CAN通信经常收到错误帧

翁金平 · 发表于 2022-6-6 15:07:39

本帖最后由翁金平于 2022-7-11 17:13 编辑

与电机控制器通信经常出现错误帧，打印如下：
[ERROR] [1654498195.150578337]: Received error frame: 20000088#0000020000000052
[ERROR] [1654498195.151746160]: Received error frame: 20000088#000002000000005b
[ERROR] [1654498195.152665568]: Received error frame: 20000088#0000020000000064
[ERROR] [1654498195.153192021]: Received error frame: 20000088#000002000000006d
[ERROR] [1654498195.153864890]: Received error frame: 20000088#0000020000000076

CAN详细信息如下：
3: can1: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP mode DEFAULT group default qlen 1000
link/can  promiscuity 0
can state ERROR-WARNING (berr-counter tx 0 rx 0) restart-ms 0
      bitrate 500000 sample-point 0.850
      tq 100 prop-seg 8 phase-seg1 8 phase-seg2 3 sjw 1
      rockchip_can: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..128 brp-inc 2
      clock 100000000numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535

收到错误帧后can state 由ERROR-ACTIVE变为ERROR-WARNIN，通信波特率500k。
用研华工控机CAN设备控制都是正常的没有错误帧。

Liuth · 发表于 2022-6-6 15:50:41

去年的固件can时钟频率不足，换今年的固件试一下

翁金平 · 发表于 2022-6-6 15:58:54

Liuth 发表于 2022-6-6 15:50
去年的固件can时钟频率不足，换今年的固件试一下

请问今天的固件时钟频率是多少

翁金平 · 发表于 2022-6-6 18:01:20

Liuth 发表于 2022-6-6 15:50
去年的固件can时钟频率不足，换今年的固件试一下

换了新固件，时钟显示200m
3: can1: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP mode DEFAULT group default qlen 1000
link/can  promiscuity 0
can state ERROR-WARNING (berr-counter tx 0 rx 0) restart-ms 0
      bitrate 500000 sample-point 0.875
      tq 250 prop-seg 3 phase-seg1 3 phase-seg2 1 sjw 1
      rockchip_can: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..128 brp-inc 2
      clock 200000000numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535
但还是不断打印这个错误
[ERROR] [1654509526.782943988]: Received error frame: 20000088#000000000000002d
[ERROR] [1654509526.783218161]: Received error frame: 20000088#0000000000000036
[ERROR] [1654509526.783452958]: Received error frame: 20000088#000000000000003f
[ERROR] [1654509526.783655088]: Received error frame: 20000088#0000000000000040
[ERROR] [1654509526.783852259]: Received error frame: 20000088#0000000000000051
[ERROR] [1654509526.784058764]: Received error frame: 20000088#0000000000000052

dengkx · 发表于 2022-6-7 09:56:23

请问出现错误帧的接收频率是多少？

翁金平 · 发表于 2022-6-7 09:59:18

dengkx 发表于 2022-6-7 09:56
请问出现错误帧的接收频率是多少？

错误帧20000088对应的应该是
#define CAN_ERR_BUSERROR 0x00000080U /* bus error (may flood!) */
#define CAN_ERR_PROT 0x00000008U /* protocol violations / data[2..3] */
重启CAN后会正常几秒，后面频率越来越高最后全部都是错误帧，收不到其他数据。

dengkx · 发表于 2022-6-7 10:35:22

翁金平发表于 2022-6-7 09:59
错误帧20000088对应的应该是
#define CAN_ERR_BUSERROR 0x00000080U /* bus error (may flood!) */
...

你接收到错误帧时，can的发送频率是多少？1K？还是2K?

翁金平 · 发表于 2022-6-7 15:00:44

dengkx 发表于 2022-6-7 10:35
你接收到错误帧时，can的发送频率是多少？1K？还是2K?

没明白什么意思，总线上大概每秒20条报文，总线占用率很低

dengkx · 发表于 2022-6-7 16:00:38

本帖最后由 dengkx 于 2022-6-8 17:21 编辑

用这

dengkx · 发表于 2022-6-7 16:05:31

等等，传错了

[Linux] CAN通信经常收到错误帧

【Linux】 CAN通信经常收到错误帧