admin 发表于 2020-10-28 08:36:19

MIT Mini Cheetah 驱动器 can 滤波器设置更正

MIT Mini Cheetah 的驱动器 高帧率can数据会出现丢帧的现象,经排查发现,主函数初始化can.filter的位置以及参数配置有误。导致该配置无效,此时can会接收所有总线上的数据,can会频繁进入接收中断,驱动程序中can中断的优先级较低(如下图所示)。
data:image/png;base64,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

mbed的can接口中有int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle)API,该函数可以配置can滤波器的参数。
第一个参数id是FilterId               :该参数是期望的收到的ID                                          作用于FxR1寄存器的高11位
第二个参数mask是 FilterMask    :该参数表示CAN ID 过滤的ID中的哪些位是需要判断的    作用于FxR2寄存器的高11位
第三个参数format是 can的模式:enum CANFormat {    CANStandard = 0,    CANExtended = 1,    CANAny = 2};数据帧 扩展帧 还是两者均过滤
第四个参数handle是滤波器序号 :can一共有28个滤波器,选择其中的一个滤波器的序号
该函数默认使用32位的屏蔽位模式。

如果我们想直接收该驱动板的CANID相符的can数据,做如下配置即可
can.filter(CAN_ID, 0xFFFF, CANStandard, 0);

原程序中有一个参数载入的函数,含函数主要是载入一些校准参数 canid之类的参数,但我们需要设置的can滤波器使用到了变量CAN_ID ,如果将can.filter置于该函数之后,那么参数CAN_ID将无效.

按照上图修改即可达到直接收与电调canID相关的数据,屏蔽掉其他ID的数据,从而减少进入can中断的次数,避免高帧率下丢帧、can卡死的现象。


liughsy 发表于 2020-11-2 21:00:27

楼主牛逼,亲测有效
页: [1]
查看完整版本: MIT Mini Cheetah 驱动器 can 滤波器设置更正