python-can模拟发送CAN FD总线信号
目的：中间件将CAN总线信号转成dds信号发出，为测试中间件的准确性，模拟发送CAN信号，并模拟dds接收器接收信号，将发送和接收的数据比较1.安装XL Driver Library，必须安装，里面包含各种网络接口，可上官网下载
XL Driver Library 20.30.14
https://img2022.cnblogs.com/blog/1900473/202206/1900473-20220623174621568-194257112.png通过XL-Driver-Library访问Vector网络接口
https://img2022.cnblogs.com/blog/1900473/202206/1900473-20220623174722240-1436590233.png
2.下载develop分支代码并安装
仓库：https://github.com/hardbyte/python-can3.安装python-can
Building & Installing
The project can be built with:
pip install wheel
python setup.py sdist bdist_wheelThe project can be installed in editable mode with:
pip install -e .4.找到安装的python-can包，找到vector文件夹，修改vxlapi.py 140行
# CAN FD configuration structure
class XLcanFdConf(ctypes.Structure):
_fields_ = [('arbitrationBitRate', ctypes.c_uint), ('sjwAbr', ctypes.c_uint),
('tseg1Abr', ctypes.c_uint), ('tseg2Abr', ctypes.c_uint),
('dataBitRate', ctypes.c_uint), ('sjwDbr', ctypes.c_uint),
('tseg1Dbr', ctypes.c_uint), ('tseg2Dbr', ctypes.c_uint),
('options', ctypes.c_uint), # 手动增加
('reserved', ctypes.c_uint * 2)]5.修改canlib.py，新增加一个option参数
class VectorBus(BusABC):
"""The CAN Bus implemented for the Vector interface."""
deprecated_args = dict(
sjwAbr="sjw_abr",
tseg1Abr="tseg1_abr",
tseg2Abr="tseg2_abr",
sjwDbr="sjw_dbr",
tseg1Dbr="tseg1_dbr",
tseg2Dbr="tseg2_dbr",
)
@deprecated_args_alias(**deprecated_args)
def __init__(
self,
channel: Union, str],
can_filters: Optional = None,
poll_interval: float = 0.01,
receive_own_messages: bool = False,
bitrate: Optional = None,
rx_queue_size: int = 2 ** 14,
app_name: Optional = "CANalyzer",
serial: Optional = None,
fd: bool = True,
data_bitrate: Optional = None,
sjw_abr: int = 32,
tseg1_abr: int = 127,
tseg2_abr: int = 32,
sjw_dbr: int = 8,
tseg1_dbr: int = 31,
tseg2_dbr: int = 8,
option=0, # 手动增加
**kwargs: Any,
) -> None:8.搜索 self.canFdConf = vxlapi.XLcanFdConf() ，新增以下内容
if fd:
self.canFdConf = vxlapi.XLcanFdConf()
self.canFdConf.options = ctypes.c_uint(option) # 手动新增9.找到python-can的安装路径，在vector目录下修改canlib.py
参考：\venv\Lib\site-packages\can\interfaces\vector\canlib.py\ sjw_abr: int = 32,
tseg1_abr: int = 127,
tseg2_abr: int = 32,
sjw_dbr: int = 8,
tseg1_dbr: int = 31,
tseg2_dbr: int = 8,<br><br>bus = can.interfaces.vector.VectorBus(bustype='vector', app_name='CANalyzer', channel=2, bitrate=500 * 1000, data_bitrate=2000 * 1000, fd=True)在User Manual文档5.4.1 XLcanFdConf章节的函数解释中可以看到sample point和sjw_abr、tseg1_abr、tseg2_abr的关系
打开本地CANoe -> CANFD工程 -> Network Hardware ：
https://img2022.cnblogs.com/blog/1900473/202206/1900473-20220623185553965-1299384546.png
此时python-can发送CANFD信号已经完成，接下来完成使用dds API接收dds信号
参考文档：
[*]Short overview of facts (PDF)
[*]User Manual (PDF)
[*]python-can对Vector CAN FD（no-iso）的支持
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