鍦∕ATLAB涓�閫氳繃CAN鎬荤嚎涓嶦CU锛圕37锛夊疄鐜伴�氫俊

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1銆佺畝浠�

棣栧厛璇翠竴涓嬬洰鍓嶅疄鐜扮殑鍔熻兘鍚с�傜洰鍓嶈繖涓�绋嬪簭鍙�鏄�鑳藉疄鐜板熀鏈�鐨勬帶鍒跺櫒涓嶱C淇℃伅鐨勪簰浼狅紝閫氳繃PC涓婄殑MATLAB鍙戦�佷俊鎭�缁欐帶鍒跺櫒锛屾帶鍒跺櫒閫氳繃鐩稿簲鐨勫簱鍑芥暟瀹炵幇淇℃伅鐨勪笂浼犮�傝嚦浜庝负浠�涔堝疄鐜扮被浼间笂浣嶆満杞�浠剁殑鍔熻兘鐢∕ATLAB鑰屼笉鏄�鐢ㄥ叾瀹冪殑杞�浠舵垨鑰呰��瑷�锛堝�侰#绛夛級鏉ュ啓锛屽師鍥犱篃寰堢畝鍗曪紝鍥犱负鎴戝お鍠滄��MATLAB杩欎釜杞�浠朵簡銆傝櫧鐒剁幇鍦ㄥ彧鏄�瀹炵幇浜嗙畝鍗曠殑淇℃伅鐨勬敹鍙戯紝鍚庨潰鍙�浠ヤ娇鐢∕ATLAB鐨凣UI鍋氱浉鍏崇殑浜烘満浜や簰椤甸潰锛屼篃鍙�浠ョ洿鎺ユ妸鏁版嵁淇濆瓨鎴怣ATLAB鐨勫彉閲忎负杩涗竴姝ョ殑鏁版嵁鍒嗘瀽鍋氬噯澶囥�傝繖涓ゅぉ涓轰簡瀹炵幇杩欎釜鍔熻兘鐪嬩簡涓�浜涜祫鏂欙紝浣嗕娇鐢∕ATLAB瀹炵幇杩欎釜鍔熻兘鐨勫笘瀛愬ソ鍍忎笉鏄�寰堝�氾紝鎵�浠ヨ繖绡囨枃绔犲氨褰撴槸鎶涚爾寮曠帀鍟︼紝涔熶负浜嗕互鍚庡摢涓�澶╂垜瑕佹槸蹇樿�颁簡涓�浜涙搷浣滆兘缁欐垜鎻愪緵涓�浜涙彁閱掋��

2銆佺‖浠跺噯澶�   

ECU鎺у埗鍣�锛圕37锛夈�乁SB-CAN妯″潡锛堜箰鐢垫柊鍗� USB/CAN杞�鎹㈠櫒 闅旂�诲瀷锛夈�丒CU涓嬭浇绾夸竴鏉�
3銆佽蒋浠跺噯澶�

MATLAB R2019a銆丆odesys V2.3銆佷覆鍙ｈ皟璇曞姪鎵嬩互鍙奀AN妯″潡閰嶇疆杞�浠讹紙USB-CAN妯″潡鐨勫晢瀹跺簲璇ヤ細鎻愪緵锛�
4銆佸疄鐜拌矾绾�

      瀹炵幇璺�绾夸細鎸夌収鎺у埗鍣ㄢ��>USB/CAN杞�鎹㈡ā鍧椻��>MATLAB杩欎釜鎬濊矾鏉ャ��
4.1銆佹帶鍒跺櫒閮ㄥ垎

       鎺у埗鍣ㄩ儴鍒嗘寜鐓ф�ｅ父鐨勬帶鍒跺櫒锛圕37锛変腑CAN閫氫俊鐨勫簱鍑芥暟鍐欏ソ锛岃�佹敞鎰忔帶鍒跺櫒璁剧疆鐨凜AN鎬荤嚎鐨勬尝鐗圭巼锛岃繖涓�鍙傛暟鍦ㄤ笅闈㈢殑妯″潡鍙傛暟閰嶇疆涓�浼氱敤鍒般�備笅闈㈢殑鎺у埗鍣ㄧ▼搴忎腑鐣ュ幓浜嗙浉鍏冲垵濮嬪寲鐨勯儴鍒嗭紙鍏朵腑娉㈢壒鐜囪�剧疆涓�250kbps锛夈��
鍙橀噺鍖猴細

1. PROGRAM PLC_PRG
2. VAR
3.         CAN_read_message:FB_CAN_READ_MSG;  锛�*CAN璇诲彇淇℃伅鐨勫姛鑳藉潡瀹炰緥鍖�*锛�
4.         CAN_send_message:FB_CAN_SEND_MSG;  锛�*CAN鍙戦�佷俊鎭�鐨勫姛鑳藉潡瀹炰緥鍖�*锛�
5.         canton:TON;
6.         data_send:ARRAY[0..7]OF BYTE;
7.         data_receive:ARRAY[0..7]OF BYTE;
8.         ii:BYTE;
9.         booting:BOOL:=TRUE;
10.         status_configure_read:INT:=5;      锛�*鍑芥暟鐘舵�佽繑鍥為噺*锛�
11.         status_configure_send:INT:=5;
12.         status_read:BOOL:=FALSE;
13.         status_configure_read_Msg50: INT:=5;
14.         bootingnmt: BOOL:=TRUE;
15. END_VAR

澶嶅埗浠ｇ爜

绋嬪簭涓讳綋锛�

1. 锛�****鐩稿叧鐨勫簱鍑芥暟鍙傝�僀37搴撳嚱鏁颁粙缁�****锛�
2. init();  (*鎺у埗鍣ㄥ垵濮嬪寲绋嬪簭*)
4. IF booting=TRUE THEN
5. status_configure_read:=CAN_MSG_CONFIG(MsgObj:=Msg151,Mode:=Rx,ID:=16#01,Mask:=16#FFFFFFFF,IdFormat:=Standard,LEN:=8);
6. status_configure_send:=CAN_MSG_CONFIG(MsgObj:=Msg61,Mode:=Tx,ID:=16#281,Mask:=16#FFFFFFFF,IdFormat:=Standard,LEN:=8);
7. status_configure_send:=CAN_MSG_CONFIG(MsgObj:=Msg150,Mode:=Tx,ID:=16#FFFF,Mask:=16#FFFFFFFF,IdFormat:=Standard,LEN:=8);
8. booting:=FALSE;
9. END_IF
12. IF CAN_NEWDATA(Msg151)=1 THEN
13.     CAN_read_message(MsgObj:=Msg151);
14.     IF CAN_read_message.Status=1 THEN
15.         FOR ii:=0 TO 7 BY 1 DO
16.             data_receive[ii]:=CAN_read_message.Data[ii];
17.         END_FOR
18.     END_IF
19. END_IF
23. FOR ii:=0 TO 7 BY 1 DO
24.     data_send[ii]:=16*ii;
25. END_FOR
28. canton(IN:=TRUE,PT:=T#50ms);
30. IF canton.Q=TRUE THEN
31.     (*CAN_send_message(MsgObj:=Msg61,ID:=16#281,IdFormat:=Standard,LEN:=8,Data:=data_send);
32. *)
33.     CAN_send_message(MsgObj:=Msg150,ID:=16#FFFF,IdFormat:=Standard,LEN:=8,Data:=data_send);
34.     canton(IN:=FALSE);
35. END_IF

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4.2銆乁SB/CAN杞�鎹㈡ā鍧�

      杞�鎹㈡ā鍧楅儴鍒嗙殑鍙傛暟璁剧疆濡傚浘1鎵�绀猴細

鍥�1锛欳AN妯″潡閰嶇疆杞�浠朵腑鐩稿叧鍙傛暟鐨勮�剧疆

        鍥�1涓�鐨勪覆鍙ｅ彿鍦ㄨ嚜宸辩數鑴戠殑璁惧�囩�＄悊鍣ㄤ腑鏌ョ湅锛屼覆鍙ｆ尝鐗圭巼鍙傛暟鍦ㄦ帴涓嬫潵鐨凪ATLAB涓插彛閫氫俊涓�浼氱敤鍒帮紝CAN娉㈢壒鐜囦笌鎺у埗鍣�锛堣繖閲屾寚C37锛夊尮閰嶏紝鍖呮ā寮忎互鍙婃帴鏀惰�剧疆鍙傝�冧箰鐢垫柊鍗楃殑妯″潡浣跨敤璇存槑锛堜粬浠�瀹剁殑璇存槑鎴戞劅瑙夊緢nice锛侊紒锛夛紝妯″潡瀹炵墿鍥惧�傚浘2銆佸浘3鎵�绀猴細

鍥�2锛歎SB/CAN杞�鎹㈠櫒姝ｉ潰鍥�

鍥�3锛歎SB/CAN杞�鎹㈠櫒妯″潡鍙嶉潰鍥�

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4.3銆丮ATLAB绔�

      MATLAB绔�鐨勬搷浣滀緷娆′负涓嬪浘鎵�绀猴紙杩欓噷鏄疢ATLAB R2019鐨勬儏鍐典笅锛夛細

锛堣ˉ鍏咃細瀹屾垚鎿嶄綔5涔嬪悗鍗曞嚮鍙充笂瑙掔殑鈥淐onnect鈥濋敭锛�

娉ㄦ剰锛氫笂鍥剧殑鍙傛暟璁剧疆涓�鈥淪ize锛坥ptional锛夆�濈殑鍊间笉鏄�鍥哄畾鐨勶紝杩欎釜瑕佹牴鎹�妯″潡鐢熶骇鍘傚�剁殑鎶ユ枃鏍煎紡鍐冲畾锛屼箰鐢垫柊鍗楃殑鎶ユ枃鏍煎紡鏄�16浣嶏紝寰�闆�鐨勬姤鏂囨牸寮忔槸20浣嶏紙寰�闆�鎶�鏈�鏀�鎸佽�存槸13浣嶏紝鐒跺悗鍦∕ATLAB涓�瀹為檯寰楀埌鐨勬槸20浣嶏級銆傜‘瀹氫綅鏁扮殑鏂规硶鏄�锛氬湪鎺у埗鍣ㄥ惊鐜�鍙戦�佸悓涓�缁勬暟鎹�骞朵笖娉㈢壒鐜囩瓑鍙傛暟鐨勮�剧疆姝ｇ‘鏃讹紝鏁版嵁鏈夊�氬皯浣嶄細寰�鐜�锛宯浣嶅惊鐜�涓�娆℃姤鏂囨牸寮忓氨鏄痭浣嶏紝涔熷彲浠ュ弬鑰冨巶鍟嗙殑鎶ユ枃鏍煎紡銆�

閫氳繃涓婂浘鐨勬渶鍚庝竴姝ユ搷浣滃彲鎶婃帴鏀跺埌鐨勬姤鏂囨暟鎹�瀵煎嚭鍒癕ATLAB鐨勫彉閲忓尯銆傛姤鏂囩殑鏁版嵁鏍煎紡濡備笅鍥�锛堣�ユ姤鏂囨牸寮忎粎涓轰箰鐢垫柊鍗楁ā鍧楃殑鎶ユ枃鏍煎紡锛屼笉鍚屽巶鍟嗙敓浜х殑妯″潡锛屽叾鎶ユ枃鏍煎紡鍙�鑳戒細鏈変笉鍚岋級锛�

鍦ㄥ彂閫佹姤鏂囨椂瑕佹妸鎶ユ枃鎸夌収鏍煎紡鍐欏ソ锛屽悇浣嶄箣闂寸敤绌烘牸闂撮殧锛屼緥濡傦細

鑷虫�わ紝宸插畬鎴怣ATLAB涓庢帶鍒跺櫒涔嬮棿閫氳繃CAN鎬荤嚎瀹炵幇閫氫俊锛屽�傛灉瑕佺敓鎴愯剼鏈�浠ｇ爜锛屾搷浣滃�備笅鍥撅細

瀹屾暣渚嬬▼濡備笅锛�

1. %% Instrument Connection
3. clear
4. clc
5. % Find a serial port object.
6. obj1 = instrfind('Type', 'serial', 'Port', 'COM3', 'Tag', '');
8. % Create the serial port object if it does not exist
9. % otherwise use the object that was found.
10. if isempty(obj1)
11.     obj1 = serial('COM3');
12. else
13.     fclose(obj1);
14.     obj1 = obj1(1);
15. end
17. %% Disconnect and Clean Up
19. % Disconnect from instrument object, obj1.
20. fclose(obj1);
22. %% Instrument Connection
24. % *******涓插彛閫氫俊娉㈢壒鐜囬粯璁�9600*********
25. % 涓插彛USB杞珻AN妯″潡鐩稿叧鍙傛暟璁剧疆
26. % 涓插彛娉㈢壒鐜�9600
27. % CAN淇″彿娉㈢壒鐜�250K锛堝湪codesys绋嬪簭涓�瀹氫箟锛屾ā鍧桟AN娉㈢壒鐜囪�佸拰鎺у埗鍣ㄧ▼搴忎腑璁剧疆鐨勭浉鍚岋級
28. set(obj1, 'BaudRate', 9600);
29. set(obj1, 'InputBufferSize', 4096);
30. set(obj1, 'OutputBufferSize', 4096);
32. % Connect to instrument object, obj1.
33. fopen(obj1);
34. %% Instrument Configuration and Controldata1
36. % Communicating with instrument object, obj1.
37. data1 = fread(obj1, 16, 'uint8');
38. data2 = fread(obj1, 16, 'uint8');
39. data3 = fread(obj1, 16, 'uint8');
40. data4 = fread(obj1, 16, 'uint8');
41. %% Instrument Configuration and Control
43. % Communicating with instrument object, obj1.
44. fwrite(obj1, [hex2dec('AA') hex2dec('00') hex2dec('00') hex2dec('08') hex2dec('00') hex2dec('00') hex2dec('00') hex2dec('01') hex2dec('01') hex2dec('02') hex2dec('03') hex2dec('04') hex2dec('05') hex2dec('06') hex2dec('07') hex2dec('08')], 'uint8');
45. % fwrite(obj1, [hex2dec('AA') hex2dec('00') hex2dec('00') hex2dec('08') hex2dec('00') hex2dec('00') hex2dec('00') hex2dec('01') hex2dec('FF') hex2dec('FF') hex2dec('FF') hex2dec('FF') hex2dec('FF') hex2dec('FF') hex2dec('FF') hex2dec('FF')], 'uint8');

澶嶅埗浠ｇ爜

5銆佸叾瀹�

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2銆佸綋MATLAB绔�閬囧埌Error鏃惰�冭檻鎺ユ敹淇℃伅鍙傛暟璁剧疆涓�鎺ユ敹鏁版嵁浣嶆暟鏄�鍚﹁�剧疆涓烘姤鏂囨牸寮忚�勫畾鐨勪綅鏁般��
3銆丮ATLAB绔�鐨勪俊鎭�鎺ユ敹鐨勬搷浣滃簲涓猴細棣栧厛璁剧疆濂界浉鍏冲弬鏁板彧宸�鐐瑰嚮鈥淩ead鈥濋敭锛屽�傛灉鎺у埗鍣ㄥ彂閫佹暟鎹�涔嬪悗鎵嶈�剧疆鐩稿叧鍙傛暟鍋氭暟鎹�鎺ユ敹鍑嗗�囦細鍑虹幇鎺ユ敹鎶ユ枃淇℃伅缂哄け鐨勬儏鍐碉紝姣斿��16浣嶇殑鎶ユ枃缂哄け鍓嶉潰鍑犱綅锛屽悗闈㈢殑鎶ユ枃鐨勫墠闈㈠嚑浣嶅張椤跺埌鍓嶉潰鎶ユ枃鐨勫悗闈㈠嚑浣嶏紝鍑虹幇鏁版嵁閿欎綅銆�
4銆佷覆鍙ｈ皟璇曞姪鎵嬪嚭鐜颁覆鍙ｉ敊璇�鏃惰�冭檻鎶婃ā鍧楁嫈涓嬫潵閲嶆柊鎻掍笂鍘诲彲瑙ｅ喅杩欎釜闂�棰樸��
5銆佸湪MATLAB绔�璁剧疆涓插彛鍙傛暟鏃朵細鍑虹幇鍙傛暟璁剧疆杩熺紦鐨勯棶棰橈紝鍙�浠ユ��鏌ュ畠Session log鐩稿簲鐨勪唬鐮佹槸鍚﹀啓涓婏紝涓�鑸�鏄�娉㈢壒鐜囪�剧疆鍜岃緭鍏ヨ緭鍑虹紦瀛樺尯澶у皬鐨勮�剧疆浼氭湁浠ｇ爜銆�
      鑷虫�わ紝鎴戣兘鎯冲埌鐨勶紝鑳藉嚭鐜扮殑闂�棰樺熀鏈�閮藉啓瀹屼簡锛屽�傛灉鍚庢湡鍦ㄨ繖涓�鍩虹��涓婂姞涓�浜涘叾瀹冩搷浣滃啀瑙佸悗鏂囥��
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