问题描述及复现步骤:
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。