怎么添加新的CAN卡

这篇文章主要介绍怎么添加新的CAN卡，文中介绍的非常详细，具有一定的参考价值，感兴趣的小伙伴们一定要看完！

简介

控制器区域网络（CAN）是在许多微控制器和设备中密集使用的网络，用于在没有主计算机帮助的情况下在设备之间传输数据。

Apollo中使用的默认CAN卡是 ESD CAN-PCIe卡。您可以使用以下步骤添加新的CAN卡：

添加新的CAN卡

添加新的CAN卡需要完成以下几个步骤:

1. 实现新CAN卡的CanClient类。

2. 在CanClientFactory中注册新的CAN卡。

3. 更新配置文件。

以下步骤展示了如何添加新的CAN卡 - 示例添加CAN卡到您的工程。

步骤1

实现新CAN卡的CanClient类，下面的代码展示了如何实现 CANClient 类:

#include #include #include "hermes_can/include/bcan.h"#include "modules/canbus/can_client/can_client.h"#include "modules/canbus/common/canbus_consts.h"#include "modules/common/proto/error_code.pb.h"/** * @namespace apollo::canbus::can * @brief apollo::canbus::can */namespace apollo {namespace canbus {namespace can {/** * @class ExampleCanClient * @brief The class which defines a Example CAN client which inherits CanClient. */class ExampleCanClient : public CanClient { public:  /**   * @brief Initialize the Example CAN client by specified CAN card parameters.   * @param parameter CAN card parameters to initialize the CAN client.   * @return If the initialization is successful.   */  bool Init(const CANCardParameter& parameter) override;  /**   * @brief Destructor   */  virtual ~ExampleCanClient() = default;  /**   * @brief Start the Example CAN client.   * @return The status of the start action which is defined by   *         apollo::common::ErrorCode.   */  apollo::common::ErrorCode Start() override;  /**   * @brief Stop the Example CAN client.   */  void Stop() override;  /**   * @brief Send messages   * @param frames The messages to send.   * @param frame_num The amount of messages to send.   * @return The status of the sending action which is defined by   *         apollo::common::ErrorCode.   */  apollo::common::ErrorCode Send(const std::vector& frames,                                 int32_t* const frame_num) override;  /**   * @brief Receive messages   * @param frames The messages to receive.   * @param frame_num The amount of messages to receive.   * @return The status of the receiving action which is defined by   *         apollo::common::ErrorCode.   */  apollo::common::ErrorCode Receive(std::vector* const frames,                                    int32_t* const frame_num) override;  /**   * @brief Get the error string.   * @param status The status to get the error string.   */  std::string GetErrorString(const int32_t status) override; private:  ...  ...};}  // namespace can}  // namespace canbus}  // namespace apollo

步骤2

在CanClientFactory中注册新CAN卡， 在 CanClientFactory中添加如下代码:

void CanClientFactory::RegisterCanClients() {    Register(CANCardParameter::ESD_CAN,            []() -> CanClient* { return new can::EsdCanClient(); });      // register the new CAN card here.    Register(CANCardParameter::EXAMPLE_CAN,             []() -> CanClient* { return new can::ExampleCanClient(); });  }

步骤3

接下来，需要更新配置文件 在/modules/canbus/proto/can_card_parameter.proto添加 EXAMPLE_CAN；

message CANCardParameter {  enum CANCardBrand {    FAKE_CAN = 0;    ESD_CAN = 1;    EXAMPLE_CAN = 2; // add new CAN card here.  }  ... ... }

Update /modules/canbus/conf/canbus_conf.pb.txt

can_card_parameter {  brand:EXAMPLE_CAN  type: PCI_CARD // suppose the new can card is PCI_CARD  channel_id: CHANNEL_ID_ZERO // suppose the new can card has CHANNEL_ID_ZERO}... ...

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