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97 lines
4.7 KiB
Markdown
97 lines
4.7 KiB
Markdown
# CAN
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[Controller Area Network (CAN)](https://en.wikipedia.org/wiki/CAN_bus) is a robust wired network that allows drone components such as flight controller, ESCs, sensors, and other peripherals, to communicate with each other.
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因为它的设计有仲裁，使用差分信号，即使在较长的电缆 (大型车辆上) 上也非常强大，避免单点故障。
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CAN 还允许来自外设的状态反馈，并通过总线方便的进行固件升级。
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PX4 支持与 CAN 设备通信的两个软件协议：
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- [DroneCAN](../dronecan/index.md): PX4 recommends this for most common setups.
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它得到了 PX4 的很好支持，是一个成熟的产品，具有广泛的外围支持，并经过多年的测试。
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- [Cyphal](https://opencyphal.org): PX4 support is a "work in progress".
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Cyphal 是一种更新的协议，允许更多的灵活性和配置，尤其是对于较大和较复杂的载具。
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它还没有被广泛应用。
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:::info
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Both DroneCAN and Cyphal originate from an earlier project named UAVCAN.
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在2022年，该项目分为两个部分：原始版本的 UAVCAN (UAVCAN v0) 更名为 DroneCAN，较新的 UAVCAN v1 更名为 Cyphal。
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The differences between the two protocols are outlined in [Cyphal vs. DroneCAN](https://forum.opencyphal.org/t/cyphal-vs-dronecan/1814).
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:::
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:::warning
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PX4 does not support other CAN software protocols for drones such as KDECAN (at time of writing).
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:::
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## 布线
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CAN 网络的接线对于 DroneCAN 和 Cyphal/CAN 是一样 (实际上对所有的 CAN 网络都一样)。
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设备以任意顺序连接成链。
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在链的任一端，应该在两个数据线之间连接一个 120Ω 的终端电阻。
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飞控和一些 GNSS 模块为了方便使用内置了终端电阻， 因此应该放在链的终端。
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Otherwise, you can use a termination resistor such as [this one from Zubax Robotics](https://shop.zubax.com/products/uavcan-micro-termination-plug?variant=6007985111069), or solder one yourself if you have access to a JST-GH crimper.
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下图显示了一个 CAN 总线连接飞控到 4 个 CAN 电调和一个 GNSS 的示例。
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图中未显示任何电源接线。
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参考制造商的说明，确认组件是否需要单独供电，还是可以通过 CAN 总线供电。
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For more information, see [Cyphal/CAN device interconnection](https://kb.zubax.com/pages/viewpage.action?pageId=2195476) (kb.zubax.com).
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虽然本文是以 Cyphal 协议为基础编写的，但同样适用于 DroneCAN 硬件和任何其他 CAN 设置。
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For more advanced scenarios, consult with [On CAN bus topology and termination](https://forum.opencyphal.org/t/on-can-bus-topology-and-termination/1685).
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### 连接器
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Pixhawk standard compatible CAN devices use 4 pin JST-GH connectors for CAN.
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Two connectors are used for input and output when wiring in a chain (except for flight controllers and some GNSS devices with builtin termination, which only have a single JST-GH connector).
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Other (non-Pixhawk compatible) devices may use different connectors.
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However, as long as the device firmware supports DroneCAN or Cyphal, it can be used.
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### Redundancy
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DroneCAN and Cyphal/CAN support using a second (redundant) CAN interface.
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This is completely optional but increases the robustness of the connection.
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All Pixhawk flight controllers come with 2 CAN interfaces; if your peripherals support 2 CAN interfaces as well, it is recommended to wire both up for increased safety.
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## 固件
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CAN peripherals may run proprietary or open source firmware (check manufacturer guides to confirm the required setup).
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PX4 can be built to run as open-source DroneCAN firmware on supported CAN hardware.
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See [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md) for more information.
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## 支持和配置
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[DroneCAN Setup and Configuration](../dronecan/index.md)
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[PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md)
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## 视频
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### DroneCAN
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关于 DroneCAN (UAVCANv0) 的介绍和在 QGroundControl 中设置的实用示例：
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<lite-youtube videoid="IZMTq9fTiOM" title="Intro to DroneCAN (UAVCANv0) and practical example with setup in QGroundControl"/>
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### Cyphal
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UAVCAN v1 for drones (Cyphal) — PX4 Developer Summit Virtual 2020
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<lite-youtube videoid="6Bvtn_g8liU" title="UAVCAN v1 for drones — PX4 Developer Summit Virtual 2020"/>
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---
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Getting started using UAVCAN v1 with PX4 on the NXP UAVCAN Board — PX4 Developer Summit Virtual 2020
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<lite-youtube videoid="MwdHwjaXYKs" title="Getting started using UAVCAN v1 with PX4 on the NXP UAVCAN Board"/>
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---
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UAVCAN：一个高度可靠的发布-订阅协议，用于硬实时车辆内网络 — PX4 开发者虚拟峰会 2019
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<lite-youtube videoid="MBtROivYPik" title="UAVCAN: a highly dependable publish-subscribe protocol for hard ..."/>
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