使用 PCAN Canable 适配器读取 Can 总线数据错误

问题描述 投票：0回答：1

我正在做项目。这个想法是读取 CAN 总线车辆数据并将其在屏幕上可视化。 选择 Rasperry Pi 4 作为平台、Python 及其 GUI Kivy、Python Can 库。 can 读卡器是 Pcan Canable 适配器。

在装有 Windows 的 PC 上一切正常，但切换到 RPI4 时我遇到了困难。 应用程序运行了一段时间，按预期描述数据，但在出现错误后不久：

文件“/home/admin/.local/lib/python3.11/site-packages/can/notifier.py”，第 124 行，在 _rx_thread 中 if msg := bus.recv(self.timeout): ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 文件“/home/admin/.local/lib/python3.11/site-packages/can/bus.py”，第 126 行，recv 中 消息，已经过滤= self._recv_internal（超时= time_left） ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 文件“/home/admin/.local/lib/python3.11/site-packages/can/interfaces/pcan/pcan.py”，第 558 行，位于 _recv_internal 引发 PcanCanOperationError(self._get_formatted_error(结果)) can.interfaces.pcan.pcan.PcanCanOperationError：CAN 控制器读取得太晚

我的代码的部分在这里：

import can
** and so on **

''' other classes over here '''


class Can_data(can.Listener):
    print("reading can messages")

    def on_message_received(self, msg):
        # print(f"data: {msg}")
        if msg.arbitration_id == 0x316 and msg is not None:
            Dash_Board.rpm = msg.data[3] * 7000 / 110
            Dash_Board.arrow_rpm = Dash_Board.rpm
            print("rpm: ", Dash_Board.rpm)
            Dash_Board.rpm = round(Dash_Board.rpm / 50) * 50

        elif msg.arbitration_id == 0x1F1 and msg is not None:
            Dash_Board.speed = int(msg.data[4] * 220 / 110)
            Dash_Board.arrow_speed = Dash_Board.speed * 260 / 220
            print("t: ", Dash_Board.speed)
            # uncoment to filter data
        elif msg.arbitration_id == 0x0A0 and msg is not None:
            Dash_Board.t = msg.data[1] - 40
            print("t: ", Dash_Board.t)
        elif msg.arbitration_id == 0x0A1 and msg is not None:
            Dash_Board.boost = msg.data[4]
            print("boost: ", Dash_Board.boost)
        elif msg.arbitration_id == 0x0350 and msg is not None:
            Dash_Board.fuel = msg.data[3] * 0.75
            print("tank: ", Dash_Board.fuel)
        else:
            print("no message recieved")

    def stop(self):
        print("stoped")


class Read_bus_data():

    def __init__(self, **kwargs):
        super().__init__(**kwargs)

        print("reading bus data")

        self.filter = [
            {"can_id": 0x316, "can_mask": 0x7FF, "extended": False},
            {"can_id": 0x1F1, "can_mask": 0x7FF, "extended": False},
            {"can_id": 0x0A0, "can_mask": 0x7FF, "extended": False},
            {"can_id": 0x0A1, "can_mask": 0x7FF, "extended": False},
            {"can_id": 0x350, "can_mask": 0x7FF, "extended": False}
        ]

        self.bus = None
        self.notifier = None

        self.start_bus()

    def start_bus(self):
        try:
            self.bus = can.Bus(interface='pcan', channel='PCAN_USBBUS1', can_filters=self.filter, timeout=2)

            listen = Can_data()
            self.notifier = can.Notifier(self.bus, [listen], timeout=2)

            
            # with self.bus as bus:
            # msg = self.bus.recv(0.1)
            # for msg in bus:
            # if msg.arbitration_id == 0x316 and msg is not None:
            # Dash_Board.rpm = msg.data[3]*7000/110
            # Dash_Board.arrow_rpm = Dash_Board.rpm
            # print("rpm: ", Dash_Board.rpm)
            # Dash_Board.rpm = round(Dash_Board.rpm/50)*50

            # elif msg.arbitration_id == 0x1F1 and msg is not None:
            # Dash_Board.speed = int(msg.data[4]*220/110)
            # Dash_Board.arrow_speed = Dash_Board.speed*260/220
            # print("t: ", Dash_Board.speed)
            # # #uncoment to filter data
            # if msg.arbitration_id == 0x0A0 and msg is not None:
            # Dash_Board.t = msg.data[1] - 40
            # print("t: ", Dash_Board.t)
            # elif msg.arbitration_id == 0x0A1 and msg is not None:
            # Dash_Board.boost = msg.data[4]
            # print("boost: ", Dash_Board.boost)
            # elif msg.arbitration_id == 0x0350 and msg is not None:
            # Dash_Board.fuel = msg.data[3]*0.75
            # print("tank: ", Dash_Board.fuel)
            # else:
            # print("no message recieved")


        except Exception as e:
            print("error", e)
            # self.cleanup()




class Dashboard_project(MDApp):


    def build(self):

        sm = MDScreenManager()

        sm.add_widget(Classic_style_dash_board())
        sm.add_widget(Sport_style_dash_board())
        sm.add_widget(Engine())

        Read_bus_data()

        return sm

if __name__ == '__main__':
    Dashboard_project().run()

我的应用程序运行了一段时间，在注意消息的痕迹后，可以看到它有一些延迟，并且在 CAN Bus 收到上面的错误后

我尝试了很多事情。

  • 使用 PEAK 系统中的 PCANBasic 库。它有效，但非常慢。
  • 更新驱动程序
  • 更新操作系统并优化硬件
  • 提供更高效的电力供应
  • 检查带有 Arduino+MCP2515 can Messenger 模拟器作为发送器的 Can 阅读器和 Pcan canable 阅读器、python-can 库的 can 查看器 - 一切正常运行，毫无疑问
  • 使用 threading.queue 读取数据并将其传递到其他类中，结果是相同的 一般来说没有什么帮助，我没有看到任何一致的模式，它可以工作 10 秒或 10 分钟。这就是为什么我首先怀疑的是电线和电源可靠性问题。 但无论我尝试什么，都没有任何帮助。 也许在这里我会得到一些新的想法，让我获得第二次呼吸。 提前谢谢你
kivy can-bus
1个回答
0
投票

我有一个可用的 USB V2.0 nano。它通过 can0 接口看到 CAN 消息，但不是全部。在扩展标识符中设置高位的消息似乎被忽略或过滤掉。我的CANFD模块使用STM32G431和Microchip MCP2515和PIC18可以 所有人都能看到这些消息，但 CANABLE USB 记忆棒看不到！

来自 linux MCP2515 rpi buildroot linux：

# ./can_rx | egrep "F1DF"
10:27:08.995 8F1DF000 7 bytes : 00 0d 63 2d 2a 00 34   U2U class=0(READ), UNKNOWN13 = 0.000000
10:27:09.249 8F1DF001 7 bytes : 00 11 9b 2d 2a 00 34   UNKNOWN
10:27:09.489 8F1DF000 7 bytes : 00 0d 63 2d 2a 00 34   U2U class=0(READ), UNKNOWN13 = 0.000000
10:27:09.744 8F1DF001 7 bytes : 00 11 86 2d 2a 00 34   UNKNOWN
10:27:09.983 8F1DF000 7 bytes : 00 0d 63 2d 2a 00 34   U2U class=0(READ), UNKNOWN13 = 0.000000
10:27:10.237 8F1DF001 7 bytes : 00 11 6e 2d 2a 00 34   UNKNOWN

但是同一个can总线上的CANABLE看不到这些 0x0F1DF000 消息。

$ candump can0 | more
  can0  00001038   [8]  30 1E 00 5C 00 0A 04 04
  can0  000AA010   [8]  0D 86 00 00 00 00 00 00
  can0  00011010   [8]  04 25 00 00 00 00 C0 7F
  can0  00001000   [8]  84 25 00 00 20 00 00 00
  can0  00011010   [8]  04 26 00 00 00 00 C0 7F
  can0  00011010   [8]  04 23 00 00 00 00 C0 7F
  can0  00001000   [8]  84 26 00 00 20 00 00 00
  can0  00011010   [8]  04 27 00 00 00 00 C0 7F
  can0  00011010   [8]  04 0C 00 00 00 00 C0 7F
  can0  00001000   [8]  84 27 00 00 11 00 80 3F
  can0  00001000   [8]  84 0C 00 00 08 44 1C 46
  can0  0000000E   [5]  FF 02 41 1C 00
  can0  0000A7E5   [8]  EF 01 13 24 54 00 20 01
  can0  00011010   [8]  04 07 00 00 00 00 C0 7F
  can0  00011010   [8]  04 08 00 00 00 00 C0 7F
  can0  00011010   [8]  04 0F 00 00 00 00 C0 7F
  can0  00011010   [8]  04 0D 00 00 00 00 C0 7F
  can0  00001000   [8]  84 0D 00 00 00 00 00 00
  can0  00011010   [8]  04 16 00 00 00 00 C0 7F
  can0  00011010   [8]  04 0E 00 00 00 00 C0 7F
  can0  0000100E   [5]  FF 02 0B 1C 00
  can0  000AA010   [8]  0D 87 00 00 00 00 00 00
  can0  00011010   [8]  04 10 00 00 00 00 C0 7F
  can0  000017E4   [8]  00 29 00 00 00 00 20 30
  can0  0000103A   [7]  31 FF F5 FF E6 53 B2
  can0  00001038   [8]  31 1E 00 5C 00 0B 04 04
  can0  00011010   [8]  04 14 00 00 00 00 C0 7F
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