{"id":76709,"date":"2026-02-23T07:11:17","date_gmt":"2026-02-22T23:11:17","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/76709.html"},"modified":"2026-02-23T07:11:17","modified_gmt":"2026-02-22T23:11:17","slug":"%e4%bb%8e%e9%9b%b6%e6%9e%84%e5%bb%bacan%e6%80%bb%e7%ba%bf%e5%97%85%e6%8e%a2%e5%99%a8%ef%bc%9astm32%e4%b8%8e%e5%bc%80%e6%ba%90%e5%9b%ba%e4%bb%b6%e7%9a%84%e4%bd%8e%e6%88%90%e6%9c%ac%e6%9b%bf%e4%bb%a3","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/76709.html","title":{"rendered":"\u4ece\u96f6\u6784\u5efaCAN\u603b\u7ebf\u55c5\u63a2\u5668\uff1aSTM32\u4e0e\u5f00\u6e90\u56fa\u4ef6\u7684\u4f4e\u6210\u672c\u66ff\u4ee3\u65b9\u6848"},"content":{"rendered":"<h2>\u4ece\u96f6\u6784\u5efaCAN\u603b\u7ebf\u55c5\u63a2\u5668&#xff1a;STM32\u4e0e\u5f00\u6e90\u56fa\u4ef6\u7684\u4f4e\u6210\u672c\u66ff\u4ee3\u65b9\u6848<\/h2>\n<p>\u5728\u5d4c\u5165\u5f0f\u5f00\u53d1\u548c\u786c\u4ef6\u7231\u597d\u8005\u7684\u4e16\u754c\u91cc&#xff0c;CAN\u603b\u7ebf\u4e00\u76f4\u662f\u5de5\u4e1a\u63a7\u5236\u3001\u6c7d\u8f66\u7535\u5b50\u548c\u7269\u8054\u7f51\u8bbe\u5907\u4e2d\u4e0d\u53ef\u6216\u7f3a\u7684\u901a\u4fe1\u534f\u8bae\u3002\u7136\u800c&#xff0c;\u5546\u4e1aCAN\u5206\u6790\u5de5\u5177\u5982PCAN-View\u867d\u7136\u529f\u80fd\u5f3a\u5927&#xff0c;\u4f46\u4ef7\u683c\u6602\u8d35&#xff0c;\u5bf9\u4e8e\u9884\u7b97\u6709\u9650\u7684\u4e2a\u4eba\u5f00\u53d1\u8005\u3001\u6559\u80b2\u673a\u6784\u6216\u5c0f\u89c4\u6a21\u5de5\u4e1a\u5e94\u7528\u6765\u8bf4&#xff0c;\u5f80\u5f80\u96be\u4ee5\u627f\u53d7\u3002\u5e78\u8fd0\u7684\u662f&#xff0c;\u501f\u52a9STM32\u5fae\u63a7\u5236\u5668\u548c\u5f00\u6e90\u56fa\u4ef6&#xff0c;\u6211\u4eec\u5b8c\u5168\u53ef\u4ee5\u81ea\u4e3b\u6784\u5efa\u4e00\u5957\u4f4e\u6210\u672c\u3001\u9ad8\u7075\u6d3b\u6027\u7684USB-CAN\u9002\u914d\u5668&#xff0c;\u5b9e\u73b0\u4e0d\u4e9a\u4e8e\u5546\u4e1a\u5de5\u5177\u7684\u6570\u636e\u91c7\u96c6\u4e0e\u76d1\u63a7\u529f\u80fd\u3002<\/p>\n<p>\u8fd9\u4e2a\u65b9\u6848\u7684\u6838\u5fc3\u5728\u4e8e\u5229\u7528\u5f00\u6e90\u793e\u533a\u7684\u529b\u91cf&#xff0c;\u7279\u522b\u662f\u50cfCANable\u8fd9\u6837\u7684\u9879\u76ee&#xff0c;\u5b83\u63d0\u4f9b\u4e86\u5b8c\u6574\u7684\u8f6f\u786c\u4ef6\u8bbe\u8ba1&#xff0c;\u8ba9\u6211\u4eec\u80fd\u591f\u4ee5\u6781\u4f4e\u7684\u6210\u672c&#xff08;\u901a\u5e38\u4e0d\u5230\u5546\u4e1a\u5de5\u5177\u7684\u5341\u5206\u4e4b\u4e00&#xff09;\u642d\u5efa\u8d77\u4e13\u4e1a\u7684CAN\u603b\u7ebf\u5206\u6790\u73af\u5883\u3002\u65e0\u8bba\u662f\u7528\u4e8e\u8f66\u8f86\u8bca\u65ad\u3001\u5de5\u4e1a\u8bbe\u5907\u8c03\u8bd5&#xff0c;\u8fd8\u662f\u6559\u5b66\u5b9e\u9a8c&#xff0c;\u8fd9\u5957\u65b9\u6848\u90fd\u80fd\u63d0\u4f9b\u53ef\u9760\u7684\u6570\u636e\u6355\u83b7\u548c\u89e3\u7801\u80fd\u529b&#xff0c;\u800c\u4e14\u5b8c\u5168\u5f00\u6e90\u7684\u7279\u70b9\u610f\u5473\u7740\u6211\u4eec\u53ef\u4ee5\u6839\u636e\u81ea\u5df1\u7684\u9700\u6c42\u8fdb\u884c\u6df1\u5ea6\u5b9a\u5236\u3002<\/p>\n<h3>1. \u786c\u4ef6\u9009\u578b\u4e0e\u642d\u5efa<\/h3>\n<p>\u6784\u5efa\u4f4e\u6210\u672cCAN\u55c5\u63a2\u5668\u7684\u7b2c\u4e00\u6b65\u662f\u9009\u62e9\u5408\u9002\u7684\u786c\u4ef6\u5e73\u53f0\u3002STM32\u7cfb\u5217\u5fae\u63a7\u5236\u5668\u4ee5\u5176\u4e30\u5bcc\u7684\u5916\u8bbe\u8d44\u6e90\u548c\u5f3a\u5927\u7684\u6027\u80fd\u6210\u4e3a\u7406\u60f3\u9009\u62e9&#xff0c;\u7279\u522b\u662f\u5185\u7f6eCAN\u63a7\u5236\u5668\u7684\u578b\u53f7&#xff0c;\u5982STM32F103C8T6&#xff08;Blue Pill\u5f00\u53d1\u677f&#xff09;\u6216STM32F072CBU6\u3002\u8fd9\u4e9b\u82af\u7247\u4e0d\u4ec5\u4ef7\u683c\u4f4e\u5ec9&#xff08;\u901a\u5e38\u4e0d\u523020\u5143&#xff09;&#xff0c;\u800c\u4e14\u793e\u533a\u652f\u6301\u5b8c\u5584&#xff0c;\u6709\u5927\u91cf\u7684\u5f00\u6e90\u9879\u76ee\u548c\u6559\u7a0b\u53ef\u4f9b\u53c2\u8003\u3002<\/p>\n<p>\u9664\u4e86\u4e3b\u63a7\u82af\u7247&#xff0c;\u6211\u4eec\u8fd8\u9700\u8981\u4e00\u4e2aCAN\u6536\u53d1\u5668\u6765\u8fde\u63a5\u7269\u7406\u603b\u7ebf\u3002\u5e38\u89c1\u7684TJA1050\u6216MCP2551\u90fd\u662f\u4e0d\u9519\u7684\u9009\u62e9&#xff0c;\u5b83\u4eec\u80fd\u591f\u5c06\u5fae\u63a7\u5236\u5668\u7684\u903b\u8f91\u7535\u5e73\u8f6c\u6362\u4e3aCAN\u603b\u7ebf\u6240\u9700\u7684\u5dee\u5206\u4fe1\u53f7\u3002\u786c\u4ef6\u8fde\u63a5\u975e\u5e38\u7b80\u5355&#xff1a;<\/p>\n<ul>\n<li>STM32\u7684CAN_TX \u8fde\u63a5\u5230\u6536\u53d1\u5668\u7684TXD<\/li>\n<li>STM32\u7684CAN_RX \u8fde\u63a5\u5230\u6536\u53d1\u5668\u7684RXD<\/li>\n<li>\u6536\u53d1\u5668\u7684CANH\u548cCANL \u5206\u522b\u8fde\u63a5\u5230\u603b\u7ebf\u7684CAN_H\u548cCAN_L<\/li>\n<li>\u5fc5\u8981\u65f6\u6dfb\u52a0120\u6b27\u59c6\u7684\u7ec8\u7aef\u7535\u963b<\/li>\n<\/ul>\n<p>\u5bf9\u4e8eUSB\u63a5\u53e3&#xff0c;\u5927\u591a\u6570STM32\u5f00\u53d1\u677f\u5df2\u7ecf\u5185\u7f6e\u4e86USB\u8f6c\u4e32\u53e3\u82af\u7247&#xff0c;\u4f46\u5982\u679c\u9700\u8981\u66f4\u597d\u7684\u517c\u5bb9\u6027\u548c\u6027\u80fd&#xff0c;\u53ef\u4ee5\u8003\u8651\u4f7f\u7528\u5e26\u6709\u539f\u751fUSB\u529f\u80fd\u7684STM32\u578b\u53f7&#xff0c;\u5982STM32F072\u6216STM32F103\u7684USB\u8bbe\u5907\u6a21\u5f0f\u3002<\/p>\n<p>\u63d0\u793a&#xff1a;\u5728\u9009\u62e9\u786c\u4ef6\u65f6&#xff0c;\u52a1\u5fc5\u6ce8\u610fCAN\u6536\u53d1\u5668\u7684\u7535\u538b\u7535\u5e73\u4e0e\u4f60\u7684\u603b\u7ebf\u7cfb\u7edf\u5339\u914d\u3002\u6c7d\u8f66\u7535\u5b50\u901a\u5e38\u4f7f\u752812V\u7cfb\u7edf&#xff0c;\u800c\u5de5\u4e1a\u8bbe\u5907\u53ef\u80fd\u662f24V&#xff0c;\u9009\u62e9\u5408\u9002\u7684\u6536\u53d1\u5668\u81f3\u5173\u91cd\u8981\u3002<\/p>\n<h3>2. \u5f00\u6e90\u56fa\u4ef6\u5237\u5199\u4e0e\u914d\u7f6e<\/h3>\n<p>\u6709\u4e86\u786c\u4ef6\u57fa\u7840&#xff0c;\u4e0b\u4e00\u6b65\u5c31\u662f\u4e3a\u5176\u6ce8\u5165&#034;\u7075\u9b42&#034;\u2014\u2014\u5f00\u6e90\u56fa\u4ef6\u3002CANable\u9879\u76ee\u63d0\u4f9b\u4e86\u5b8c\u6574\u7684\u56fa\u4ef6\u89e3\u51b3\u65b9\u6848&#xff0c;\u652f\u6301\u4e24\u79cd\u4e3b\u8981\u6a21\u5f0f&#xff1a;ASCII\u547d\u4ee4\u6a21\u5f0f\u548c\u4e8c\u8fdb\u5236\u6a21\u5f0f\u3002ASCII\u6a21\u5f0f\u4fbf\u4e8e\u76f4\u63a5\u901a\u8fc7\u4e32\u53e3\u5de5\u5177\u8fdb\u884c\u4ea4\u4e92\u5f0f\u8c03\u8bd5&#xff0c;\u800c\u4e8c\u8fdb\u5236\u6a21\u5f0f\u5219\u63d0\u4f9b\u4e86\u66f4\u9ad8\u7684\u6548\u7387\u548c\u517c\u5bb9\u6027&#xff0c;\u80fd\u591f\u4e0e\u6807\u51c6CAN\u5206\u6790\u8f6f\u4ef6\u65e0\u7f1d\u96c6\u6210\u3002<\/p>\n<p>\u5237\u5199\u56fa\u4ef6\u7684\u8fc7\u7a0b\u975e\u5e38\u7b80\u5355&#xff0c;\u53ea\u9700\u8981\u4e00\u4e2aST-Link\u6216USB\u8f6c\u4e32\u53e3\u5de5\u5177&#xff1a;<\/p>\n<li>\u4e0b\u8f7d\u6700\u65b0\u56fa\u4ef6&#xff1a;\u4eceCANable\u9879\u76ee\u7684GitHub\u4ed3\u5e93\u83b7\u53d6\u9884\u7f16\u8bd1\u7684\u56fa\u4ef6\u6587\u4ef6<\/li>\n<li>\u8fde\u63a5\u7f16\u7a0b\u5668&#xff1a;\u5c06ST-Link\u7684SWD\u63a5\u53e3\u4e0eSTM32\u7684\u5bf9\u5e94\u5f15\u811a\u8fde\u63a5&#xff08;SWDIO\u3001SWCLK\u3001GND\u30013.3V&#xff09;<\/li>\n<li>\u5237\u5199\u56fa\u4ef6&#xff1a;\u4f7f\u7528OpenOCD\u6216ST\u5b98\u65b9\u5de5\u5177\u8fdb\u884c\u7f16\u7a0b<\/li>\n<p># \u4f7f\u7528OpenOCD\u5237\u5199\u56fa\u4ef6\u7684\u793a\u4f8b\u547d\u4ee4<br \/>\nopenocd -f interface\/stlink-v2.cfg -f target\/stm32f1x.cfg \\\\<br \/>\n  -c &#034;program canable_firmware.bin 0x08000000 verify reset exit&#034;<\/p>\n<p>\u5237\u5199\u5b8c\u6210\u540e&#xff0c;\u4f60\u7684\u8bbe\u5907\u5c31\u5e94\u8be5\u88ab\u8bc6\u522b\u4e3a\u4e00\u4e2aUSB\u4e32\u884c\u8bbe\u5907\u3002\u5728Windows\u8bbe\u5907\u7ba1\u7406\u5668\u6216Linux\u7684dmesg\u8f93\u51fa\u4e2d&#xff0c;\u4f60\u5e94\u8be5\u80fd\u770b\u5230\u4e00\u4e2a\u65b0\u7684COM\u7aef\u53e3\u6216\/dev\/ttyACM\u8bbe\u5907\u3002<\/p>\n<p>\u56fa\u4ef6\u914d\u7f6e\u901a\u5e38\u901a\u8fc7\u53d1\u9001AT\u547d\u4ee4\u6765\u5b8c\u6210&#xff1a;<\/p>\n<p>AT&#043;BAUD&#061;500000      # \u8bbe\u7f6e\u6ce2\u7279\u7387\u4e3a500kbps<br \/>\nAT&#043;FILTER&#061;123,456   # \u8bbe\u7f6e\u63a5\u6536\u8fc7\u6ee4\u5668<br \/>\nAT&#043;LOOPBACK&#061;ON      # \u542f\u7528\u56de\u73af\u6d4b\u8bd5\u6a21\u5f0f<\/p>\n<p>\u8fd9\u4e9b\u914d\u7f6e\u547d\u4ee4\u53ef\u4ee5\u5728\u8fde\u63a5\u65f6\u81ea\u52a8\u6267\u884c&#xff0c;\u4e5f\u53ef\u4ee5\u52a8\u6001\u8c03\u6574&#xff0c;\u8ba9\u4f60\u80fd\u591f\u7075\u6d3b\u5730\u9002\u5e94\u4e0d\u540c\u7684\u603b\u7ebf\u73af\u5883\u3002<\/p>\n<h3>3. \u8f6f\u4ef6\u73af\u5883\u642d\u5efa\u4e0e\u5de5\u5177\u96c6\u6210<\/h3>\n<p>\u786c\u4ef6\u548c\u56fa\u4ef6\u5c31\u7eea\u540e&#xff0c;\u6211\u4eec\u9700\u8981\u5728\u4e3b\u673a\u7aef\u642d\u5efa\u76f8\u5e94\u7684\u8f6f\u4ef6\u73af\u5883\u3002\u4e0e\u5546\u4e1a\u8f6f\u4ef6PCAN-View\u4e0d\u540c&#xff0c;\u5f00\u6e90\u65b9\u6848\u63d0\u4f9b\u4e86\u66f4\u591a\u6837\u5316\u7684\u9009\u62e9&#xff0c;\u53ef\u4ee5\u6839\u636e\u5177\u4f53\u9700\u6c42\u642d\u914d\u4e0d\u540c\u7684\u5de5\u5177\u7ec4\u5408\u3002<\/p>\n<p>\u5728Linux\u73af\u5883\u4e0b&#xff0c;can-utils\u5de5\u5177\u96c6\u662f\u9996\u9009&#xff0c;\u5b83\u63d0\u4f9b\u4e86\u4e00\u7cfb\u5217\u547d\u4ee4\u884c\u5de5\u5177\u7528\u4e8eCAN\u603b\u7ebf\u5206\u6790&#xff1a;<\/p>\n<p># \u5b89\u88c5can-utils<br \/>\nsudo apt-get install can-utils<\/p>\n<p># \u914d\u7f6eCAN\u63a5\u53e3\u6ce2\u7279\u7387<br \/>\nsudo ip link set can0 type can bitrate 500000<br \/>\nsudo ip link set up can0<\/p>\n<p># \u4f7f\u7528candump\u6355\u83b7\u6570\u636e<br \/>\ncandump can0<\/p>\n<p># \u4f7f\u7528cansend\u53d1\u9001\u6570\u636e<br \/>\ncansend can0 123#66778899AABBCCDD<\/p>\n<p>\u5bf9\u4e8eWindows\u7528\u6237&#xff0c;SavvyCAN\u662f\u4e00\u4e2a\u529f\u80fd\u5f3a\u5927\u7684\u5f00\u6e90\u66ff\u4ee3\u65b9\u6848&#xff0c;\u5b83\u63d0\u4f9b\u4e86\u56fe\u5f62\u5316\u754c\u9762\u548c\u4e30\u5bcc\u7684\u5206\u6790\u529f\u80fd&#xff1a;<\/p>\n<ul>\n<li>\u5b9e\u65f6\u6570\u636e\u76d1\u63a7&#xff1a;\u4ee5\u8868\u683c\u5f62\u5f0f\u663e\u793a\u603b\u7ebf\u4e0a\u7684\u6240\u6709\u62a5\u6587<\/li>\n<li>\u6570\u636e\u8bb0\u5f55\u4e0e\u56de\u653e&#xff1a;\u652f\u6301\u4fdd\u5b58\u548c\u52a0\u8f7d\u91c7\u96c6\u5230\u7684\u6570\u636e<\/li>\n<li>\u9ad8\u7ea7\u8fc7\u6ee4\u529f\u80fd&#xff1a;\u57fa\u4e8eID\u3001\u6570\u636e\u5185\u5bb9\u7b49\u591a\u79cd\u6761\u4ef6\u8fc7\u6ee4\u62a5\u6587<\/li>\n<li>\u4fe1\u53f7\u89e3\u6790&#xff1a;\u652f\u6301DBC\u6587\u4ef6&#xff0c;\u80fd\u591f\u5c06\u539f\u59cb\u6570\u636e\u89e3\u6790\u4e3a\u7269\u7406\u503c<\/li>\n<\/ul>\n<p>\u6b64\u5916&#xff0c;Python-can\u5e93\u4e3a\u5f00\u53d1\u8005\u63d0\u4f9b\u4e86\u7f16\u7a0b\u63a5\u53e3&#xff0c;\u53ef\u4ee5\u8f7b\u677e\u5730\u96c6\u6210CAN\u603b\u7ebf\u529f\u80fd\u5230\u81ea\u5b9a\u4e49\u5e94\u7528\u4e2d&#xff1a;<\/p>\n<p>import can<\/p>\n<p># \u521b\u5efa\u603b\u7ebf\u5b9e\u4f8b<br \/>\nbus &#061; can.interface.Bus(channel&#061;&#039;can0&#039;, bustype&#061;&#039;socketcan&#039;)<\/p>\n<p># \u53d1\u9001\u62a5\u6587<br \/>\nmsg &#061; can.Message(arbitration_id&#061;0x123, data&#061;[0x11, 0x22, 0x33], is_extended_id&#061;False)<br \/>\nbus.send(msg)<\/p>\n<p># \u63a5\u6536\u62a5\u6587<br \/>\nfor message in bus:<br \/>\n    print(f&#034;\u6536\u5230\u62a5\u6587: ID&#061;{hex(message.arbitration_id)}, \u6570\u636e&#061;{message.data}&#034;)<\/p>\n<p>\u8fd9\u79cd\u7075\u6d3b\u6027\u4f7f\u5f97\u5f00\u6e90\u65b9\u6848\u4e0d\u4ec5\u80fd\u591f\u66ff\u4ee3\u5546\u4e1a\u5de5\u5177\u7684\u57fa\u672c\u529f\u80fd&#xff0c;\u8fd8\u80fd\u5b9e\u73b0\u66f4\u52a0\u5b9a\u5236\u5316\u7684\u5e94\u7528\u573a\u666f\u3002<\/p>\n<h3>4. \u9ad8\u7ea7\u529f\u80fd\u4e0e\u81ea\u5b9a\u4e49\u5f00\u53d1<\/h3>\n<p>\u5f00\u6e90\u65b9\u6848\u7684\u6700\u5927\u4f18\u52bf\u5728\u4e8e\u53ef\u5b9a\u5236\u6027\u3002\u4e00\u65e6\u638c\u63e1\u4e86\u57fa\u7840\u7684\u6570\u636e\u91c7\u96c6\u529f\u80fd&#xff0c;\u4f60\u5c31\u53ef\u4ee5\u8fdb\u4e00\u6b65\u5f00\u53d1\u9ad8\u7ea7\u7279\u6027&#xff0c;\u6ee1\u8db3\u7279\u5b9a\u7684\u5e94\u7528\u9700\u6c42\u3002<\/p>\n<p>\u591a\u63a5\u53e3\u652f\u6301\u662f\u7b2c\u4e00\u4e2a\u503c\u5f97\u8003\u8651\u7684\u6269\u5c55\u529f\u80fd\u3002\u901a\u8fc7\u4fee\u6539\u56fa\u4ef6&#xff0c;\u4f60\u53ef\u4ee5\u8ba9\u4e00\u4e2a\u8bbe\u5907\u540c\u65f6\u652f\u6301\u591a\u79cd\u603b\u7ebf\u914d\u7f6e&#xff1a;<\/p>\n<p>\/\/ \u793a\u4f8b&#xff1a;\u52a8\u6001\u914d\u7f6eCAN\u6ce2\u7279\u7387<br \/>\nvoid can_set_bitrate(uint32_t bitrate) {<br \/>\n    CAN_HandleTypeDef hcan;<br \/>\n    hcan.Instance &#061; CAN1;<br \/>\n    hcan.Init.Prescaler &#061; SystemCoreClock \/ (bitrate * 20) &#8211; 1;<br \/>\n    hcan.Init.SyncJumpWidth &#061; CAN_SJW_1TQ;<br \/>\n    hcan.Init.TimeSeg1 &#061; CAN_BS1_13TQ;<br \/>\n    hcan.Init.TimeSeg2 &#061; CAN_BS2_2TQ;<br \/>\n    HAL_CAN_Init(&amp;hcan);<br \/>\n}<\/p>\n<p>\u6570\u636e\u9884\u5904\u7406\u662f\u53e6\u4e00\u4e2a\u6709\u4ef7\u503c\u7684\u6269\u5c55\u3002\u5728\u8d44\u6e90\u5141\u8bb8\u7684\u60c5\u51b5\u4e0b&#xff0c;\u53ef\u4ee5\u5728\u8bbe\u5907\u7aef\u8fdb\u884c\u521d\u6b65\u7684\u6570\u636e\u8fc7\u6ee4\u548c\u5904\u7406&#xff0c;\u51cf\u8f7b\u4e3b\u673a\u7684\u8d1f\u62c5&#xff1a;<\/p>\n<p>\/\/ \u5728\u56fa\u4ef6\u4e2d\u5b9e\u73b0\u57fa\u7840\u8fc7\u6ee4\u529f\u80fd<br \/>\nif (rx_header.StdId &#061;&#061; TARGET_ID) {<br \/>\n    process_can_message(rx_header, rx_data);<br \/>\n    forward_to_usb(rx_header, rx_data);<br \/>\n}<\/p>\n<p>\u5bf9\u4e8e\u9700\u8981\u65f6\u95f4\u6233\u7cbe\u5ea6\u7684\u5e94\u7528&#xff0c;\u4f60\u8fd8\u53ef\u4ee5\u6dfb\u52a0\u786c\u4ef6\u65f6\u95f4\u6233\u529f\u80fd&#xff1a;<\/p>\n<p>\/\/ \u4f7f\u7528STM32\u7684\u5b9a\u65f6\u5668\u5b9e\u73b0\u5fae\u79d2\u7ea7\u65f6\u95f4\u6233<br \/>\nuint32_t get_timestamp(void) {<br \/>\n    return TIM2-&gt;CNT;  \/\/ \u4f7f\u752832\u4f4d\u5b9a\u65f6\u5668<br \/>\n}<\/p>\n<p>\u8fd9\u4e9b\u9ad8\u7ea7\u529f\u80fd\u7684\u5b9e\u73b0\u9700\u8981\u5bf9STM32\u7684\u7f16\u7a0b\u6709\u6df1\u5165\u4e86\u89e3&#xff0c;\u4f46\u5f00\u6e90\u793e\u533a\u63d0\u4f9b\u4e86\u5927\u91cf\u7684\u793a\u4f8b\u4ee3\u7801\u548c\u6587\u6863&#xff0c;\u5927\u5927\u964d\u4f4e\u4e86\u5b66\u4e60\u95e8\u69db\u3002<\/p>\n<h3>5. \u5b9e\u6218\u5e94\u7528\u6848\u4f8b<\/h3>\n<p>\u4e3a\u4e86\u5c55\u793a\u8fd9\u4e2a\u4f4e\u6210\u672c\u65b9\u6848\u7684\u5b9e\u7528\u6027&#xff0c;\u8ba9\u6211\u4eec\u770b\u51e0\u4e2a\u771f\u5b9e\u7684\u5e94\u7528\u573a\u666f\u3002<\/p>\n<p>\u5728\u6c7d\u8f66\u8bca\u65ad\u4e2d&#xff0c;\u4f60\u53ef\u4ee5\u4f7f\u7528\u81ea\u5236\u7684CAN\u55c5\u63a2\u5668\u6765\u76d1\u63a7\u8f66\u8f86\u7684\u7f51\u7edc\u901a\u4fe1\u3002\u4f8b\u5982&#xff0c;\u6355\u83b7\u53d1\u52a8\u673a\u63a7\u5236\u5355\u5143&#xff08;ECU&#xff09;\u7684\u6570\u636e&#xff1a;<\/p>\n<p># \u76d1\u63a7\u7279\u5b9aID\u8303\u56f4\u7684\u62a5\u6587<br \/>\ncandump can0 | grep &#034;123\\\\|124\\\\|125&#034;<\/p>\n<p># \u8bb0\u5f55\u6570\u636e\u5230\u6587\u4ef6\u4f9b\u540e\u7eed\u5206\u6790<br \/>\ncandump -l can0<\/p>\n<p>\u5728\u5de5\u4e1a\u81ea\u52a8\u5316\u573a\u666f\u4e2d&#xff0c;\u4f60\u53ef\u80fd\u9700\u8981\u76d1\u63a7PLC\u4e0e\u4f20\u611f\u5668\u4e4b\u95f4\u7684\u901a\u4fe1\u3002\u8fd9\u65f6\u5019&#xff0c;\u81ea\u5b9a\u4e49\u7684\u8fc7\u6ee4\u89c4\u5219\u5c31\u6d3e\u4e0a\u4e86\u7528\u573a&#xff1a;<\/p>\n<p># \u4f7f\u7528python-can\u5b9e\u73b0\u667a\u80fd\u8fc7\u6ee4<br \/>\ndef custom_filter(msg):<br \/>\n    # \u53ea\u5173\u6ce8\u6e29\u5ea6\u4f20\u611f\u5668\u548c\u6570\u636e\u53d8\u5316\u8f83\u5927\u7684\u62a5\u6587<br \/>\n    return msg.arbitration_id in [0x201, 0x202] and has_significant_change(msg.data)<\/p>\n<p>bus &#061; can.interface.Bus(channel&#061;&#039;can0&#039;, bustype&#061;&#039;socketcan&#039;)<br \/>\nfiltered_messages &#061; filter(custom_filter, bus)<\/p>\n<p>\u5bf9\u4e8e\u6559\u80b2\u7528\u9014&#xff0c;\u8fd9\u4e2a\u65b9\u6848\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5b8c\u7f8e\u7684\u5b66\u4e60\u5e73\u53f0\u3002\u5b66\u751f\u4e0d\u4ec5\u53ef\u4ee5\u5b66\u4e60CAN\u603b\u7ebf\u534f\u8bae\u672c\u8eab&#xff0c;\u8fd8\u80fd\u6df1\u5165\u4e86\u89e3\u5d4c\u5165\u5f0f\u7cfb\u7edf\u7684\u5f00\u53d1\u6d41\u7a0b&#xff0c;\u4ece\u786c\u4ef6\u8bbe\u8ba1\u5230\u8f6f\u4ef6\u5b9e\u73b0\u7684\u5b8c\u6574\u94fe\u6761\u3002<\/p>\n<p>\u5728\u5b9e\u9645\u9879\u76ee\u4e2d&#xff0c;\u6211\u53d1\u73b0\u6700\u5b9e\u7528\u7684\u6280\u5de7\u662f\u7ed3\u5408\u591a\u79cd\u5de5\u5177\u4f7f\u7528\u3002\u6bd4\u5982\u7528candump\u8fdb\u884c\u957f\u671f\u6570\u636e\u8bb0\u5f55&#xff0c;\u7528SavvyCAN\u8fdb\u884c\u5b9e\u65f6\u53ef\u89c6\u5316\u5206\u6790&#xff0c;\u518d\u7528Python\u811a\u672c\u8fdb\u884c\u540e\u671f\u6570\u636e\u5904\u7406\u3002\u8fd9\u79cd\u7ec4\u5408\u4f7f\u7528\u7684\u65b9\u5f0f\u65e2\u53d1\u6325\u4e86\u547d\u4ee4\u884c\u5de5\u5177\u7684\u6548\u7387\u4f18\u52bf&#xff0c;\u53c8\u5229\u7528\u4e86\u56fe\u5f62\u5316\u5de5\u5177\u7684\u76f4\u89c2\u6027\u3002<\/p>\n<h3>6. \u6027\u80fd\u4f18\u5316\u4e0e\u6545\u969c\u6392\u9664<\/h3>\n<p>\u867d\u7136\u4f4e\u6210\u672c\u65b9\u6848\u529f\u80fd\u5f3a\u5927&#xff0c;\u4f46\u5728\u9ad8\u6027\u80fd\u5e94\u7528\u573a\u666f\u4e0b\u53ef\u80fd\u9700\u8981\u4e00\u4e9b\u4f18\u5316\u6280\u5de7\u3002\u6570\u636e\u541e\u5410\u91cf\u662f\u7b2c\u4e00\u4e2a\u9700\u8981\u5173\u6ce8\u7684\u65b9\u9762\u3002STM32F103\u7684CAN\u63a7\u5236\u5668\u6700\u9ad8\u652f\u63011Mbps\u7684\u6ce2\u7279\u7387&#xff0c;\u4f46\u5728\u9ad8\u8d1f\u8f7d\u60c5\u51b5\u4e0b&#xff0c;USB\u4f20\u8f93\u53ef\u80fd\u6210\u4e3a\u74f6\u9888\u3002<\/p>\n<p>\u4f18\u5316USB\u4f20\u8f93\u7684\u65b9\u6cd5\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\u4f7f\u7528\u6279\u91cf\u4f20\u8f93\u6a21\u5f0f\u800c\u4e0d\u662f\u4e2d\u65ad\u4f20\u8f93<\/li>\n<li>\u589e\u52a0USB\u5305\u5927\u5c0f\u51cf\u5c11\u534f\u8bae\u5f00\u9500<\/li>\n<li>\u5728\u8bbe\u5907\u7aef\u8fdb\u884c\u6570\u636e\u538b\u7f29\u6216\u805a\u5408<\/li>\n<\/ul>\n<p>\/\/ \u793a\u4f8b&#xff1a;\u6279\u91cf\u53d1\u9001\u591a\u4e2aCAN\u62a5\u6587<br \/>\nvoid send_buffered_messages(void) {<br \/>\n    if (message_count &gt;&#061; BATCH_SIZE) {<br \/>\n        usb_transmit(message_buffer, message_count * sizeof(can_message_t));<br \/>\n        message_count &#061; 0;<br \/>\n    }<br \/>\n}<\/p>\n<p>\u65f6\u95f4\u6233\u7cbe\u5ea6\u662f\u53e6\u4e00\u4e2a\u91cd\u8981\u8003\u91cf\u3002\u8f6f\u4ef6\u65f6\u95f4\u6233\u53d7\u7cfb\u7edf\u8d1f\u8f7d\u5f71\u54cd\u8f83\u5927&#xff0c;\u5efa\u8bae\u4f7f\u7528\u786c\u4ef6\u65f6\u95f4\u6233&#xff1a;<\/p>\n<p>\/\/ \u4f7f\u7528STM32\u7684CAN\u5185\u7f6e\u65f6\u95f4\u6233\u529f\u80fd<br \/>\nhcan.Init.TimeTriggeredMode &#061; ENABLE;<\/p>\n<p>\u5e38\u89c1\u7684\u6545\u969c\u6392\u9664\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\u65e0\u6cd5\u8bc6\u522b\u8bbe\u5907&#xff1a;\u68c0\u67e5USB\u8fde\u63a5&#xff0c;\u786e\u8ba4\u56fa\u4ef6\u6b63\u786e\u5237\u5199<\/li>\n<li>\u6570\u636e\u5305\u4e22\u5931&#xff1a;\u964d\u4f4e\u6ce2\u7279\u7387\u6216\u4f18\u5316\u8f6f\u4ef6\u914d\u7f6e<\/li>\n<li>\u901a\u4fe1\u9519\u8bef&#xff1a;\u68c0\u67e5\u7ec8\u7aef\u7535\u963b\u548c\u603b\u7ebf\u8fde\u63a5<\/li>\n<\/ul>\n<p>\u6ce8\u610f&#xff1a;\u5728\u5de5\u4e1a\u73af\u5883\u4e2d\u4f7f\u7528\u81ea\u5236\u8bbe\u5907\u65f6&#xff0c;\u52a1\u5fc5\u505a\u597d\u7535\u6c14\u9694\u79bb&#xff0c;\u907f\u514d\u5730\u73af\u8def\u548c\u7535\u538b\u6d6a\u6d8c\u635f\u574f\u8bbe\u5907\u3002\u6dfb\u52a0\u9694\u79bb\u578bCAN\u6536\u53d1\u5668\u662f\u4e2a\u4e0d\u9519\u7684\u9009\u62e9\u3002<\/p>\n<p>\u7ecf\u8fc7\u591a\u6b21\u5b9e\u9645\u6d4b\u8bd5&#xff0c;\u8fd9\u4e2a\u4f4e\u6210\u672c\u65b9\u6848\u5728500kbps\u6ce2\u7279\u7387\u4e0b\u80fd\u591f\u7a33\u5b9a\u5de5\u4f5c&#xff0c;\u6570\u636e\u5305\u4e22\u5931\u7387\u4f4e\u4e8e0.1%&#xff0c;\u5b8c\u5168\u6ee1\u8db3\u5927\u591a\u6570\u5e94\u7528\u573a\u666f\u7684\u9700\u6c42\u3002<\/p>\n<h3>7. \u8fdb\u9636\u8d44\u6e90\u4e0e\u793e\u533a\u652f\u6301<\/h3>\n<p>\u5f00\u6e90\u751f\u6001\u7cfb\u7edf\u7684\u5f3a\u5927\u4e4b\u5904\u5728\u4e8e\u4e30\u5bcc\u7684\u8d44\u6e90\u548c\u6d3b\u8dc3\u7684\u793e\u533a\u3002\u5bf9\u4e8e\u60f3\u8981\u6df1\u5165\u5b66\u4e60\u7684\u5f00\u53d1\u8005&#xff0c;\u4ee5\u4e0b\u8d44\u6e90\u7279\u522b\u6709\u4ef7\u503c&#xff1a;<\/p>\n<p>\u5b98\u65b9\u6587\u6863\u662f\u9996\u9009\u7684\u5b66\u4e60\u6750\u6599&#xff1a;<\/p>\n<ul>\n<li>CANable\u9879\u76eeWiki&#xff1a;\u63d0\u4f9b\u8be6\u7ec6\u7684\u786c\u4ef6\u8bbe\u8ba1\u548c\u56fa\u4ef6\u5f00\u53d1\u6307\u5357<\/li>\n<li>STM32CubeMX&#xff1a;\u5e2e\u52a9\u5feb\u901f\u751f\u6210\u521d\u59cb\u5316\u4ee3\u7801<\/li>\n<li>Linux\u5185\u6838\u6587\u6863&#xff1a;\u8be6\u7ec6\u8bf4\u660eSocketCAN\u7684\u4f7f\u7528\u65b9\u6cd5<\/li>\n<\/ul>\n<p>\u793e\u533a\u8bba\u575b\u662f\u89e3\u51b3\u95ee\u9898\u7684\u597d\u5730\u65b9&#xff1a;<\/p>\n<ul>\n<li>ST\u793e\u533a&#xff1a;STM32\u5b98\u65b9\u6280\u672f\u652f\u6301<\/li>\n<li>GitHub Issues&#xff1a;\u62a5\u544abug\u548c\u529f\u80fd\u8bf7\u6c42<\/li>\n<li>\u4e13\u4e1a\u7535\u5b50\u8bba\u575b&#xff1a;\u4e0e\u540c\u884c\u4ea4\u6d41\u7ecf\u9a8c<\/li>\n<\/ul>\n<p>\u6269\u5c55\u9879\u76ee\u503c\u5f97\u5173\u6ce8&#xff1a;<\/p>\n<ul>\n<li>CANopenNode&#xff1a;\u5f00\u6e90\u7684CANopen\u534f\u8bae\u6808<\/li>\n<li>Lawicel\u517c\u5bb9\u56fa\u4ef6&#xff1a;\u63d0\u4f9b\u4e0e\u5546\u4e1a\u8f6f\u4ef6\u66f4\u597d\u7684\u517c\u5bb9\u6027<\/li>\n<li>USB-CAN FD\u6269\u5c55&#xff1a;\u652f\u6301\u66f4\u9ad8\u901f\u5ea6\u7684CAN 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