Canbus & Canfd 接口文档 ​

Canbus canbus(0); // 构造函数入参取0-1，支持两路canbus通道
try {
    canbus.init();
    std::cout << "初始化成功" << std::endl;
} catch (const std::runtime_error& e) {
    std::cout << "初始化失败，错误信息：" << e.what() << std::endl;
}

Canbus canbus(0);
canbus.init();
// 使用 CAN 总线设备...
canbus.free();
std::cout << "总线资源已释放" << std::endl;

Canbus canbus(0);
try {
    canbus.init();
    std::string received_data = canbus.read(0, 8, 1000);
    std::cout << "接收到的数据：" << received_data << std::endl;
} catch (const std::runtime_error& e) {
    std::cout << "读取失败，错误信息：" << e.what() << std::endl;
}

Canbus canbus(0);
try {
    canbus.init();
    const uint8_t data[] = {0x12, 0x34, 0x56, 0x78, 0x90};
    canbus.write(data, sizeof(data), 1000);
    std::cout << "数据发送成功" << std::endl;
} catch (const std::runtime_error& e) {
    std::cout << "发送失败，错误信息：" << e.what() << std::endl;
}

Canbus canbus(0);
try {
    canbus.init();
    // 使用 CAN 总线设备...
    canbus.reset();
    std::cout << "CAN 总线设备已重置" << std::endl;
} catch (const std::runtime_error& e) {
    std::cout << "重置失败，错误信息：" << e.what() << std::endl;
}

Canbus canbus(0);
try {
    canbus.init();
    canbus.set_speed(1000); 
    std::cout << "总线速度设置成功" << std::endl;
} catch (const std::runtime_error& e) {
    std::cout << "设置速度失败，错误信息：" << e.what() << std::endl;
}

Canbus canbus(0);
try {
    canbus.init();
    canbus.set_id_mask(0x123, 0xFFF); // 接收id & 0xFFF为0x123的id消息
    std::cout << "CAN 总线 ID 和掩码设置成功" << std::endl;
} catch (const std::runtime_error& e) {
    std::cout << "设置 ID 和掩码失败，错误信息：" << e.what() << std::endl;
}

Canfd canfd(0); //构造函数入参取0-2，支持三路canfd通道
try {
    canfd.init();
    std::cout << "初始化成功" << std::endl;
} catch (const std::runtime_error& e) {
    std::cout << "初始化失败，错误信息：" << e.what() << std::endl;
}

Canfd canfd(0);
canfd.init();
// 使用 CAN 总线设备...
canfd.free();
std::cout << "总线资源已释放" << std::endl;

Canfd canfd(0);
try {
    uint32_t read_len = 8;      // 预期读取的数据长度（例如：4字节CAN ID + 4字节数据）
    uint32_t timeout = 1000;  // 超时时间，单位：毫秒
    uint32_t canfd_en = 1;     // 指示使用CANFD

    std::string recv_data = canfd.read(0, read_len, timeout, canfd_en);
    std::cout << "Received data: " << recv_data << std::endl;

} catch (const std::runtime_error& e) {
    // 错误处理
    std::cerr << "Error: " << e.what() << std::endl;
}

Canfd canfd(0);
try {
    uint32_t canfd_en = 1;  // 指示使用CANFD
    uint32_t brs_en = 1;    // 波特率切换使能
    uint32_t timeout = 1000;  // 超时时间，单位：毫秒

    std::string can_id = "0x123";  // CAN ID
    std::string data = "ABCD";     // 数据内容
    std::string send_data = can_id + data;  // 拼接CAN ID和数据
    size_t send_len = send_data.length();   // 数据长度
    
    canfd.write(send_data.c_str(), send_len, timeout, canfd_en, brs_en);
    std::cout << "Data sent successfully." << std::endl;

} catch (const std::runtime_error& e) {
    // 错误处理
    std::cerr << "Error: " << e.what() << std::endl;
}

Canfd canfd(0);
try {
    canfd.init();
    // 使用 CAN 总线设备...
    canfd.reset();
    std::cout << "CAN 总线设备已重置" << std::endl;
} catch (const std::runtime_error& e) {
    std::cout << "重置失败，错误信息：" << e.what() << std::endl;
}

Canfd canfd(0);
try {
    canfd.init();
    canfd.set_speed(1000); 
    std::cout << "总线速度设置成功" << std::endl;
} catch (const std::runtime_error& e) {
    std::cout << "设置速度失败，错误信息：" << e.what() << std::endl;
}

Canfd canfd(0);
try {
    canfd.init();
    canfd.set_id_mask(0x123, 0xFFF);  // 接收id & 0xFFF为0x123的id消息
    std::cout << "CAN 总线 ID 和掩码设置成功" << std::endl;
} catch (const std::runtime_error& e) {
    std::cout << "设置 ID 和掩码失败，错误信息：" << e.what() << std::endl;
}

Canfd canfd(0);
try {
    canfd.init();
    auto [flt_num, flt_data] = canfd.get_sidf();
    std::cout << "过滤规则数量：" << flt_num << std::endl;
    std::cout << "过滤规则数据：" << flt_data << std::endl;
} catch (const std::runtime_error& e) {
    std::cout << "获取过滤器配置失败，错误信息：" << e.what() << std::endl;
}

Canfd canfd(0);
try {
    canfd.init();
    auto [flt_num, flt_data] = canfd.get_xidf();
    std::cout << "过滤规则数量：" << flt_num << std::endl;
    std::cout << "过滤规则数据：" << flt_data << std::endl;
} catch (const std::runtime_error& e) {
    std::cout << "获取过滤器配置失败，错误信息：" << e.what() << std::endl;
}

Canfd canfd(0);
try {
    canfd.init();
    uint32_t multi_config = 1;
    canfd.set_multi(multi_config);
    std::cout << "多帧发送配置成功" << std::endl;
} catch (const std::runtime_error& e) {
    std::cout << "设置多帧发送失败，错误信息：" << e.what() << std::endl;
}

Canfd canfd(0);
try {
    canfd.init();
    uint32_t multi_config = canfd.get_multi();
    std::cout << "多帧发送使能状态：" << multi_config << std::endl;
} catch (const std::runtime_error& e) {
    std::cout << "获取多帧发送使能状态失败，错误信息：" << e.what() << std::endl;
}