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<div class=" wh_topic_content body "><main role="main"><article class="- topic/topic concept/concept topic concept" role="article" aria-labelledby="ariaid-title1"><span class="edit-link" style="font-size:12px; opacity:0.6; text-align:right; vertical-align:middle"><a target="_blank" href="http://172.16.35.88/tasks/jdssno1uvvbf2mltu9kb9v3if05d5gopuakboe8hlud18rma/edit/F:/aicdita/aicdita-cn/topics/sdk/can/can_test.dita">Edit online</a></span><h1 class="- topic/title title topictitle1" id="ariaid-title1">测试指南</h1><div class="date inPage">2 Dec 2024</div><div style="color: gray;">
Read time: 2 minute(s)
</div><div class="- topic/body concept/conbody body conbody"><div class="- topic/p p" data-ofbid="d97716e22__20250121171535">测试环境<ul class="- topic/ul ul" id="can_test_guide__ul_u13_fcn_d1c" data-ofbid="can_test_guide__ul_u13_fcn_d1c"><li class="- topic/li li" data-ofbid="d97716e25__20250121171535">硬件<ul class="- topic/ul ul" id="can_test_guide__ul_qz1_dcn_d1c" data-ofbid="can_test_guide__ul_qz1_dcn_d1c"><li class="- topic/li li" data-ofbid="d97716e28__20250121171535">
<p class="- topic/p p" data-ofbid="d97716e30__20250121171535">测试板：带有两个 CAN 接口的测试板</p>
</li><li class="- topic/li li" data-ofbid="d97716e33__20250121171535">
<p class="- topic/p p" data-ofbid="d97716e35__20250121171535">PC：用于和测试板交互</p>
</li><li class="- topic/li li" data-ofbid="d97716e38__20250121171535">
<p class="- topic/p p" data-ofbid="d97716e40__20250121171535">串口线：连接测试板的调试串口</p>
</li></ul></li><li class="- topic/li li" data-ofbid="d97716e43__20250121171535">软件<ul class="- topic/ul ul" id="can_test_guide__ul_rz1_dcn_d1c" data-ofbid="can_test_guide__ul_rz1_dcn_d1c"><li class="- topic/li li" data-ofbid="d97716e46__20250121171535">
<p class="- topic/p p" data-ofbid="d97716e48__20250121171535">PC 端串口终端软件</p>
</li><li class="- topic/li li" data-ofbid="d97716e51__20250121171535">
<p class="- topic/p p" data-ofbid="d97716e53__20250121171535">can-utils 第三方软件包</p>
</li><li class="- topic/li li" data-ofbid="d97716e56__20250121171535">
<p class="- topic/p p" data-ofbid="d97716e58__20250121171535">iprouter2 第三方软件包</p>
</li></ul></li></ul></div><section class="- topic/section section" id="can_test_guide__section_sz1_dcn_d1c" data-ofbid="can_test_guide__section_sz1_dcn_d1c"><h2 class="- topic/title title sectiontitle">第三方软件包编译</h2>
<div class="- topic/p p" data-ofbid="d97716e66__20250121171535">SDK 中已默认编译 <span class="+ topic/ph sw-d/filepath ph filepath">can-utils/iprouter2</span> 软件包，可以直接使用。也可以通过以下两种方式编译测试：<ul class="- topic/ul ul" id="can_test_guide__ul_qgr_hcn_d1c" data-ofbid="can_test_guide__ul_qgr_hcn_d1c"><li class="- topic/li li" data-ofbid="d97716e72__20250121171535">使用预编译包<p class="- topic/p p" data-ofbid="d97716e74__20250121171535">SDK 中提供了 can-utils/iprouter2 的预编译包，可以直接将预编译包的目标文件编译到镜像。这种方式不需要编译
can-utils/iprouter2
源码，节省编译时间。</p><pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="can_test_guide__codeblock_uz1_dcn_d1c" data-ofbid="can_test_guide__codeblock_uz1_dcn_d1c">Third-party packages---&gt;
[*] can-utils---&gt;
[*] use prebuilt binary instead of building from <strong class="+ topic/ph hi-d/b ph b">source</strong></pre><pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="can_test_guide__codeblock_vz1_dcn_d1c" data-ofbid="can_test_guide__codeblock_vz1_dcn_d1c">Third-party packages---&gt;
[*] iproute2---&gt;
[*] use prebuilt binary instead of building from <strong class="+ topic/ph hi-d/b ph b">source</strong></pre></li><li class="- topic/li li" data-ofbid="d97716e84__20250121171535">编译源码包<p class="- topic/p p" data-ofbid="d97716e86__20250121171535">这种方式直接编译源码，而不使用 SDK
中的预编译包。</p><pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="can_test_guide__codeblock_xz1_dcn_d1c" data-ofbid="can_test_guide__codeblock_xz1_dcn_d1c">Third-party packages---&gt;
[*] can-utils---&gt;
[ ] use prebuilt binary instead of building from <strong class="+ topic/ph hi-d/b ph b">source</strong></pre><pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="can_test_guide__codeblock_yz1_dcn_d1c" data-ofbid="can_test_guide__codeblock_yz1_dcn_d1c">Third-party packages---&gt;
[*] iproute2---&gt;
[ ] use prebuilt binary instead of building from <strong class="+ topic/ph hi-d/b ph b">source</strong></pre></li></ul></div>
</section><section class="- topic/section section" id="can_test_guide__section_zz1_dcn_d1c" data-ofbid="can_test_guide__section_zz1_dcn_d1c"><h2 class="- topic/title title sectiontitle">CAN
收发测试</h2>
<div class="- topic/p p" data-ofbid="d97716e102__20250121171535">
<ol class="- topic/ol ol" id="can_test_guide__ol_evp_gqj_g1c" data-ofbid="can_test_guide__ol_evp_gqj_g1c"><li class="- topic/li li" data-ofbid="d97716e105__20250121171535">将测试板上的两个 CAN 接口对接。使用 ip 命令设置两个开发板的 CAN 接口，设置 CAN 接口的速度为 500Kb/s。<pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="can_test_guide__codeblock_a1b_dcn_d1c" data-ofbid="can_test_guide__codeblock_a1b_dcn_d1c">ip link set can0 type can bitrate <span class="hl-number">500000</span> <em class="hl-comment">//设置 CAN0</em>
ip link set can1 type can bitrate <span class="hl-number">500000</span> <em class="hl-comment">//设置 CAN1</em></pre></li><li class="- topic/li li" data-ofbid="d97716e109__20250121171535">打开 CAN 网卡<pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="can_test_guide__codeblock_b1b_dcn_d1c" data-ofbid="can_test_guide__codeblock_b1b_dcn_d1c">ifconfig can0 up <em class="hl-comment">//打开 CAN0</em>
ifconfig can1 up <em class="hl-comment">//打开 CAN1</em></pre></li><li class="- topic/li li" data-ofbid="d97716e113__20250121171535">设置 CAN1 接收数据<pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="can_test_guide__codeblock_c1b_dcn_d1c" data-ofbid="can_test_guide__codeblock_c1b_dcn_d1c">candump can0 &amp;</pre><p class="- topic/p p" data-ofbid="d97716e117__20250121171535">CAN0 发送数据</p><pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="can_test_guide__codeblock_d1b_dcn_d1c" data-ofbid="can_test_guide__codeblock_d1b_dcn_d1c">cansend can0 <span class="hl-number">5</span>A1#<span class="hl-number">11.22</span>.<span class="hl-number">33.44</span>.<span class="hl-number">55.66</span>.<span class="hl-number">77.88</span></pre><div class="- topic/p p" data-ofbid="d97716e121__20250121171535">上述 cansend 命令中，“5A1”是帧 ID，“#”后面的“11.22.33.44.55.66.77.88”是要发送的数据，十六进制。CAN2.0 一次最多发送 8 个字节的数据，8 字节数据之间用“.”隔开，can-utils 会对数据进行解析。<div class="- topic/note note note note_note" id="can_test_guide__note_e4y_4cn_d1c" data-ofbid="can_test_guide__note_e4y_4cn_d1c"><span class="note__title">注：</span> 当 CAN 总线上只有一个结点时，此时 CAN 结点发送数据，无法获取到 ACK，此时结点检测到错误并将会一直重发数据，该结点会进入被动错误状态，但不会进入总线关闭状态，直到有其它结点接入总线。这是符合 CAN 总线协议的。</div></div></li></ol>
</div>
</section><section class="- topic/section section" id="can_test_guide__section_e1b_dcn_d1c" data-ofbid="can_test_guide__section_e1b_dcn_d1c"><h2 class="- topic/title title sectiontitle">CAN 组网测试</h2>
<p class="- topic/p p" data-ofbid="d97716e132__20250121171535">多个 CAN 结点可进行组网测试，组网测试时应遵循以下原则：</p>
<ol class="- topic/ol ol" id="can_test_guide__ol_f1b_dcn_d1c" data-ofbid="can_test_guide__ol_f1b_dcn_d1c"><li class="- topic/li li" data-ofbid="d97716e136__20250121171535">不同 CAN 结点发送不同的帧 ID，当多个结点同时发送时，总线根据帧 ID 进行仲裁，优先级最高的获得总线权，可以向总线发送数据。若结点发送的帧 ID 相同，则同时发送数据时将无法仲裁。</li><li class="- topic/li li" data-ofbid="d97716e138__20250121171535">组网测试时应确保总线两端匹配有 120 欧姆（典型值）的终端电阻。</li></ol>
<div class="- topic/note note note note_note" id="can_test_guide__note_w3j_dcn_d1c" data-ofbid="can_test_guide__note_w3j_dcn_d1c"><span class="note__title">注：</span> 由于每个 demo 板都有匹配的终端电阻，多个 CAN 接入总线时，多个 demo 板的终端电阻并联接入网络，会严重影响 CAN 总线通信。应拆除掉多余的终端电阻，确保整个 CAN 网络的终端电阻为 120 欧姆。</div>
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