8282，8 \u5b57\u8282 ACK \u88c5\u4e0d\u4e0b，\u6240\u4ee5\u62c6\u6210 3 \u5e27：<\/p>\n

          frag0: cmd seq status 0 data[0..3]
          \nfrag1: cmd seq status 1 data[4..7]
          \nfrag2: cmd seq status 2 data[8..10] 00<\/p>\n

          \u63a5\u6536\u7aef\u6309 cmd + seq \u5339\u914d，\u518d\u6309 frag \u6392\u5e8f\u62fc\u63a5\u3002<\/p>\n

          2.3 seq\u3001\u91cd\u8bd5\u3001\u53bb\u91cd<\/h4>\n
            \n
          • Linux \u6bcf\u6761\u65b0\u547d\u4ee4 seq++；<\/li>\n
          • \u8d85\u65f6\u91cd\u53d1\u65f6 seq \u4e0d\u53d8，\u5e27\u5b57\u8282\u5b8c\u5168\u4e00\u6837；<\/li>\n
          • STM32 \u7528 (cmd, seq) \u505a\u7f13\u5b58，\u6df1\u5ea6 4；<\/li>\n
          • \u547d\u4e2d\u7f13\u5b58：dup_cmd++，\u539f\u6837\u56de\u653e ACK，\u4e0d\u91cd\u590d\u6267\u884c；<\/li>\n
          • \u672a\u547d\u4e2d：\u6267\u884c\u547d\u4ee4，\u7f13\u5b58\u5e94\u7b54，\u518d\u53d1 ACK\u3002<\/li>\n<\/ul>\n

            \u8fd9\u662f\u201cACK \u4e22\u5931\u540e\u91cd\u4f20\u4e0d\u4f1a\u6267\u884c\u4e24\u6b21\u201d\u7684\u5173\u952e\u3002<\/p>\n

            \n

            3. \u7b2c\u4e00\u6b21\u538b\u6d4b：1000 \u6761\u547d\u4ee4\u8981 98 \u79d2<\/h3>\n

            \u7b2c\u4e00\u7248 STM32 \u4efb\u52a1\u5468\u671f\u662f：<\/p>\n

            #<\/span>define<\/span> APP_REPORT_TICK_MS<\/span> 100U<\/span><\/span><\/span><\/p>\n

            Report_Task \u6bcf 100 ms \u9192\u4e00\u6b21，\u547d\u4ee4\u5904\u7406 AppCmd_Task() \u5728\u8fd9\u4e2a\u4efb\u52a1\u91cc\u3002<\/p>\n

            \u538b\u6d4b\u7ed3\u679c：<\/p>\n

            \u538b\u6d4b\u547d\u4ee4\u6570 : 1000
            \n\u6210\u529f \/ \u5931\u8d25 : 1000 \/ 0
            \n\u603b\u5c1d\u8bd5 \/ \u91cd\u8bd5: 1000 \/ 0
            \n\u8017\u65f6 : 98.66s
            \n\u5e73\u5747\u901f\u7387 : 10.1 cmd\/s
            \nRTT min\/avg\/max : 8.81 \/ 98.38 \/ 103.03 ms
            \nRTT p50\/p99 : 99.72 \/ 102.86 ms<\/p>\n

            \u6ca1\u6709\u4e22\u5305，\u4e5f\u6ca1\u6709\u91cd\u8bd5，\u4f46\u6bcf\u6761\u547d\u4ee4\u90fd\u8981\u7b49\u7ea6 100 ms\u3002<\/p>\n

            \u4e3a\u4ec0\u4e48\u5e73\u5747\u662f 98 ms，\u4e0d\u662f 50 ms<\/h4>\n

            \u56e0\u4e3a\u6d4b\u8bd5\u662f\u4e32\u884c\u7684：<\/p>\n

            STM32 \u4efb\u52a1\u9192\u6765，\u53d1 ACK
            \n \u2193
            \nLinux \u7acb\u523b\u6536\u5230 ACK，\u9a6c\u4e0a\u53d1\u4e0b\u4e00\u6761
            \n \u2193
            \n\u65b0\u547d\u4ee4\u521a\u597d\u9519\u8fc7\u8fd9\u4e00\u8f6e
            \n \u2193
            \n\u53ea\u80fd\u7b49\u4e0b\u4e00\u6b21 100 ms \u4efb\u52a1\u5524\u9192<\/p>\n

            \u6bcf\u6761\u547d\u4ee4\u90fd\u521a\u597d\u7b49\u6ee1\u4e00\u4e2a tick，\u5e73\u5747\u63a5\u8fd1 100 ms\u3002 1000 \u6761 \u00d7 100 ms \u2248 100 \u79d2，\u548c\u5b9e\u6d4b 98.66 \u79d2\u5bf9\u5f97\u4e0a\u3002<\/p>\n

            \n

            4. \u628a\u8d85\u65f6\u6539\u77ed，\u53cd\u800c\u201c\u4e22\u5305\u201d<\/h3>\n

            \u7b2c\u4e00\u7248 Linux ACK \u8d85\u65f6\u662f 50 ms\u3002<\/p>\n

            \u7ed3\u679c：<\/p>\n

            \u538b\u6d4b\u547d\u4ee4\u6570 : 1000
            \n\u6210\u529f \/ \u5931\u8d25 : 1000 \/ 0
            \n\u603b\u5c1d\u8bd5 \/ \u91cd\u8bd5: 2006 \/ 1006
            \n\u8017\u65f6 : 99.67s
            \nRTT min\/avg\/max : 5.71 \/ 45.88 \/ 51.50 ms
            \nRTT p50\/p99 : 46.77 \/ 49.85 ms<\/p>\n

            \u770b\u8d77\u6765\u50cf\u201c\u4e22\u5305\u7387\u5f88\u9ad8\u201d，\u4f46\u5b9e\u9645\u4e0a：<\/p>\n

              \n
            • 1000 \u6761\u547d\u4ee4\u6700\u7ec8 1000\/1000 \u6210\u529f；<\/li>\n
            • 2006 \u6b21\u5c1d\u8bd5 = 1000 \u6761\u547d\u4ee4 + 1006 \u6b21\u91cd\u8bd5；<\/li>\n
            • p99 49.85 ms，max 51.50 ms，\u800c\u8d85\u65f6\u662f 50 ms\u3002<\/li>\n<\/ul>\n

              \u4e5f\u5c31\u662f\u8bf4：<\/p>\n

              \u8d85\u65f6\u7a97\u53e3\u521a\u597d\u5361\u5728 RTT p99 \u4e0a，\u5927\u91cf\u547d\u4ee4\u4f1a\u5148\u8d85\u65f6，\u518d\u91cd\u53d1；1006 \u6b21\u91cd\u8bd5\u7ea6\u7b49\u4e8e\u6bcf\u6761\u547d\u4ee4\u591a\u7b49\u4e00\u6b21 50 ms\u3002<\/p>\n

              \u8fd9\u4e0d\u662f CAN \u94fe\u8def\u4e22\u5305，\u662f \u8d85\u65f6\u8bbe\u5f97\u592a\u5c0f\u3002<\/p>\n

              ack_rx \u4e3a\u4ec0\u4e48\u4e0d\u662f\u547d\u4ee4\u6570<\/h4>\n

              \u65e9\u671f\u65e5\u5fd7\u91cc\u51fa\u73b0\u8fc7：<\/p>\n

              cmd_tx=3 ack_rx=6<\/p>\n

              3 \u6761\u547d\u4ee4，6 \u4e2a ACK \u5206\u7247：<\/p>\n

              \u7248\u672c 1 \u7247 + \u914d\u7f6e 2 \u7247 + \u7edf\u8ba1 3 \u7247 = 6 \u7247<\/p>\n

              \u6240\u4ee5 ack_rx \u662f\u5206\u7247\u6570，\u4e0d\u662f\u547d\u4ee4\u6210\u529f\u6570\u3002 \u547d\u4ee4\u6210\u529f\u6570\u770b ok\u3002<\/p>\n

              \n

              5. \u6839\u56e0：\u4e0d\u662f CAN，\u662f\u8c03\u5ea6\u7c92\u5ea6<\/h3>\n

              \u4e24\u4e2a\u95ee\u9898\u8981\u5206\u5f00：<\/p>\n\n\u73b0\u8c61\u6839\u56e0<\/tr>\n\n\n\n
              50 ms \u8d85\u65f6\u5bfc\u81f4\u5927\u91cf\u91cd\u8bd5<\/td>\n\u8d85\u65f6\u5c0f\u4e8e RTT p99，\u5c5e\u4e8e\u201c\u5047\u4e22\u5305\u201d<\/td>\n<\/tr>\n
              \u6bcf\u6761\u547d\u4ee4\u7ea6 100 ms<\/td>\nSTM32 \u547d\u4ee4\u5904\u7406\u6bcf 100 ms \u624d\u8f6e\u4e00\u6b21<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

              CAN \u5916\u8bbe\u53d1\u4e00\u5e27\u5f88\u5feb，\u6162\u7684\u662f：<\/p>\n

              CAN RX FIFO
              \n \u2192 Report_Task 100 ms \u9192\u6765
              \n \u2192 AppCmd_Task \u89e3\u6790
              \n \u2192 \u6267\u884c\u547d\u4ee4
              \n \u2192 CAN_Send ACK<\/p>\n

              \u6240\u4ee5\u4f18\u5316\u65b9\u5411\u4e0d\u662f\u201c\u6539 CAN \u6ce2\u7279\u7387\u201d，\u800c\u662f：<\/p>\n

            • \u8ba9 Linux \u8d85\u65f6\u5927\u4e8e RTT；<\/li>\n
            • \u8ba9 STM32 \u66f4\u9891\u7e41\u5730\u5904\u7406\u547d\u4ee4，\u6216\u8005\u7528\u4e2d\u65ad\u5524\u9192\u3002<\/li>\n
              \n

              6. \u4fee\u590d：\u5148\u8c03\u8d85\u65f6，\u518d\u8c03 tick<\/h3>\n

              6.1 \u8d85\u65f6\u6539\u6210 150 ms<\/h4>\n

              50 ms \u8d85\u65f6\u7a97\u53e3\u5c0f\u4e8e max 51.50 ms，\u5fc5\u7136\u6709\u5927\u91cf\u91cd\u8bd5\u3002 \u628a Linux \u8d85\u65f6\u6539\u6210 150 ms：<\/p>\n

              \u603b\u5c1d\u8bd5 \/ \u91cd\u8bd5: 1000 \/ 0
              \n\u8017\u65f6 : 98.66s
              \nRTT p99 : 102.86 ms<\/p>\n

              \u91cd\u8bd5\u5f52\u96f6，\u4f46\u6bcf\u6761\u547d\u4ee4\u4ecd\u7136\u7ea6 100 ms，\u56e0\u4e3a tick \u8fd8\u662f 100 ms\u3002<\/p>\n

              \u7ed3\u8bba：<\/p>\n

              \u8d85\u65f6\u5fc5\u987b\u5927\u4e8e RTT p99；\u4f46\u53ea\u6539\u8d85\u65f6，\u53ea\u80fd\u6d88\u9664\u201c\u5047\u4e22\u5305\u201d，\u4e0d\u80fd\u964d\u4f4e\u5ef6\u8fdf\u3002<\/p>\n

              6.2 tick \u4ece 100 ms \u6539\u6210 20 ms<\/h4>\n

              \/* Core\/CustomDrivers\/app_report.h *\/<\/span>
              \n#<\/span>define<\/span> APP_REPORT_TICK_MS<\/span> 20U<\/span><\/span><\/span><\/p>\n

              \u5468\u671f\u5e27\u4ecd\u6309\u5404\u81ea\u7684\u65f6\u95f4\u5224\u65ad，\u4e0d\u53d7\u5f71\u54cd；\u53ea\u662f\u547d\u4ee4\u5904\u7406\u66f4\u9891\u7e41\u3002<\/p>\n

              \u7ed3\u679c：<\/p>\n

              \u538b\u6d4b\u547d\u4ee4\u6570 : 1000
              \n\u6210\u529f \/ \u5931\u8d25 : 1000 \/ 0
              \n\u603b\u5c1d\u8bd5 \/ \u91cd\u8bd5: 1000 \/ 0
              \n\u8017\u65f6 : 20.04s
              \n\u5e73\u5747\u901f\u7387 : 49.9 cmd\/s
              \nRTT min\/avg\/max : 18.57 \/ 19.75 \/ 26.24 ms
              \nRTT p50\/p99 : 19.74 \/ 22.06 ms<\/p>\n

              \u5bf9\u6bd4：<\/p>\n\ntick\u8d85\u65f6\u5c1d\u8bd5\u6b21\u6570\u91cd\u8bd5\u8017\u65f6RTT p99<\/tr>\n\n\n\n\n
              100 ms<\/td>\n50 ms<\/td>\n2006<\/td>\n1006<\/td>\n99.67s<\/td>\n49.85 ms<\/td>\n<\/tr>\n
              100 ms<\/td>\n150 ms<\/td>\n1000<\/td>\n0<\/td>\n98.66s<\/td>\n102.86 ms<\/td>\n<\/tr>\n
              20 ms<\/td>\n150 ms<\/td>\n1000<\/td>\n0<\/td>\n20.04s<\/td>\n22.06 ms<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

              \u6700\u7ec8\u9009\u62e9：<\/p>\n

              APP_REPORT_TICK_MS = 20
              \nACK timeout = 150 ms<\/p>\n

              P99 22 ms，\u6ee1\u8db3\u540e\u9762 UDS 0x22 < 50 ms \u7684\u76ee\u6807\u3002<\/p>\n

              \n

              7. \u53bb\u91cd\u9a8c\u8bc1<\/h3>\n

              \u53d1\u4e24\u6b21\u540c\u4e00\u4e2a seq=0x77 \u7684\u67e5\u8be2：<\/p>\n

              cansend can0 222<\/span>#107700000000C66E<\/span>
              \ncansend can0 222<\/span>#107700000000C66E<\/span><\/p>\n

              \u518d\u67e5\u4e24\u6b21\u7edf\u8ba1：<\/p>\n

              cansend can0 222<\/span>#1278000000007F80<\/span>
              \ncansend can0 222<\/span>#1279000000002E2A<\/span><\/p>\n

              \u6293\u5230：<\/p>\n

              can0 228 [8] 12 78 00 00 3B 06 00 00
              \ncan0 228 [8] 12 78 00 01 2C 01 5F 09
              \ncan0 228 [8] 12 78 00 02 00 00 78 00<\/p>\n

              can0 228 [8] 10 77 00 00 10 12 00 00
              \ncan0 228 [8] 10 77 00 00 10 12 00 00<\/p>\n

              can0 228 [8] 12 79 00 00 3E 06 00 00
              \ncan0 228 [8] 12 79 00 01 2D 01 64 09
              \ncan0 228 [8] 12 79 00 02 00 00 79 00<\/p>\n

              \u7edf\u8ba1\u89e3\u6790：<\/p>\n\n\u67e5\u8be2cmd_rxcrc_errdup_cmdack_txack_faillast_seq<\/tr>\n\n\n\n
              0x12 seq=0x78<\/td>\n1595<\/td>\n0<\/td>\n300<\/td>\n2399<\/td>\n0<\/td>\n0x78<\/td>\n<\/tr>\n
              0x12 seq=0x79<\/td>\n1598<\/td>\n0<\/td>\n301<\/td>\n2404<\/td>\n0<\/td>\n0x79<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

              \u53d8\u5316：<\/p>\n

              cmd_rx +3 = \u4e24\u6b21 0x77 + \u6700\u540e\u4e00\u6b21 0x79
              \ndup_cmd +1 = \u7b2c\u4e8c\u6b21 0x77 \u547d\u4e2d\u7f13\u5b58
              \nack_tx +5 = \u4e24\u6b21 0x77 \u5404 1 \u5e27 + 0x79 \u7edf\u8ba1 3 \u5e27
              \ncrc_err = 0
              \nack_fail = 0<\/p>\n

              \u7ed3\u8bba：<\/p>\n

              \u7b2c\u4e8c\u6b21 0x77 \u6ca1\u6709\u91cd\u590d\u6267\u884c，\u800c\u662f\u547d\u4e2d\u7f13\u5b58\u5e76\u56de\u653e ACK\u3002<\/p>\n

              \n

              8. \u8e29\u5751\u6e05\u5355<\/h3>\n
            • \n

              ack_rx \u662f\u5206\u7247\u6570，\u4e0d\u662f\u547d\u4ee4\u6570 \u770b\u547d\u4ee4\u6210\u529f\u6570\u8981\u7528 ok，\u770b\u5206\u7247\u7528 ack_rx\u3002<\/p>\n<\/li>\n

            • \n

              \u8d85\u65f6\u5c0f\u4e8e RTT p99，\u4f1a\u5236\u9020\u201c\u5047\u4e22\u5305\u201d 50 ms \u8d85\u65f6\u90a3\u6b21 1006 \u6b21\u91cd\u8bd5，\u4f46\u5168\u90e8\u6210\u529f；\u4e0d\u662f\u94fe\u8def\u4e22\u5305\u3002<\/p>\n<\/li>\n

            • \n

              \u4e32\u884c\u547d\u4ee4\/ACK + \u8f6e\u8be2 tick \u4f1a\u76f8\u4f4d\u9501\u5b9a \u6bcf\u6b21 ACK \u540e\u7acb\u523b\u53d1\u4e0b\u4e00\u6761，\u65b0\u547d\u4ee4\u521a\u597d\u9519\u8fc7\u672c\u8f6e，\u7b49\u5f85\u4e00\u4e2a\u5b8c\u6574 tick\u3002<\/p>\n<\/li>\n

            • \n

              0x228 \u7684\u6e90\u5730\u5740\u4f4d\u662f\u5386\u53f2\u9057\u7559 ID \u4f4d\u57df\u91cc\u6e90\u5730\u5740\u4ecd\u662f Linux，\u4f46\u5b9e\u9645\u53d1\u9001\u65b9\u662f STM32；\u63a5\u6536\u6309\u5b8c\u6574 ID \u5339\u914d\u3002<\/p>\n<\/li>\n

            • \n

              \u53bb\u91cd\u7f13\u5b58\u8981\u5b58\u201c\u5e94\u7b54\u5185\u5bb9\u201d，\u4e0d\u662f\u53ea\u5b58\u4e00\u4e2a\u6807\u5fd7 \u5426\u5219\u91cd\u4f20\u65f6\u67e5\u8be2\u7ed3\u679c（uptime\u3001\u7edf\u8ba1\u503c）\u4f1a\u53d8\u5316\u3002<\/p>\n<\/li>\n

              \n

              9. \u4e0b\u4e00\u6b65<\/h3>\n

              \u901a\u4fe1\u5c42\u5230\u6b64\u51bb\u7ed3：<\/p>\n

              \u547d\u4ee4\/ACK：\u5b8c\u6210
              \nseq\/CRC\/\u91cd\u8bd5\/\u53bb\u91cd：\u5b8c\u6210
              \n\u4e22\u5305\/RTT \u7edf\u8ba1：\u5b8c\u6210
              \ntag：a-v0.2-bidirectional<\/p>\n

              \u4e0b\u4e00\u6b65\u662f ISO-TP：<\/p>\n

              SF \/ FF \/ CF \/ FC
              \nBlockSize \/ STmin
              \nN_Cr \u8d85\u65f6
              \n4 KB \u5206\u7247\/\u91cd\u7ec4<\/p>\n

              \u7136\u540e UDS：<\/p>\n

              0x10 \/ 0x3E \/ 0x22 \/ 0x19 \/ 0x14<\/p>\n

              \n

              10. \u4ed3\u5e93 \/ \u6570\u636e<\/h3>\n
                \n
              • \u4ed3\u5e93：https:\/\/github.com\/longlin05\/stm32-imx6ull-can-diag-ota<\/li>\n
              • tag：a-v0.2-bidirectional<\/li>\n
              • 1000 \u6b21\u538b\u6d4b\u65e5\u5fd7：test\/records\/20261103-can-stress-1000.log<\/li>\n
              • 50 ms \u8d85\u65f6\u65e5\u5fd7：test\/records\/20261103-can-timeout-50ms.log<\/li>\n
              • \u53bb\u91cd\u65e5\u5fd7：test\/records\/20261103-can-dedup.log<\/li>\n
              • \u6d4b\u8bd5\u62a5\u544a：docs\/test-report.md<\/li>\n
              • \u4e0b\u4e00\u7bc7：03 ISO-TP \u591a\u5e27<\/li>\n<\/ul>\n

                \u6807\u7b7e：STM32 CAN i.MX6ULL \u5d4c\u5165\u5f0fLinux ISO-TP<\/p>\n","protected":false},"excerpt":{"rendered":"

                \/* MD \/ \u5bcc\u6587\u672c\u4e2d\u7684 .toc\uff08\u542b\u535a\u5ba2\u56ed\u642c\u5bb6\u7b49\u5d4c\u5957\u7ed3\u6784\uff09\uff1b.toc-box \u5728\u4fa7\u680f\uff0c\u4e0d\u53d7\u5f71\u54cd *\/#content_views .toc,\/* \u7f16\u8f91\u5668\u5e38\u5728\u76ee\u5f55\u524d\u540e\u63d2\u5165\u7a7a p\uff08:empty \u4ecd\u5360 20px\uff09\uff0c\u4e00\u5e76\u53bb\u6389\u907f\u514d\u9876\u7a7a\u9699 *\/#content_views.markdown_views > p:empty:has(+ .toc),#content_views.markdown_views > .toc + p:empty,\/* \u5bcc\u6587\u672c\u65e7\u7248\u76ee\u5f55\u6807\u8bb0 *\/#content<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[58,371,269,305],"topic":[],"class_list":["post-122536","post","type-post","status-publish","format-standard","hentry","category-server","tag-linux","tag-371","tag-269","tag-305"],"yoast_head":"\nSTM32 + i.MX6ULL CAN \u53cc\u5411\u547d\u4ee4\/ACK \u5b9e\u6218\uff0802\uff09\uff1a50 ms \u8d85\u65f6\u4e3a\u4f55\u53cd\u800c\u201c\u5047\u4e22\u5305\u201d - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/122536.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"STM32 + i.MX6ULL CAN \u53cc\u5411\u547d\u4ee4\/ACK \u5b9e\u6218\uff0802\uff09\uff1a50 ms \u8d85\u65f6\u4e3a\u4f55\u53cd\u800c\u201c\u5047\u4e22\u5305\u201d - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"\/* MD \/ \u5bcc\u6587\u672c\u4e2d\u7684 .toc\uff08\u542b\u535a\u5ba2\u56ed\u642c\u5bb6\u7b49\u5d4c\u5957\u7ed3\u6784\uff09\uff1b.toc-box \u5728\u4fa7\u680f\uff0c\u4e0d\u53d7\u5f71\u54cd *\/#content_views .toc,\/* \u7f16\u8f91\u5668\u5e38\u5728\u76ee\u5f55\u524d\u540e\u63d2\u5165\u7a7a p\uff08:empty \u4ecd\u5360 20px\uff09\uff0c\u4e00\u5e76\u53bb\u6389\u907f\u514d\u9876\u7a7a\u9699 *\/#content_views.markdown_views > p:empty:has(+ .toc),#content_views.markdown_views > .toc + p:empty,\/* \u5bcc\u6587\u672c\u65e7\u7248\u76ee\u5f55\u6807\u8bb0 *\/#content\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/122536.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-11-04T20:41:33+00:00\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"4 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/122536.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/122536.html\",\"name\":\"STM32 + i.MX6ULL CAN \u53cc\u5411\u547d\u4ee4\/ACK \u5b9e\u6218\uff0802\uff09\uff1a50 ms \u8d85\u65f6\u4e3a\u4f55\u53cd\u800c\u201c\u5047\u4e22\u5305\u201d - 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