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class="title"><a href="../../../topics/sdk/can/can_faq_2.html" id="id-d5856e4946-link">常见问题</a></div></div></li></ul></li><li role="treeitem" aria-expanded="false"><div data-tocid="id-d5856e4958" class="topicref" data-id="id" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action id-d5856e4958-link" class="wh-expand-btn"></span><div class="title"><a href="../../../topics/sdk/cap/cap_user_guide.html" id="id-d5856e4958-link">CAP 使用指南</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="id-d5856e5018" class="topicref" data-id="id" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action id-d5856e5018-link" class="wh-expand-btn"></span><div class="title"><a href="../../../topics/sdk/qep/qep_user_guide.html" id="id-d5856e5018-link">QEP 使用指南</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="cir-d5856e5228" class="topicref" data-id="cir" 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<div class=" wh_topic_content body "><main role="main"><article class="- topic/topic topic" 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_config_lite.dita">Edit online</a></span><h1 class="- topic/title title topictitle1" id="ariaid-title1">CAN 配置</h1><div class="date inPage">15 Jan 2024</div><div style="color: gray;">
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Read time: 2 minute(s)
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</div><div class="- topic/body body"><section class="- topic/section section" id="id__id1" data-ofbid="id__id1"><h2 class="- topic/title title sectiontitle">驱动配置</h2>
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<pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="id__codeblock_sxt_wth_fdc" data-ofbid="id__codeblock_sxt_wth_fdc">Board options --->
|
||
[*] Using CAN0
|
||
[*] Using CAN1</pre><div class="- topic/p p" data-ofbid="d328597e26__20250121171831"><span class="- topic/ph ph">Luban-Lite</span> CAN 的 driver 层是基于 RT-Thread 的 CAN
|
||
驱动框架实现的，所以需要使能 RT-Thread 的 CAN
|
||
驱动框架：<pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="id__codeblock_ahp_vth_fdc" data-ofbid="id__codeblock_ahp_vth_fdc">RT-Thread options --->
|
||
RT-Thread Components --->
|
||
Device Drivers --->
|
||
[*] Using CAN device drivers
|
||
[*] Enable CAN hardware filter
|
||
[ ] Enable CANFD support</pre></div><div class="- topic/note note note note_note" id="id__note_vnk_qn3_ddc" data-ofbid="id__note_vnk_qn3_ddc"><span class="note__title">注：</span>
|
||
<ol class="- topic/ol ol arabic simple" id="id__ol_xmw_5th_fdc" data-ofbid="id__ol_xmw_5th_fdc"><li class="- topic/li li" data-ofbid="d328597e35__20250121171831">
|
||
<p class="- topic/p p" data-ofbid="d328597e37__20250121171831">CAN 模块不支持 CANFD</p>
|
||
</li><li class="- topic/li li" data-ofbid="d328597e40__20250121171831">
|
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<p class="- topic/p p" data-ofbid="d328597e42__20250121171831">为了使用方便，选择 Using CAN0/1 后会自动选择 CAN 驱动框架</p>
|
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</li></ol>
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</div></section><section class="- topic/section section" id="id__id2" data-ofbid="id__id2"><h2 class="- topic/title title sectiontitle">过滤器配置</h2>
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||
<p class="- topic/p p" data-ofbid="d328597e51__20250121171831">如果需要接收过滤功能，可以配置 CAN 模块的硬件过滤器。CAN 支持两种过滤模式：单过滤模式和双过滤模式。 单过滤模式只有一个硬件过滤器，可以过滤某个特定的帧
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ID 或某个区间范围内的帧 ID。双过滤模式有两个硬件过滤器， 可以过滤两个特定的帧 ID 或不连续的区间范围的帧
|
||
ID。</p><div class="- topic/p p" data-ofbid="d328597e53__20250121171831">单过滤模式配置示例：<pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="id__codeblock_ty5_xth_fdc" data-ofbid="id__codeblock_ty5_xth_fdc"><em class="hl-comment">/* config can rx filter */</em>
|
||
<strong class="hl-keyword">struct</strong> rt_can_filter_item items[<span class="hl-number">1</span>] =
|
||
{
|
||
<em class="hl-comment">//Only receive standard data frame with ID 0x100~0x1FF</em>
|
||
RT_CAN_FILTER_ITEM_INIT(<span class="hl-number">0x100</span>, <span class="hl-number">0</span>, <span class="hl-number">0</span>, <span class="hl-number">0</span>, <span class="hl-number">0x700</span>, RT_NULL, RT_NULL),
|
||
};
|
||
|
||
<strong class="hl-keyword">struct</strong> rt_can_filter_config cfg = {<span class="hl-number">1</span>, <span class="hl-number">1</span>, items};
|
||
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||
ret = rt_device_control(can_rx_dev, RT_CAN_CMD_SET_FILTER, &cfg);</pre></div><div class="- topic/p p" data-ofbid="d328597e57__20250121171831">双过滤模式配置示例：<pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="id__codeblock_chy_xth_fdc" data-ofbid="id__codeblock_chy_xth_fdc"><em class="hl-comment">/* config can rx filter */</em>
|
||
<strong class="hl-keyword">struct</strong> rt_can_filter_item items[<span class="hl-number">2</span>] =
|
||
{
|
||
<em class="hl-comment">//Only receive standard data frame with ID 0x100~0x1FF</em>
|
||
RT_CAN_FILTER_ITEM_INIT(<span class="hl-number">0x100</span>, <span class="hl-number">0</span>, <span class="hl-number">0</span>, <span class="hl-number">0</span>, <span class="hl-number">0x700</span>, RT_NULL, RT_NULL),
|
||
<em class="hl-comment">//Only receive standard data frame with ID 0x345</em>
|
||
RT_CAN_FILTER_ITEM_INIT(<span class="hl-number">0x345</span>, <span class="hl-number">0</span>, <span class="hl-number">0</span>, <span class="hl-number">0</span>, <span class="hl-number">0x7FF</span>, RT_NULL, RT_NULL),
|
||
};
|
||
|
||
<strong class="hl-keyword">struct</strong> rt_can_filter_config cfg = {<span class="hl-number">2</span>, <span class="hl-number">1</span>, items};
|
||
|
||
ret = rt_device_control(can_rx_dev, RT_CAN_CMD_SET_FILTER, &cfg);</pre>
|
||
</div><p class="- topic/p p" data-ofbid="d328597e62__20250121171831">如上所示，如果数组 <span class="+ topic/ph ui-d/uicontrol ph uicontrol">structrt_can_filter_itemitems[]</span> 中只配置一个硬件过滤器，CAN
|
||
模块默认使用单过滤模式，如果配置了两个过滤器，CAN 模块使用双过滤模式。</p><div class="- topic/note note note note_note" id="id__note_d1x_yth_fdc" data-ofbid="id__note_d1x_yth_fdc"><span class="note__title">注：</span>
|
||
<ol class="- topic/ol ol arabic simple" id="id__ol_ymw_5th_fdc" data-ofbid="id__ol_ymw_5th_fdc"><li class="- topic/li li" data-ofbid="d328597e70__20250121171831">
|
||
<p class="- topic/p p" data-ofbid="d328597e72__20250121171831"> 使用双过滤模式时，两个过滤器只能同时过滤标准帧或扩展帧，而不能一个配置为过滤标准帧，另一个配置为过滤扩展帧</p>
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</li><li class="- topic/li li" data-ofbid="d328597e75__20250121171831">
|
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<p class="- topic/p p" data-ofbid="d328597e77__20250121171831"> 使用双过滤模式过滤扩展帧时，只能过滤扩展帧 ID 的 bit28~bit13。如果需要过滤扩展帧 ID 的所有
|
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bit，必须使用单过滤模式</p>
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<div class=" wh_topic_toc "><div class="wh_topic_label">在本页上</div><ul><li class="section-item"><div class="section-title"><a href="#id__id1" data-tocid="id__id1">驱动配置</a></div></li><li class="section-item"><div class="section-title"><a href="#id__id2" data-tocid="id__id2">过滤器配置</a></div></li></ul></div>
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