{"id":3084,"date":"2024-11-28T10:05:37","date_gmt":"2024-11-28T02:05:37","guid":{"rendered":"https:\/\/saludpcb.com\/zh\/?p=3084"},"modified":"2025-09-26T06:16:03","modified_gmt":"2025-09-25T22:16:03","slug":"esp32-twai-sending-receiving-can-bus-tasks","status":"publish","type":"post","link":"https:\/\/saludpcb.com\/zh\/esp32-twai-sending-receiving-can-bus-tasks\/","title":{"rendered":"\u7cbe\u901a ESP32 TWAI | \u4f7f\u7528 FreeRTOS \u4efb\u52d9\u9032\u884c CAN Bus \u6578\u64da\u767c\u9001\u8207\u63a5\u6536"},"content":{"rendered":"\n<hr class=\"wp-block-separator alignwide has-text-color has-palette-color-1-color has-alpha-channel-opacity has-palette-color-1-background-color has-background is-style-wide\"\/>\n\n\n\n<p>\u5728\u4e4b\u524d\u7684<a href=\"https:\/\/saludpcb.com\/zh\/esp32-can-bus-complete-guide-sending-receiving\/\">\u6587\u7ae0<\/a>\u4e2d\uff0c\u6211\u5011\u8a73\u7d30\u63a2\u8a0e\u4e86\u00a0<strong>ESP32 CAN Bus<\/strong>\u00a0\u7684\u57fa\u790e\u6982\u5ff5\u8207\u61c9\u7528\u65b9\u6cd5\u3002\u7136\u800c\uff0c\u96a8\u8457\u958b\u767c\u9700\u6c42\u7684\u63d0\u9ad8\uff0c\u55ae\u7d14\u4f7f\u7528\u963b\u585e\u6216\u8f2a\u8a62\u65b9\u5f0f\u5df2\u7d93\u7121\u6cd5\u6eff\u8db3\u9ad8\u6548\u901a\u4fe1\u7684\u8981\u6c42\u3002\u56e0\u6b64\uff0c\u672c\u7bc7\u6587\u7ae0\u5c07\u5e36\u60a8\u6df1\u5165\u4e86\u89e3\u5982\u4f55\u5229\u7528\u00a0<strong>ESP32 TWAI \u9a45\u52d5<\/strong>\uff0c\u7d50\u5408\u00a0<strong>FreeRTOS \u4efb\u52d9<\/strong>\uff0c\u5be6\u73fe\u591a\u4efb\u52d9\u74b0\u5883\u4e0b\u7684\u9ad8\u6548\u00a0<strong>CAN Bus<\/strong>\u00a0\u6578\u64da\u767c\u9001\u8207\u63a5\u6536\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"584\" src=\"https:\/\/saludpcb.com\/zh\/wp-content\/uploads\/2024\/11\/Mastering-ESP32-TWAI-Sending-and-Receiving-CAN-Bus-Data-with-FreeRTOS-Tasks.jpg\" alt=\"ESP32 TWAI\" class=\"wp-image-3109\" title=\"\" srcset=\"https:\/\/saludpcb.com\/zh\/wp-content\/uploads\/2024\/11\/Mastering-ESP32-TWAI-Sending-and-Receiving-CAN-Bus-Data-with-FreeRTOS-Tasks.jpg 1024w, https:\/\/saludpcb.com\/zh\/wp-content\/uploads\/2024\/11\/Mastering-ESP32-TWAI-Sending-and-Receiving-CAN-Bus-Data-with-FreeRTOS-Tasks-768x438.jpg 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<div class=\"wp-block-rank-math-toc-block\" id=\"rank-math-toc\"><h2>\u5167\u5bb9<\/h2><nav><ul><li class=\"\"><a href=\"#introduction\">\u7c21\u4ecb<\/a><\/li><li class=\"\"><a href=\"#why-use-dma-and-i-2-s-with-adc-on-esp-32-1\">ESP32 TWAI \u8207 FreeRTOS Task<\/a><\/li><li class=\"\"><a href=\"#why-use-dma-and-i-2-s-with-adc-on-esp-32\">\u958b\u767c\u74b0\u5883<\/a><\/li><li class=\"\"><a href=\"#\u7de8\">\u5275\u5efa FreeRTOS \u767c\u9001\u4efb\u52d9<\/a><\/li><li class=\"\"><a href=\"#\u4ee3\u78bc\u89e3\u91cb-1\">\u5275\u5efa FreeRTOS \u63a5\u6536\u4efb\u52d9<\/a><\/li><li class=\"\"><a href=\"#\u4ee3\u78bc\u89e3\u91cb\">\u521d\u59cb\u5316 ESP32 TWAI \u9a45\u52d5\u548c main<\/a><\/li><li class=\"\"><a href=\"#\u7bc4\u4f8b\u8f38\u51fa\u65e5\u5fd7\uff1a-1\">\u7d50\u679c\u8f38\u51fa<\/a><\/li><li class=\"\"><a href=\"#conclusion\">\u7d50\u8ad6<\/a><\/li><\/ul><\/nav><\/div>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"introduction\">\u7c21\u4ecb<\/h2>\n\n\n\n<p>TWAI\uff0c\u4e5f\u5c31\u662f\u5169\u7dda\u5236\u6c7d\u8eca\u63a5\u53e3\uff0c\u5be6\u969b\u4e0a\u5c31\u662f\u5927\u5bb6\u719f\u77e5\u7684 CAN Bus\uff08Controller Area Network\uff09\u3002\u5b83\u662f\u4e00\u7a2e\u591a\u4e3b\u6a5f\u3001\u591a\u9ede\u901a\u4fe1\u5354\u8b70\uff0c\u5ee3\u6cdb\u61c9\u7528\u65bc\u6c7d\u8eca\u96fb\u5b50\u7cfb\u7d71\u4e2d\uff0c\u7528\u65bc\u5404\u500b\u96fb\u5b50\u63a7\u5236\u55ae\u5143\uff08ECU\uff09\u4e4b\u9593\u7684\u901a\u4fe1\u3002CAN Bus \u7684\u512a\u52e2\u5728\u65bc\u5176\u9ad8\u53ef\u9760\u6027\u548c\u5be6\u6642\u6027\uff0c\u80fd\u5920\u5728\u56b4\u82db\u7684\u74b0\u5883\u4e0b\u7a69\u5b9a\u5de5\u4f5c\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"why-use-dma-and-i-2-s-with-adc-on-esp-32-1\">ESP32 TWAI \u8207 FreeRTOS Task<\/h2>\n\n\n\n<p>ESP32 \u63d0\u4f9b\u4e86\u5167\u5efa\u7684 TWAI \u63a7\u5236\u5668\uff0c\u9019\u4f7f\u5f97\u5b83\u5728\u8655\u7406 CAN Bus \u901a\u4fe1\u6642\u986f\u5f97\u5c24\u70ba\u5f97\u5fc3\u61c9\u624b\u3002\u7d50\u5408 FreeRTOS \u591a\u4efb\u52d9\u8655\u7406\u80fd\u5920\u66f4\u9ad8\u6548\u5730\u9032\u884c\u6578\u64da\u767c\u9001\u548c\u63a5\u6536\uff0c\u4e26\u4e14\u66f4\u597d\u5730\u7ba1\u7406\u7cfb\u7d71\u8cc7\u6e90\u3002<\/p>\n\n\n\n<p><strong>TWAI \u8207 FreeRTOS \u4efb\u52d9\u7d50\u5408<\/strong>\u7684\u4e3b\u8981\u512a\u52e2\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u786c\u4ef6\u7d1a\u652f\u6301<\/strong>\uff1a ESP32 \u7684 TWAI \u662f\u786c\u4ef6\u539f\u751f\u652f\u6301\u7684 CAN Bus \u9a45\u52d5\uff0c\u76f8\u6bd4\u65bc\u57fa\u65bc\u5916\u90e8\u6a21\u7d44\u7684 CAN \u5be6\u73fe\uff0c\u5b83\u80fd\u5920\u63d0\u4f9b\u66f4\u7a69\u5b9a\u548c\u9ad8\u6548\u7684\u6578\u64da\u50b3\u8f38\uff0c\u4e26\u5167\u5efa\u932f\u8aa4\u8655\u7406\u529f\u80fd\u3002<\/li>\n\n\n\n<li><strong>FreeRTOS \u4efb\u52d9\u7684\u591a\u4efb\u52d9\u7ba1\u7406<\/strong>\uff1a \u4f7f\u7528 FreeRTOS \u4efb\u52d9\uff0c\u53ef\u4ee5\u5c07\u6578\u64da\u7684\u767c\u9001\u8207\u63a5\u6536\u64cd\u4f5c\u5206\u5225\u653e\u7f6e\u65bc\u4e0d\u540c\u7684\u4efb\u52d9\u4e2d\uff0c\u5be6\u73fe\u4e26\u884c\u8655\u7406\uff0c\u907f\u514d\u963b\u585e\u5f0f\u64cd\u4f5c\u5c0d\u7cfb\u7d71\u5176\u4ed6\u529f\u80fd\u7684\u5f71\u97ff\u3002<\/li>\n\n\n\n<li><strong>\u5be6\u6642\u6027<\/strong>\uff1a \u901a\u904e FreeRTOS\uff0c\u53ef\u4ee5\u8a2d\u7f6e\u4e0d\u540c\u4efb\u52d9\u7684\u512a\u5148\u7d1a\uff0c\u78ba\u4fdd\u95dc\u9375\u6578\u64da\u7684\u767c\u9001\u8207\u63a5\u6536\u5177\u6709\u66f4\u9ad8\u7684\u5be6\u6642\u6027\u3002<\/li>\n\n\n\n<li><strong>\u53ef\u64f4\u5c55\u6027<\/strong>\uff1a \u4efb\u52d9\u6a21\u5f0f\u6613\u65bc\u64f4\u5c55\uff0c\u53ef\u4ee5\u8f15\u9b06\u6dfb\u52a0\u5176\u4ed6\u529f\u80fd\uff0c\u4f8b\u5982\u6578\u64da\u8a18\u9304\u3001\u932f\u8aa4\u5206\u6790\u6216\u4f4e\u529f\u8017\u6a21\u5f0f\u7684\u5be6\u73fe\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"why-use-dma-and-i-2-s-with-adc-on-esp-32\">\u958b\u767c\u74b0\u5883<\/h2>\n\n\n\n<p>\u5728\u958b\u59cb\u7de8\u7a0b\u4e4b\u524d\uff0c\u8acb\u78ba\u4fdd\u5df2\u5b8c\u6210\u4ee5\u4e0b\u6e96\u5099\u5de5\u4f5c\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/saludpcb.com\/zh\/esp32-tutorial-how-to-create-an-esp32-project-with-vscode\/\">\u5b89\u88dd ESP-IDF \u958b\u767c\u74b0\u5883<\/a> (\u81f3\u5c11\u7248\u672c v4.4 \u6216\u66f4\u9ad8)\u3002<\/li>\n\n\n\n<li><a href=\"https:\/\/saludpcb.com\/zh\/esp32-devkit-module-pinout\/\">ESP32 \u958b\u767c\u677f<\/a>\u3002<\/li>\n\n\n\n<li>CAN \u6536\u767c\u5668\u6a21\u7d44 (\u4f8b\u5982 MCP2551 \u6216 <a href=\"https:\/\/www.ti.com\/product\/SN65HVD230\" target=\"_blank\" rel=\"noopener\">SN65HVD230<\/a>)\u3002<\/li>\n\n\n\n<li>CAN \u8a2d\u5099\u6216\u6a21\u64ec\u5668\u4ee5\u9032\u884c\u6e2c\u8a66 (\u53ef\u9078)\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"\u7de8\">\u5275\u5efa FreeRTOS \u767c\u9001\u4efb\u52d9<\/h2>\n\n\n\n<p>\u767c\u9001\u4efb\u52d9\u8ca0\u8cac\u5b9a\u671f\u5411 CAN Bus \u767c\u9001\u6578\u64da\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"cpp\" class=\"language-cpp\">void send_task(void *arg) {\n    while (1) {\n        twai_message_t message = {\n            .identifier = 0x123,  \/\/ Set message ID\n            .data_length_code = 8,  \/\/ Set data length\n            .data = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08}  \/\/ Data to send\n        };\n\n        esp_err_t err = twai_transmit(&amp;message, pdMS_TO_TICKS(1000));\n        if (err == ESP_OK) {\n            ESP_LOGI(TAG, \"Message sent successfully\");\n        } else {\n            ESP_LOGE(TAG, \"Message transmission failed: %s\", esp_err_to_name(err));\n        }\n\n        vTaskDelay(pdMS_TO_TICKS(1000));  \/\/ Send message every second\n    }\n}<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"\u4ee3\u78bc\u89e3\u91cb-1\"><strong>\u5275\u5efa FreeRTOS \u63a5\u6536\u4efb\u52d9<\/strong><\/h2>\n\n\n\n<p>\u63a5\u6536\u4efb\u52d9\u8ca0\u8cac\u5f9e CAN Bus \u4e2d\u7372\u53d6\u4e26\u8655\u7406\u6578\u64da\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"cpp\" class=\"language-cpp\">void receive_task(void *arg) {\n    while (1) {\n        twai_message_t message;\n        esp_err_t err = twai_receive(&amp;message, pdMS_TO_TICKS(1000));\n        if (err == ESP_OK) {\n            ESP_LOGI(TAG, \"Message received: ID=0x%X, Data=[%02X %02X %02X %02X %02X %02X %02X %02X]\",\n                     message.identifier,\n                     message.data[0], message.data[1], message.data[2], message.data[3],\n                     message.data[4], message.data[5], message.data[6], message.data[7]);\n        } else if (err == ESP_ERR_TIMEOUT) {\n            ESP_LOGW(TAG, \"Reception timed out\");\n        } else {\n            ESP_LOGE(TAG, \"Message reception failed: %s\", esp_err_to_name(err));\n        }\n    }\n}<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"\u4ee3\u78bc\u89e3\u91cb\"><strong>\u521d\u59cb\u5316 ESP32 TWAI \u9a45\u52d5<\/strong>\u548c main<\/h2>\n\n\n\n<p>\u914d\u7f6e\u4e26\u5b89\u88dd ESP32 TWAI \u9a45\u52d5\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"cpp\" class=\"language-cpp\">#include \"driver\/twai.h\"\n#include \"freertos\/FreeRTOS.h\"\n#include \"freertos\/task.h\"\n#include \"esp_log.h\"\n\n#define TAG \"TWAI\"\n\nvoid app_main() {\n    \/\/ Configure TWAI driver\n    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(GPIO_NUM_21, GPIO_NUM_22, TWAI_MODE_NORMAL);\n    twai_timing_config_t t_config = TWAI_TIMING_CONFIG_1MBITS();  \/\/ Set to 1 Mbps\n    twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();  \/\/ Accept all messages\n\n    \/\/ Install TWAI driver\n    esp_err_t err = twai_driver_install(&amp;g_config, &amp;t_config, &amp;f_config);\n    if (err == ESP_OK) {\n        ESP_LOGI(TAG, \"TWAI driver installed successfully\");\n    } else {\n        ESP_LOGE(TAG, \"Failed to install TWAI driver: %s\", esp_err_to_name(err));\n        return;\n    }\n\n    \/\/ Start TWAI driver\n    err = twai_start();\n    if (err == ESP_OK) {\n        ESP_LOGI(TAG, \"TWAI driver started successfully\");\n    } else {\n        ESP_LOGE(TAG, \"Failed to start TWAI driver: %s\", esp_err_to_name(err));\n        return;\n    }\n\n    \/\/ Create tasks\n    xTaskCreate(send_task, \"send_task\", 2048, NULL, 5, NULL);\n    xTaskCreate(receive_task, \"receive_task\", 2048, NULL, 5, NULL);\n}<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"\u7bc4\u4f8b\u8f38\u51fa\u65e5\u5fd7\uff1a-1\">\u7d50\u679c<strong>\u8f38\u51fa<\/strong><\/h2>\n\n\n\n<p>\u5728\u904b\u884c\u4e0a\u8ff0\u4ee3\u78bc\u5f8c\uff0cESP32 \u5c07\u6703\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6bcf\u79d2\u767c\u9001\u4e00\u6b21\u6578\u64da<\/strong>\u5230 CAN Bus\u3002<\/li>\n\n\n\n<li><strong>\u63a5\u6536\u4f86\u81ea CAN Bus \u7684\u6578\u64da<\/strong>\u4e26\u5c07\u5176\u6253\u5370\u5230\u4e32\u53e3\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u8f38\u51fa\u793a\u4f8b\uff1a<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">I (5000) TWAI: Message sent successfully\nI (6010) TWAI: Message received: ID=0x123, Data=[01 02 03 04 05 06 07 08]<\/code><\/pre>\n\n\n\n<p><strong>\u6027\u80fd\u8207\u512a\u5316<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5be6\u6642\u6027<\/strong>\uff1a \u4f7f\u7528 FreeRTOS \u4efb\u52d9\u80fd\u5be6\u73fe\u6578\u64da\u767c\u9001\u8207\u63a5\u6536\u7684\u4e26\u884c\u8655\u7406\uff0c\u78ba\u4fdd\u5be6\u6642\u6027\u80fd\u3002<\/li>\n\n\n\n<li><strong>\u932f\u8aa4\u8655\u7406<\/strong>\uff1a TWAI \u9a45\u52d5\u5167\u5efa\u932f\u8aa4\u8655\u7406\u6a5f\u5236\uff0c\u4f8b\u5982\u81ea\u52d5\u91cd\u50b3\u8207\u932f\u8aa4\u6062\u5fa9\u3002\u5728\u958b\u767c\u4e2d\uff0c\u60a8\u53ef\u4ee5\u901a\u904e\u8a2d\u7f6e\u56de\u8abf\u51fd\u6578\u9032\u4e00\u6b65\u8655\u7406\u932f\u8aa4\u3002<\/li>\n\n\n\n<li><strong>\u4f4e\u529f\u8017\u6a21\u5f0f<\/strong>\uff1a ESP32 \u652f\u6301\u4f4e\u529f\u8017\u6a21\u5f0f\uff0c\u53ef\u4ee5\u6839\u64da\u9700\u8981\u5728\u9592\u7f6e\u6642\u9032\u5165\u4f4e\u529f\u8017\u72c0\u614b\u4ee5\u7bc0\u7701\u80fd\u6e90\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"conclusion\">\u7d50\u8ad6<\/h2>\n\n\n\n<p>\u638c\u63e1 ESP32 TWAI \u8207 FreeRTOS \u7684\u7d50\u5408\u63d0\u4f9b\u4e86\u5f37\u5927\u7684\u5de5\u5177\u4f86\u5be6\u73fe CAN Bus \u901a\u4fe1\u3002\u7121\u8ad6\u662f\u6578\u64da\u767c\u9001\u9084\u662f\u63a5\u6536\uff0c\u90fd\u80fd\u5920\u5be6\u73fe\u9ad8\u6548\u3001\u7a69\u5b9a\u7684\u64cd\u4f5c\u3002\u5e0c\u671b\u672c\u6587\u63d0\u4f9b\u7684\u793a\u4f8b\u4ee3\u78bc\u548c\u6280\u8853\u8981\u9ede\u80fd\u5920\u5e6b\u52a9\u60a8\u66f4\u597d\u5730\u5229\u7528 ESP32 \u9032\u884c\u5d4c\u5165\u5f0f\u958b\u767c\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator alignwide has-text-color has-palette-color-1-color has-alpha-channel-opacity has-palette-color-1-background-color has-background is-style-wide\"\/>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5728\u4e4b\u524d\u7684\u6587\u7ae0\u4e2d\uff0c\u6211\u5011\u8a73\u7d30\u63a2\u8a0e\u4e86\u00a0ESP32 CAN Bus\u00a0\u7684\u57fa\u790e\u6982\u5ff5\u8207\u61c9\u7528\u65b9\u6cd5\u3002\u7136\u800c\uff0c\u96a8\u8457\u958b\u767c\u9700\u6c42\u7684\u63d0\u9ad8\uff0c\u55ae 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