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lyq 2026-02-25 13:09:02 +08:00
parent d701062b3b
commit 09fa75aa90
1 changed files with 14 additions and 6 deletions
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20
src/control/can_radio_ctrl/src/candev.cpp
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@ -1,11 +1,11 @@
#include "can_radio_ctrl/candev.h" #include "can_radio_ctrl/candev.h"
#include <atomic> // 线程退出标志
#include <chrono> // 睡眠所需头文件
#include <cstring> #include <cstring>
#include <iostream> // 日志输出
#include <stdexcept> #include <stdexcept>
#include <thread> // 异步接收线程 #include <thread> // 异步接收线程
#include <atomic> // 线程退出标志
#include <chrono> // 睡眠所需头文件
#include <iostream> // 日志输出
// 全局变量定义 // 全局变量定义
RadioData radio_data = {0, 0, 0, 0, false}; RadioData radio_data = {0, 0, 0, 0, false};
@ -51,9 +51,9 @@ int can_Init(void)
// ===================== CAN过滤配置 ===================== // ===================== CAN过滤配置 =====================
struct can_filter rfilter[2]; struct can_filter rfilter[2];
rfilter[0].can_id = 0x10B; rfilter[0].can_id = 0x10B;
rfilter[0].can_mask = CAN_SFF_MASK; rfilter[0].can_mask = CAN_SFF_MASK;
rfilter[1].can_id = 0x10A; rfilter[1].can_id = 0x10A;
rfilter[1].can_mask = CAN_SFF_MASK; rfilter[1].can_mask = CAN_SFF_MASK;
if (setsockopt(can_fd, SOL_CAN_RAW, CAN_RAW_FILTER, rfilter, sizeof(rfilter)) < 0) if (setsockopt(can_fd, SOL_CAN_RAW, CAN_RAW_FILTER, rfilter, sizeof(rfilter)) < 0)
@ -118,6 +118,14 @@ void can_recv_loop()
{ {
radio_data.gear = frame.data[0]; radio_data.gear = frame.data[0];
radio_data.sweep = frame.data[1]; radio_data.sweep = frame.data[1];
uint8_t ch3 = frame.data[2];
uint8_t ch4 = frame.data[3];
uint8_t ch5 = frame.data[4];
uint8_t ch6 = frame.data[5];
uint8_t ch7 = frame.data[6];
uint8_t ch8 = frame.data[7];
printf("ch1 : %d ,ch2 : %d ,ch3 : %d ,ch4 : %d\n", radio_data.gear, radio_data.sweep, ch3, ch4);
printf("ch5 : %d ,ch6 : %d ,ch7 : %d ,ch8 : %d\n", ch5, ch6, ch7, ch8);
radio_data.data_valid = true; radio_data.data_valid = true;
} }
} }