Using TinyCAN Plugin

The TinyCAN plugin encapsulates the low-level API to work with the MHS 电子 CAN 适配器。

注意： The TinyCAN adapters use virtual serial ports. To communicate with TinyCAN adapters in Linux, the user must have appropriate access rights. Usually these rights are given to all users in the group "dialout".

创建 CAN 总线设备

At first it is necessary to check that QCanBus provides the desired plugin:

if (QCanBus::instance()->plugins().contains(QStringLiteral("tinycan"))) {
    // plugin available
}

Where tinycan 是插件名称。

Next, a connection to a specific interface can be established:

QCanBusDevice *device = QCanBus::instance()->createDevice(
    QStringLiteral("tinycan"), QStringLiteral("can0.0"));
device->connectDevice();

Where can0.0 is the active CAN interface name. TinyCAN currently only provides the interface can0.0 , which maps to INDEX_CAN_KANAL_A in the TinyCAN plugin.

注意： The function availableDevices() currently always returns one device "can0.0" as there is no way to detect the available CAN adapters for now.

注意： Only the USB adapters are currently supported by this plugin.

The device is now open for writing and reading CAN frames:

QCanBusFrame frame;
frame.setFrameId(8);
QByteArray payload("A36E");
frame.setPayload(payload);
device->writeFrame(frame);

The reading can be done using the readFrame() 方法。 framesReceived() signal is emitted when at least one new frame is available for reading:

QCanBusFrame frame = device->readFrame();

TinyCAN supports the following configurations that can be controlled through setConfigurationParameter() :

配置参数键	描述
QCanBusDevice::BitRateKey	Determines the bit rate of the CAN bus connection. The following bit rates are supported: 10000, 20000, 50000, 100000, 125000, 250000, 500000, 800000, 1000000.