Android之CAN

zhuhai0613

已于 2025-06-14 10:31:40 修改

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文章标签： android

于 2025-06-13 10:46:25 首次发布

本文链接：https://blog.csdn.net/zhuhai0613/article/details/148627637

在Android中使用CAN协议是一个相对专业的领域，主要应用于汽车电子、工业控制等场景。以下是详细介绍：

🚗 CAN协议基础

CAN协议简介

CAN (Controller Area Network) 是一种串行通信协议，最初由德国Bosch公司开发，广泛应用于汽车电子系统。

主要特点：

🔄 多主机通信：任何节点都可以发起通信
🛡️ 高可靠性：具有错误检测和自动重传机制
⚡ 实时性强：支持优先级仲裁
🌐 总线拓扑：所有节点共享同一条总线

📱 Android中CAN协议的应用场景

1. 车载Android系统

// 车载信息娱乐系统
- 读取车辆状态信息（速度、转速、油量等）
- 控制空调、音响等设备
- 获取故障诊断信息

2. 工业Android设备

// 工业控制终端
- 设备状态监控
- 传感器数据采集
- 执行器控制

3. 医疗设备

// 医疗设备控制
- 设备参数监控
- 数据采集和传输
- 设备状态管理

🔧 Android中CAN协议的实现方式

方式一：通过USB-CAN适配器

1. 硬件连接

Android设备 ←→ USB-CAN适配器 ←→ CAN总线

2. USB Host API实现

public class USBCANManager {
    private UsbManager usbManager;
    private UsbDevice canDevice;
    private UsbDeviceConnection connection;
    private UsbInterface usbInterface;
    private UsbEndpoint inEndpoint;
    private UsbEndpoint outEndpoint;
    
    public void initUSBCAN(Context context) {
        usbManager = (UsbManager) context.getSystemService(Context.USB_SERVICE);
        
        // 查找CAN设备
        HashMap<String, UsbDevice> deviceList = usbManager.getDeviceList();
        for (UsbDevice device : deviceList.values()) {
            if (isCANDevice(device)) {
                canDevice = device;
                break;
            }
        }
        
        if (canDevice != null) {
            connectToDevice();
        }
    }
    
    private boolean isCANDevice(UsbDevice device) {
        // 根据厂商ID和产品ID判断是否为CAN设备
        int vendorId = device.getVendorId();
        int productId = device.getProductId();
        
        // 常见CAN适配器的VID/PID
        return (vendorId == 0x0483 && productId == 0x5740) || // STM32 CAN
               (vendorId == 0x1D50 && productId == 0x606F);   // CANtact
    }
    
    private void connectToDevice() {
        if (usbManager.hasPermission(canDevice)) {
            connection = usbManager.openDevice(canDevice);
            usbInterface = canDevice.getInterface(0);
            connection.claimInterface(usbInterface, true);
            
            // 查找端点
            for (int i = 0; i < usbInterface.getEndpointCount(); i++) {
                UsbEndpoint endpoint = usbInterface.getEndpoint(i);
                if (endpoint.getDirection() == UsbConstants.USB_DIR_IN) {
                    inEndpoint = endpoint;
                } else if (endpoint.getDirection() == UsbConstants.USB_DIR_OUT) {
                    outEndpoint = endpoint;
                }
            }
        }
    }
    
    public void sendCANFrame(CANFrame frame) {
        if (connection != null && outEndpoint != null) {
            byte[] data = frame.toByteArray();
            connection.bulkTransfer(outEndpoint, data, data.length, 1000);
        }
    }
    
    public CANFrame receiveCANFrame() {
        if (connection != null && inEndpoint != null) {
            byte[] buffer = new byte[64];
            int result = connection.bulkTransfer(inEndpoint, buffer, buffer.length, 1000);
            if (result > 0) {
                return CANFrame.fromByteArray(buffer);
            }
        }
        return null;
    }
}

方式二：通过串口转CAN

1. 硬件连接

Android设备 ←→ 串口转CAN模块 ←→ CAN总线

2. 串口通信实现

public class SerialCANManager {
    private SerialPort serialPort;
    private InputStream inputStream;
    private OutputStream outputStream;
    
    public void initSerialCAN(String devicePath, int baudRate) {
        try {
            serialPort = new SerialPort(new File(devicePath), baudRate, 0);
            inputStream = serialPort.getInputStream();
            outputStream = serialPort.getOutputStream();
            
            // 启动接收线程
            startReceiveThread();
        } catch (Exception e) {
            e.printStackTrace();
        }
    }
    
    public void sendCANFrame(int canId, byte[] data) {
        try {
            // 构造CAN帧格式（根据具体模块协议）
            String command = String.format("T%08X%d", canId, data.length);
            for (byte b : data) {
                command += String.format("%02X", b & 0xFF);
            }
            command += "\r";
            
            outputStream.write(command.getBytes());
            outputStream.flush();
        } catch (IOException e) {
            e.printStackTrace();
        }
    }
    
    private void startReceiveThread() {
        new Thread(() -> {
            byte[] buffer = new byte[1024];
            while (!Thread.currentThread().isInterrupted()) {
                try {
                    int size = inputStream.read(buffer);
                    if (size > 0) {
                        String received = new String(buffer, 0, size);
                        parseCANFrame(received);
                    }
                } catch (IOException e) {
                    break;
                }
            }
        }).start();
    }
    
    private void parseCANFrame(String data) {
        // 解析接收到的CAN帧数据
        if (data.startsWith("t") || data.startsWith("T")) {
            // 标准帧或扩展帧
            int canId = Integer.parseInt(data.substring(1, 9), 16);
            int length = Integer.parseInt(data.substring(9, 10));
            byte[] frameData = new byte[length];
            
            for (int i = 0; i < length; i++) {
                frameData[i] = (byte) Integer.parseInt(
                    data.substring(10 + i * 2, 12 + i * 2), 16);
            }
            
            // 处理接收到的CAN帧
            onCANFrameReceived(canId, frameData);
        }
    }
    
    private void onCANFrameReceived(int canId, byte[] data) {
        // 处理接收到的CAN数据
        Log.d("CAN", String.format("Received CAN ID: 0x%X, Data: %s", 
            canId, bytesToHex(data)));
    }
}

方式三：通过Socket CAN（需要Linux内核支持）

1. JNI实现

// native-can.c
#include <jni.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>

JNIEXPORT jint JNICALL
Java_com_example_CANManager_openCANSocket(JNIEnv *env, jobject thiz, jstring interface_name) {
    const char *ifname = (*env)->GetStringUTFChars(env, interface_name, 0);
    
    int sockfd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
    if (sockfd < 0) {
        return -1;
    }
    
    struct sockaddr_can addr;
    struct ifreq ifr;
    
    strcpy(ifr.ifr_name, ifname);
    ioctl(sockfd, SIOCGIFINDEX, &ifr);
    
    addr.can_family = AF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;
    
    if (bind(sockfd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
        close(sockfd);
        return -1;
    }
    
    (*env)->ReleaseStringUTFChars(env, interface_name, ifname);
    return sockfd;
}

JNIEXPORT jint JNICALL
Java_com_example_CANManager_sendCANFrame(JNIEnv *env, jobject thiz, 
                                         jint sockfd, jint can_id, jbyteArray data) {
    struct can_frame frame;
    frame.can_id = can_id;
    
    jbyte *dataBytes = (*env)->GetByteArrayElements(env, data, NULL);
    frame.can_dlc = (*env)->GetArrayLength(env, data);
    
    memcpy(frame.data, dataBytes, frame.can_dlc);
    
    int result = write(sockfd, &frame, sizeof(struct can_frame));
    
    (*env)->ReleaseByteArrayElements(env, data, dataBytes, 0);
    return result;
}

2. Java层封装

public class SocketCANManager {
    static {
        System.loadLibrary("native-can");
    }
    
    private int socketFd = -1;
    
    public native int openCANSocket(String interfaceName);
    public native int sendCANFrame(int sockfd, int canId, byte[] data);
    public native CANFrame receiveCANFrame(int sockfd);
    
    public boolean initCAN(String interfaceName) {
        socketFd = openCANSocket(interfaceName);
        return socketFd >= 0;
    }
    
    public void sendFrame(int canId, byte[] data) {
        if (socketFd >= 0) {
            sendCANFrame(socketFd, canId, data);
        }
    }
}

📊 CAN帧数据结构

标准CAN帧格式

public class CANFrame {
    private int canId;          // CAN ID (11位标准帧或29位扩展帧)
    private boolean isExtended; // 是否为扩展帧
    private boolean isRTR;      // 是否为远程帧
    private byte[] data;        // 数据域 (0-8字节)
    private int dlc;            // 数据长度码
    
    public CANFrame(int canId, byte[] data) {
        this.canId = canId;
        this.data = data.clone();
        this.dlc = data.length;
        this.isExtended = (canId > 0x7FF);
        this.isRTR = false;
    }
    
    public byte[] toByteArray() {
        // 转换为字节数组用于传输
        ByteBuffer buffer = ByteBuffer.allocate(16);
        buffer.putInt(canId);
        buffer.put((byte) dlc);
        buffer.put(data);
        return buffer.array();
    }
    
    public static CANFrame fromByteArray(byte[] bytes) {
        ByteBuffer buffer = ByteBuffer.wrap(bytes);
        int canId = buffer.getInt();
        int dlc = buffer.get() & 0xFF;
        byte[] data = new byte[dlc];
        buffer.get(data);
        return new CANFrame(canId, data);
    }
}

🛠️ 实际应用示例

车载系统中读取车辆信息

public class VehicleCANManager {
    private SerialCANManager canManager;
    private Handler uiHandler;
    
    // CAN ID定义
    private static final int ENGINE_RPM_ID = 0x0C0;
    private static final int VEHICLE_SPEED_ID = 0x0C1;
    private static final int FUEL_LEVEL_ID = 0x0C2;
    
    public void initVehicleCAN() {
        canManager = new SerialCANManager();
        canManager.initSerialCAN("/dev/ttyUSB0", 115200);
        
        uiHandler = new Handler(Looper.getMainLooper());
        
        // 设置CAN帧接收监听
        canManager.setCANFrameListener(this::onCANFrameReceived);
    }
    
    private void onCANFrameReceived(int canId, byte[] data) {
        switch (canId) {
            case ENGINE_RPM_ID:
                int rpm = parseRPM(data);
                uiHandler.post(() -> updateRPMDisplay(rpm));
                break;
                
            case VEHICLE_SPEED_ID:
                int speed = parseSpeed(data);
                uiHandler.post(() -> updateSpeedDisplay(speed));
                break;
                
            case FUEL_LEVEL_ID:
                float fuelLevel = parseFuelLevel(data);
                uiHandler.post(() -> updateFuelDisplay(fuelLevel));
                break;
        }
    }
    
    private int parseRPM(byte[] data) {
        // 解析转速数据 (示例：2字节，大端序)
        return ((data[0] & 0xFF) << 8) | (data[1] & 0xFF);
    }
    
    private int parseSpeed(byte[] data) {
        // 解析车速数据
        return data[0] & 0xFF;
    }
    
    private float parseFuelLevel(byte[] data) {
        // 解析油量数据
        return (data[0] & 0xFF) / 255.0f * 100;
    }
    
    public void requestVehicleData() {
        // 发送数据请求帧
        canManager.sendCANFrame(0x7DF, new byte[]{0x02, 0x01, 0x0C}); // 请求转速
        canManager.sendCANFrame(0x7DF, new byte[]{0x02, 0x01, 0x0D}); // 请求车速
    }
}

🔐 权限配置

AndroidManifest.xml

<!-- USB Host权限 -->
<uses-feature android:name="android.hardware.usb.host" />
<uses-permission android:name="android.permission.USB_PERMISSION" />

<!-- 串口权限 -->
<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
<uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />

<!-- 网络权限（如果使用网络CAN网关） -->
<uses-permission android:name="android.permission.INTERNET" />
<uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />

📚 常用CAN工具库

1. 开源库推荐

// USB Serial库
implementation 'com.github.mik3y:usb-serial-for-android:3.4.6'

// 串口通信库
implementation 'com.github.licheedev:Android-SerialPort-API:2.0.1'

2. CAN协议栈

// 自定义CAN协议栈
public class CANProtocolStack {
    private CANManager canManager;
    private Map<Integer, CANMessageHandler> handlers;
    
    public void registerHandler(int canId, CANMessageHandler handler) {
        handlers.put(canId, handler);
    }
    
    public void processCANFrame(CANFrame frame) {
        CANMessageHandler handler = handlers.get(frame.getCanId());
        if (handler != null) {
            handler.handleMessage(frame);
        }
    }
}

interface CANMessageHandler {
    void handleMessage(CANFrame frame);
}