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< div class = "date inPage" > 16 May 2025< / div > < div style = "color: gray;" >
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Read time: 1 minute(s)
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< section class = "- topic/section section" id = "id__section_qlv_gpf_fdc" data-ofbid = "id__section_qlv_gpf_fdc" > < h2 class = "- topic/title title sectiontitle" > 测试环境< / h2 >
< ul class = "- topic/ul ul" id = "id__ul_xp5_b5h_fdc" data-ofbid = "id__ul_xp5_b5h_fdc" >
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< li class = "- topic/li li" data-ofbid = "d142140e35__20250519091520" > < strong class = "+ topic/ph hi-d/b ph b" > 硬件< / strong > < ul class = "- topic/ul ul simple" id = "id__ul_f2s_15h_fdc" data-ofbid = "id__ul_f2s_15h_fdc" >
< li class = "- topic/li li" data-ofbid = "d142140e40__20250519091520" >
< p class = "- topic/p p" data-ofbid = "d142140e42__20250519091520" > 测试板：带有两个 CAN 接口的测试板< / p >
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< / li >
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< li class = "- topic/li li" data-ofbid = "d142140e46__20250519091520" >
< p class = "- topic/p p" data-ofbid = "d142140e48__20250519091520" > PC： < / p >
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< / li >
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< li class = "- topic/li li" data-ofbid = "d142140e52__20250519091520" >
< p class = "- topic/p p" data-ofbid = "d142140e54__20250519091520" > 串口线：连接测试板的调试串口< / p >
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< / li >
< / ul > < / li >
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< li class = "- topic/li li" data-ofbid = "d142140e59__20250519091520" > < strong class = "+ topic/ph hi-d/b ph b" > 软件< / strong > < ul class = "- topic/ul ul simple" id = "id__ul_g2s_15h_fdc" data-ofbid = "id__ul_g2s_15h_fdc" >
< li class = "- topic/li li" data-ofbid = "d142140e64__20250519091520" >
< p class = "- topic/p p" data-ofbid = "d142140e66__20250519091520" > PC 端串口终端软件< / p >
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< / li >
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< li class = "- topic/li li" data-ofbid = "d142140e70__20250519091520" >
< p class = "- topic/p p" data-ofbid = "d142140e72__20250519091520" > test_can 测试程序 (正常模式)< / p >
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< / li >
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< li class = "- topic/li li" data-ofbid = "d142140e76__20250519091520" >
< p class = "- topic/p p" data-ofbid = "d142140e78__20250519091520" > test_can_loopback 测试程序 (回环模式，又称自测模式)< / p >
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< / li >
< / ul > < / li >
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< li class = "- topic/li li" data-ofbid = "d142140e83__20250519091520" > < strong class = "+ topic/ph hi-d/b ph b" > 软件配置< / strong > < div class = "- topic/div div section" id = "id__can" >
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< strong class = "+ topic/ph hi-d/b ph b" > CAN 测试程序配置< / strong >
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< div class = "- topic/p p" data-ofbid = "d142140e91__20250519091520" > 在 < span class = "- topic/ph ph" > Luban-Lite< / span > 根目录下执行 < span class = "+ topic/keyword sw-d/cmdname keyword cmdname" > scons --menuconfig< / span > ，进入 menuconfig
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的功能配置界面，按如下选择：< pre class = "+ topic/pre pr-d/codeblock pre codeblock language-c" id = "id__codeblock_i3b_25h_fdc" data-ofbid = "id__codeblock_i3b_25h_fdc" > Drivers options --->
Drivers examples --->
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[*] Enable CAN driver test command< / pre > < / div > < / div > < / li >
< / ul >
< / section >
< section class = "- topic/section section" id = "id__section_cjm_c5h_fdc" data-ofbid = "id__section_cjm_c5h_fdc" > < h2 class = "- topic/title title sectiontitle" > 正常模式收发测试< / h2 >
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< div class = "- topic/p p" data-ofbid = "d142140e109__20250519091520" > 将测试板上的两个 CAN 接口对接。执行命令， ， < ul class = "- topic/ul ul" id = "id__ul_ztr_5mj_5dc" data-ofbid = "id__ul_ztr_5mj_5dc" >
< li class = "- topic/li li" data-ofbid = "d142140e113__20250519091520" > 设置 CAN1
为接收端< pre class = "+ topic/pre pr-d/codeblock pre codeblock language-c" id = "id__codeblock_bph_g5h_fdc" data-ofbid = "id__codeblock_bph_g5h_fdc" > can_rx< / pre > < div class = "- topic/p p" data-ofbid = "d142140e117__20250519091520" > 结果输出如下：< pre class = "+ topic/pre pr-d/codeblock pre codeblock language-c" id = "id__codeblock_nk1_vmj_5dc" data-ofbid = "id__codeblock_nk1_vmj_5dc" > The can1 received thread is ready...< / pre > < / div > < / li >
< li class = "- topic/li li" data-ofbid = "d142140e122__20250519091520" >
< div class = "- topic/p p" data-ofbid = "d142140e124__20250519091520" > 测试 CAN0 发送一个 CAN
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数据帧：< pre class = "+ topic/pre pr-d/codeblock pre codeblock language-c" id = "id__codeblock_tgp_wmj_5dc" data-ofbid = "id__codeblock_tgp_wmj_5dc" > can_tx < var class = "+ topic/keyword sw-d/varname keyword varname" > CAN_FRAME< / var > < / pre > < / div >
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< div class = "- topic/p p" data-ofbid = "d142140e131__20250519091520" > 发送的 < var class = "+ topic/keyword sw-d/varname keyword varname" > CAN_FRAME< / var > 格式为
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< code class = "+ topic/ph pr-d/codeph ph codeph" > frame_id#frame_data< / code > 。例如，设置 CAN0 为发送端，并发送数据帧
< code class = "+ topic/ph pr-d/codeph ph codeph" > 1a3#11.22.9a.88.ef.00< / code > ： < pre class = "+ topic/pre pr-d/codeblock pre codeblock language-c" id = "id__codeblock_d4j_mjj_5dc" data-ofbid = "id__codeblock_d4j_mjj_5dc" > can_tx < span class = "hl-number" > 1< / span > a3#< span class = "hl-number" > 11.22< / span > .< span class = "hl-number" > 9< / span > a.< span class = "hl-number" > 88.ef< / span > .< span class = "hl-number" > 00< / span > < / pre > < pre class = "+ topic/pre pr-d/codeblock pre codeblock language-c" id = "id__codeblock_nqb_3nj_5dc" data-ofbid = "id__codeblock_nqb_3nj_5dc" > can1 received msg:
ID: < span class = "hl-number" > 0x1a3< / span > DATA: < span class = "hl-number" > 11< / span > < span class = "hl-number" > 22< / span > < span class = "hl-number" > 9< / span > a < span class = "hl-number" > 88< / span > ef < span class = "hl-number" > 00< / span > < / pre > < div class = "- topic/note note note note_note" id = "id__note_qnb_f5h_fdc" data-ofbid = "id__note_qnb_f5h_fdc" > < span class = "note__title" > 注：< / span > 测试代码中打印了信息，仅供演示 CAN
接收到了数据。在项目开发中，用户应该关闭打印信息，否则如果使用 CAN 测试仪在短时间内发送大量数据，打印语句可能会耗时很长，导致
CAN 丢帧。< / div > < / div >
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< div class = "- topic/p p" data-ofbid = "d142140e157__20250519091520" > 在打开 test_can 的编译后，板子上可直接运行 test_can
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命令：< pre class = "+ topic/pre pr-d/codeblock pre codeblock language-c" id = "id__codeblock_jcs_g5h_fdc" data-ofbid = "id__codeblock_jcs_g5h_fdc" > test_can< / pre > < pre class = "+ topic/pre pr-d/codeblock pre codeblock language-c" id = "id__codeblock_qxw_mjj_5dc" data-ofbid = "id__codeblock_qxw_mjj_5dc" > test_can - test CAN send frame to itself (loopback mode)
Usage:
test_can < can_name> frame_id#frame_data
For example:
test_can can1 < span class = "hl-number" > 1< / span > a3#< span class = "hl-number" > 11.22< / span > .< span class = "hl-number" > 9< / span > a.< span class = "hl-number" > 88.ef< / span > .< span class = "hl-number" > 00< / span > < / pre > < / div >
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< div class = "- topic/p p" data-ofbid = "d142140e164__20250519091520" > 例如，执行下列命令，设置 CAN1 为接收端和发送端，
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1a3#11.22.9a.88.ef.00，并会打印接收到的数据。< pre class = "+ topic/pre pr-d/codeblock pre codeblock language-c" id = "id__codeblock_vxy_g5h_fdc" data-ofbid = "id__codeblock_vxy_g5h_fdc" > test_can can1 < span class = "hl-number" > 1< / span > a3#< span class = "hl-number" > 11.22< / span > .< span class = "hl-number" > 9< / span > a.< span class = "hl-number" > 88.ef< / span > .< span class = "hl-number" > 00< / span > < / pre > < pre class = "+ topic/pre pr-d/codeblock pre codeblock language-c" id = "id__codeblock_gwf_qjj_5dc" data-ofbid = "id__codeblock_gwf_qjj_5dc" > The can1 received thread is ready...
received msg:
ID: < span class = "hl-number" > 0x1a3< / span > DATA: < span class = "hl-number" > 11< / span > < span class = "hl-number" > 22< / span > < span class = "hl-number" > 9< / span > a < span class = "hl-number" > 88< / span > ef < span class = "hl-number" > 00< / span > < / pre > < / div >
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