AnyMath 文档

CAN软件控制

本页包含所有可用的CAN软件控制功能 AnyMath .

使用CAN软件控制功能 AnyMath ，按照指定的方式安装硬件支持包 文章. 之后，执行:

using Main.EngeeDeviceManager.Devices.CAN

CAN消息的结构

Base.@kwdef struct CanMessage
    timestamp::Float64          # метка времени
    arbitration_id::Int64       # ID сообщения (11 или 29 бит)
    is_extended_id::UInt8       # 1 — 29-битный ID
    is_remote_frame::UInt8      # 1 — RTR
    is_error_frame::UInt8       # 1 — кадр ошибки
    is_fd::UInt8                # 1 — CAN FD
    bitrate_switch::UInt8       # 1 — переключение скорости
    error_state_indicator::UInt8
    dlc::Int64                  # длина данных (0–8 Classic, 0–64 FD)
    data::Union{Vector{UInt8}, Int64}
end

例子：

界面 虚拟

can = CAN.Can()

CAN.set_bus_settings(can, "virtual", "virtual_0", 500.0, true)
CAN.set_bus_settings(can, "virtual", "virtual_1", 500.0, true)
CAN.create_bus(can, "virtual", "virtual_0", 500.0, true)
CAN.create_bus(can, "virtual", "virtual_1", 500.0, true)
CAN.set_filters(can, "virtual_0", 0, 0)

data_field = rand(UInt8, 8)
message = CanMessage(
    timestamp = rand(Float64),
    arbitration_id = rand(UInt32),
    is_extended_id = 0,
    is_remote_frame = 0,
    is_error_frame = 0,
    is_fd = 0,
    bitrate_switch = 0,
    error_state_indicator = 0,
    dlc = length(data_field),
    data = data_field,
)

CAN.send(can, "virtual_0", message, true)
msg = CAN.recv(can, "virtual_1", 0.0)
println("Отправлено: $data_field")
println("Получено:   $(msg.data)")

CAN.destroy_bus(can, "virtual_0")
CAN.close(can)

可以FD

CAN.set_bus_settings(can, "socketcan", "can0", 500.0, true, true, 2000.0)
CAN.create_bus(can, "socketcan", "can0", 500.0, true, true, 2000.0)

fd_message = CanMessage(
    timestamp = time(), arbitration_id = 0x123,
    is_extended_id = 0, is_remote_frame = 0, is_error_frame = 0,
    is_fd = 1, bitrate_switch = 1, error_state_indicator = 0,
    dlc = 64, data = rand(UInt8, 64),
)
CAN.send(can, "can0", fd_message)