ESP32-C6 是一款具有双 CAN 接口的微控制器，它支持 TWAI（Time-Triggered CAN）协议。要在 ESP32-C6 上实现两路 TWAI 读写，可以按照以下步骤进行：
1. 首先，确保您已经安装了 ESP-IDF 开发环境。如果没有，请访问 https://docs.espressif.com/projects/esp-idf/en/latest/esp32c6/getting-started/index.html 了解如何安装。
2. 创建一个新的 ESP-IDF 项目。在命令行中，输入以下命令：
```
mkdir my_twai_project
cd my_twai_project
git clone https://github.com/espressif/esp-idf.git
cd esp-idf
git checkout release/v4.4
cd ..
./esp-idf/install.sh
export IDF_PATH=$(pwd)
cd ..
```
3. 配置项目。在 `my_twai_project` 目录下，创建一个新的 CMakeLists.txt 文件，内容如下：
```
cmake_minimum_required(VERSION 3.5)
set(PROJECT_NAME "my_twai_project")
project(${PROJECT_NAME})
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
```
4. 创建一个新的源文件，例如 `main.c`，并在其中编写以下代码：
```c
#include
#include
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h"
#include "driver/can.h"
static const char *TAG = "TWAI_EXAMPLE";
void twai_example_task(void *arg) {
can_device_handle_t can0_handle, can1_handle;
can_timing_config_t can_timing = CAN_TIMING_CONFIG_500KBPS();
// 初始化 CAN 接口 0
can_driver_install(can0, &can_timing, CAN_MODE_NORMAL);
can0_handle = can_get_device_handle(can0);
// 初始化 CAN 接口 1
can_driver_install(can1, &can_timing, CAN_MODE_NORMAL);
can1_handle = can_get_device_handle(can1);
// 配置 CAN 接口 0 的过滤器
can_filter_config_t can0_filter = {
.acceptance_code = 0x123,
.acceptance_mask = 0x1FF,
.single_filter = true
};
can_filter_set_config(can0_handle, 0, &can0_filter);
// 配置 CAN 接口 1 的过滤器
can_filter_config_t can1_filter = {
.acceptance_code = 0x456,
.acceptance_mask = 0x7FF,
.single_filter = true
};
can_filter_set_config(can1_handle, 0, &can1_filter);
// 创建 CAN 消息结构体
can_message_t message;
message.identifier = 0x100; // 消息 ID
message.data_length_code = 8; // 数据长度
message.data = "ABCDEFGH"; // 消息数据
// 发送消息到 CAN 接口 0
can_write_message(can0_handle, &message, portMAX_DELAY);
// 发送消息到 CAN 接口 1
message.identifier = 0x200;
can_write_message(can1_handle, &message, portMAX_DELAY);
// 接收消息
can_message_t received_message;
can_receive_message(can0_handle, &received_message, portMAX_DELAY);
ESP_LOGI(TAG, "Received message on CAN0: ID=%03x, DLC=%d, Data=%s", received_message.identifier, received_message.data_length_code, received_message.data);
can_receive_message(can1_handle, &received_message, portMAX_DELAY);
ESP_LOGI(TAG, "Received message on CAN1: ID=%03x, DLC=%d, Data=%s", received_message.identifier, received_message.data_length_code, received_message.data);
// 卸载 CAN 驱动
can_driver_uninstall(can0_handle);
can_driver_uninstall(can1_handle);
vTaskDelete(NULL);
}
void app_main() {
xTaskCreatePinnedToCore(twai_example_task, "twai_example_task", 4096, NULL, 5, NULL, 0);
}
```
5. 编译并烧录程序。在 `my_twai_project` 目录下，执行以下命令：
```
idf.py set-target esp32c6
idf.py menuconfig
idf.py build
idf.py flash
idf.py monitor
```
6. 运行程序并观察输出。您应该能够看到通过两个 CAN 接口发送
ESP32-C6 是一款具有双 CAN 接口的微控制器，它支持 TWAI（Time-Triggered CAN）协议。要在 ESP32-C6 上实现两路 TWAI 读写，可以按照以下步骤进行：
1. 首先，确保您已经安装了 ESP-IDF 开发环境。如果没有，请访问 https://docs.espressif.com/projects/esp-idf/en/latest/esp32c6/getting-started/index.html 了解如何安装。
2. 创建一个新的 ESP-IDF 项目。在命令行中，输入以下命令：
```
mkdir my_twai_project
cd my_twai_project
git clone https://github.com/espressif/esp-idf.git
cd esp-idf
git checkout release/v4.4
cd ..
./esp-idf/install.sh
export IDF_PATH=$(pwd)
cd ..
```
3. 配置项目。在 `my_twai_project` 目录下，创建一个新的 CMakeLists.txt 文件，内容如下：
```
cmake_minimum_required(VERSION 3.5)
set(PROJECT_NAME "my_twai_project")
project(${PROJECT_NAME})
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
```
4. 创建一个新的源文件，例如 `main.c`，并在其中编写以下代码：
```c
#include
#include
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h"
#include "driver/can.h"
static const char *TAG = "TWAI_EXAMPLE";
void twai_example_task(void *arg) {
can_device_handle_t can0_handle, can1_handle;
can_timing_config_t can_timing = CAN_TIMING_CONFIG_500KBPS();
// 初始化 CAN 接口 0
can_driver_install(can0, &can_timing, CAN_MODE_NORMAL);
can0_handle = can_get_device_handle(can0);
// 初始化 CAN 接口 1
can_driver_install(can1, &can_timing, CAN_MODE_NORMAL);
can1_handle = can_get_device_handle(can1);
// 配置 CAN 接口 0 的过滤器
can_filter_config_t can0_filter = {
.acceptance_code = 0x123,
.acceptance_mask = 0x1FF,
.single_filter = true
};
can_filter_set_config(can0_handle, 0, &can0_filter);
// 配置 CAN 接口 1 的过滤器
can_filter_config_t can1_filter = {
.acceptance_code = 0x456,
.acceptance_mask = 0x7FF,
.single_filter = true
};
can_filter_set_config(can1_handle, 0, &can1_filter);
// 创建 CAN 消息结构体
can_message_t message;
message.identifier = 0x100; // 消息 ID
message.data_length_code = 8; // 数据长度
message.data = "ABCDEFGH"; // 消息数据
// 发送消息到 CAN 接口 0
can_write_message(can0_handle, &message, portMAX_DELAY);
// 发送消息到 CAN 接口 1
message.identifier = 0x200;
can_write_message(can1_handle, &message, portMAX_DELAY);
// 接收消息
can_message_t received_message;
can_receive_message(can0_handle, &received_message, portMAX_DELAY);
ESP_LOGI(TAG, "Received message on CAN0: ID=%03x, DLC=%d, Data=%s", received_message.identifier, received_message.data_length_code, received_message.data);
can_receive_message(can1_handle, &received_message, portMAX_DELAY);
ESP_LOGI(TAG, "Received message on CAN1: ID=%03x, DLC=%d, Data=%s", received_message.identifier, received_message.data_length_code, received_message.data);
// 卸载 CAN 驱动
can_driver_uninstall(can0_handle);
can_driver_uninstall(can1_handle);
vTaskDelete(NULL);
}
void app_main() {
xTaskCreatePinnedToCore(twai_example_task, "twai_example_task", 4096, NULL, 5, NULL, 0);
}
```
5. 编译并烧录程序。在 `my_twai_project` 目录下，执行以下命令：
```
idf.py set-target esp32c6
idf.py menuconfig
idf.py build
idf.py flash
idf.py monitor
```
6. 运行程序并观察输出。您应该能够看到通过两个 CAN 接口发送
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