{"id":814,"date":"2026-11-04T15:05:21","date_gmt":"2026-11-04T07:05:21","guid":{"rendered":"https:\/\/qianmo.icu\/?p=814"},"modified":"2026-11-04T15:05:21","modified_gmt":"2026-11-04T07:05:21","slug":"can-scope-wireless-can-analyzer-esp32-s3","status":"publish","type":"post","link":"https:\/\/qianmo.icu\/index.php\/2026\/11\/04\/can-scope-wireless-can-analyzer-esp32-s3\/","title":{"rendered":"CAN Scope\uff1a\u57fa\u4e8e ESP32-S3 \u7684\u65e0\u7ebf CAN \u5206\u6790\u4eea\uff0c\u624b\u673a\u4e0e\u7535\u8111\u90fd\u80fd\u7528"},"content":{"rendered":"<p>\u8c03\u8bd5\u4e00\u53f0\u7535\u673a\u65f6\uff0c\u6211\u4eec\u5f80\u5f80\u4ece\u51e0\u6761 CAN \u62a5\u6587\u5f00\u59cb\uff1b\u63a5\u4e0a\u66f4\u591a\u7535\u673a\u3001IMU \u548c\u5916\u90e8\u5355\u7247\u673a\u4e4b\u540e\uff0c\u9700\u8981\u5173\u6ce8\u7684\u5185\u5bb9\u5f88\u5feb\u5c31\u53d8\u591a\u4e86\uff1a\u8bbe\u5907\u6709\u6ca1\u6709\u5728\u7ebf\uff0c\u53cd\u9988\u662f\u5426\u8fde\u7eed\uff0c\u6e29\u5ea6\u6709\u6ca1\u6709\u53d8\u5316\uff0c\u67d0\u4e2a ID \u4e3a\u4ec0\u4e48\u6ca1\u6709\u56de\u590d\uff0c\u4e32\u53e3\u53d1\u51fa\u53bb\u7684\u5b57\u8282\u662f\u5426\u771f\u7684\u5b8c\u6210\u4e86\u8f93\u51fa\u3002<\/p>\n<p>\u6211\u5e0c\u671b\u8fd9\u4e9b\u4fe1\u606f\u80fd\u66f4\u65b9\u4fbf\u5730\u51fa\u73b0\u5728\u624b\u8fb9\u7684\u5c4f\u5e55\u4e0a\uff0c\u4e8e\u662f\u505a\u4e86 <strong>CAN Scope<\/strong>\uff1a\u4e00\u5957\u57fa\u4e8e ESP32-S3 \u7684\u65e0\u7ebf CAN \u5206\u6790\u4eea\uff0c\u540c\u65f6\u63d0\u4f9b Android App \u548c Windows \/ Linux \u684c\u9762\u7aef\u3002\u5b83\u652f\u6301\u7535\u673a\u4e0e IMU \u6570\u636e\u89e3\u6790\u3001\u5b9e\u65f6\u66f2\u7ebf\u548c\u539f\u59cb\u62a5\u6587\u76d1\u63a7\uff0c\u4e5f\u52a0\u5165\u4e86 UART \u5b57\u8282\u6536\u53d1\u3001\u539f\u751f USB \u76f4\u8fde\u548c ESP-NOW \u53cc\u673a\u8f6c\u53d1\u3002<\/p>\n<p>\u8fd9\u7bc7\u6587\u7ae0\u4ece\u5b9e\u9645\u4f7f\u7528\u573a\u666f\u4ecb\u7ecd\u9879\u76ee\uff1a\u5b83\u80fd\u770b\u4ec0\u4e48\u3001\u4e0d\u540c\u8fde\u63a5\u65b9\u5f0f\u600e\u4e48\u9009\uff0c\u4ee5\u53ca\u7b2c\u4e00\u6b21\u63a5\u7ebf\u548c\u8fde\u63a5\u5e94\u8be5\u4ece\u54ea\u91cc\u5f00\u59cb\u3002<\/p>\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-cover.webp'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" data-original=\"https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-cover.webp\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"CAN Scope \u9879\u76ee\u5c01\u9762\uff1a\u65e0\u7ebf CAN \u5206\u6790\u4eea\u4e0e\u624b\u673a\u3001\u7535\u8111\u754c\u9762\u9884\u89c8\" width=\"1600\" height=\"900\" \/><\/div><figcaption>\u9879\u76ee\u89c6\u89c9\u5c01\u9762\u3002\u56fe\u4e2d\u7684\u8f6f\u4ef6\u754c\u9762\u4f7f\u7528\u6a21\u62df\u6570\u636e\uff0c\u4e0d\u662f\u786c\u4ef6\u5b9e\u62cd\u6216\u771f\u5b9e\u603b\u7ebf\u6d4b\u8bd5\u7ed3\u679c\u3002<\/figcaption><\/figure>\n<p><!--more--><\/p>\n<h2 id=\"overview\">01 \u00b7 \u8ba9\u4e00\u6761\u603b\u7ebf\u4e0a\u7684\u6570\u636e\u66f4\u5bb9\u6613\u7406\u89e3<\/h2>\n<p>CAN Scope \u7684\u786c\u4ef6\u7aef\u8d1f\u8d23\u63a5\u6536\u3001\u8f6c\u53d1\u548c\u7edf\u8ba1\u6570\u636e\uff0c\u4e0a\u4f4d\u673a\u8d1f\u8d23\u89e3\u7801\u3001\u5c55\u793a\u4e0e\u8bb0\u5f55\u3002\u7535\u673a\u548c IMU \u901a\u8fc7 CAN \u6536\u53d1\u5668\u63a5\u5165\uff0c\u5916\u90e8\u5355\u7247\u673a\u901a\u8fc7 3.3 V TTL UART \u63a5\u5165\uff1bESP32-S3 \u518d\u628a\u5f53\u524d\u9009\u4e2d\u7684\u6570\u636e\uff0c\u901a\u8fc7\u84dd\u7259\u3001\u5c40\u57df\u7f51\u6216 USB \u9001\u5230\u624b\u673a\u6216\u7535\u8111\u3002<\/p>\n<p>\u8bbe\u5907\u672c\u8eab\u914d\u6709\u5c4f\u5e55\u548c\u4e09\u4e2a\u6309\u952e\u3002\u5373\u4f7f\u6682\u65f6\u4e0d\u6253\u5f00\u4e0a\u4f4d\u673a\uff0c\u4e5f\u80fd\u67e5\u770b\u8fde\u63a5\u72b6\u6001\u3001\u901f\u7387\u7b49\u7edf\u8ba1\uff0c\u5e76\u9009\u62e9\u901a\u4fe1\u6a21\u5f0f\u548c CAN \/ UART \u6570\u636e\u7c7b\u578b\u3002\u8fd9\u4e9b\u8bbe\u7f6e\u4f1a\u4fdd\u5b58\u5230\u8bbe\u5907\u91cc\uff0c\u91cd\u542f\u540e\u7ee7\u7eed\u4f7f\u7528\u3002<\/p>\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-architecture.webp'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-architecture.webp\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"CAN Scope \u67b6\u6784\uff1a\u7535\u673a\u4e0e IMU \u7ecf CAN\u3001\u5916\u90e8\u5355\u7247\u673a\u7ecf UART \u63a5\u5165 ESP32-S3\uff0c\u518d\u901a\u8fc7 BLE\u3001Wi-Fi \u6216 USB \u8fde\u63a5\u5ba2\u6237\u7aef\" width=\"1600\" height=\"1040\" loading=\"lazy\" \/><\/div><figcaption>\u539f\u521b\u7ed3\u6784\u793a\u610f\u56fe\u3002\u6bcf\u53f0\u8bbe\u5907\u540c\u65f6\u9009\u62e9\u4e00\u79cd\u6570\u636e\u901a\u4fe1\u6a21\u5f0f\u548c\u4e00\u79cd\u6570\u636e\u7c7b\u578b\uff0c\u56fe\u4e2d\u7684\u8fde\u63a5\u5206\u652f\u8868\u793a\u53ef\u9009\u8def\u5f84\u3002<\/figcaption><\/figure>\n<p>\u5b83\u9002\u5408\u673a\u5668\u4eba\u7535\u673a\u4e0e\u59ff\u6001\u4f20\u611f\u5668\u8c03\u8bd5\u3001\u5d4c\u5165\u5f0f\u6a21\u5757\u8054\u8c03\uff0c\u4ee5\u53ca\u9700\u8981\u4e00\u8fb9\u63a5\u7ebf\u4e00\u8fb9\u770b\u6570\u636e\u7684\u5de5\u4f5c\u53f0\u573a\u666f\u3002\u4e00\u53f0 ESP32 \u5bf9\u5e94\u4e00\u6761 CAN \u603b\u7ebf\uff1b\u9700\u8981\u89c2\u5bdf\u66f4\u591a\u72ec\u7acb\u603b\u7ebf\u65f6\uff0c\u53ef\u4ee5\u901a\u8fc7\u591a\u4e2a\u8bbe\u5907\u5efa\u7acb\u4e0d\u540c\u901a\u9053\u3002<\/p>\n<h2 id=\"android\">02 \u00b7 \u624b\u673a\u7aef\uff1a\u4ece\u8bbe\u5907\u5361\u7247\u8fdb\u5165\u53c2\u6570\u66f2\u7ebf<\/h2>\n<p>Android App \u628a\u8fde\u63a5\u901a\u9053\u548c\u8bbe\u5907\u653e\u5230\u540c\u4e00\u4e2a\u5de5\u4f5c\u6d41\u7a0b\u91cc\uff1a\u5148\u8fde\u63a5\u5206\u6790\u4eea\uff0c\u518d\u6dfb\u52a0\u7535\u673a\u6216 IMU\uff0c\u586b\u5199\u8bbe\u5907 ID\u3001\u53cd\u9988 CAN ID \u7b49\u4fe1\u606f\u3002\u9996\u9875\u901a\u8fc7\u5361\u7247\u67e5\u770b\u8bbe\u5907\u72b6\u6001\uff0c\u70b9\u8fdb\u8be6\u60c5\u540e\u8fdb\u4e00\u6b65\u89c2\u5bdf\u53c2\u6570\u548c\u66f2\u7ebf\u3002<\/p>\n<p>\u5bf9\u4e8e\u652f\u6301\u7684\u7535\u673a\u534f\u8bae\uff0c\u9875\u9762\u53ef\u4ee5\u628a\u539f\u59cb\u53cd\u9988\u89e3\u7801\u6210\u66f4\u76f4\u89c2\u7684\u6570\u503c\uff1b\u5bf9\u4e8e DM-IMU-L1\uff0c\u53ef\u4ee5\u67e5\u770b\u52a0\u901f\u5ea6\u3001\u89d2\u901f\u5ea6\u3001\u59ff\u6001\u89d2\u4e0e\u56db\u5143\u6570\u3002\u66f2\u7ebf\u53ef\u4ee5\u5168\u5c4f\u67e5\u770b\uff0c\u9002\u5408\u5728\u6539\u53d8\u8f93\u5165\u6216\u8c03\u6574\u673a\u6784\u65f6\u89c2\u5bdf\u53cd\u9988\u8d8b\u52bf\u3002<\/p>\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-android.webp'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-android.webp\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"Android App \u8bbe\u5907\u603b\u89c8\u4e0e\u72ec\u7acb\u8be6\u60c5\uff1a\u7535\u673a\u5361\u7247\u3001IMU \u53c2\u6570\u4e0e\u5b9e\u65f6\u66f2\u7ebf\" width=\"1400\" height=\"1570\" loading=\"lazy\" \/><\/div><figcaption>\u5de6\u4fa7\u4e3a\u591a\u901a\u9053\u8bbe\u5907\u603b\u89c8\uff0c\u53f3\u4fa7\u4e3a\u8be6\u60c5\u9875\u66f2\u7ebf\u533a\u57df\u3002\u7531\u9879\u76ee\u5b9e\u9645 WebView \u9875\u9762\u6e32\u67d3\u5e76\u6392\u5c55\u793a\uff0c\u6570\u636e\u4e3a\u6a21\u62df\u6570\u636e\uff0c\u53ef\u70b9\u51fb\u653e\u5927\u67e5\u770b\u3002<\/figcaption><\/figure>\n<p>\u76ee\u524d\u5df2\u63a5\u5165\u7684\u8bbe\u5907\u5305\u62ec\u5927\u7586 C620 \/ M3508\u3001C610 \/ M2006\u3001GM6020\u3001GM3510\uff0c\u4ee5\u53ca\u8fbe\u5999\u7535\u673a\u9884\u8bbe\u548c DM-IMU-L1\u3002\u4e0d\u540c\u7535\u673a\u7684\u53cd\u9988\u683c\u5f0f\u4e0e\u91cf\u7a0b\u5e76\u4e0d\u5b8c\u5168\u76f8\u540c\uff0c\u4f7f\u7528\u65f6\u4ecd\u9700\u6309\u578b\u53f7\u914d\u7f6e\uff1bGM3510 \u7684\u90e8\u5206\u53c2\u6570\u4fdd\u7559\u539f\u59cb\u503c\u3002<\/p>\n<p>\u8fbe\u5999\u7535\u673a\u7684\u53cd\u9988\u67e5\u8be2\u53ef\u4ee5\u6309\u8bbe\u5907\u5355\u72ec\u5f00\u542f\uff0c\u9ed8\u8ba4 100 Hz\uff0c\u53ef\u914d\u7f6e\u4e3a 1\uff5e1000 Hz\uff1bIMU \u4f7f\u7528\u4e3b\u52a8\u4e0a\u62a5\u3002\u8fd9\u91cc\u7684\u9891\u7387\u8868\u793a\u67e5\u8be2\u914d\u7f6e\uff0c\u5b9e\u9645\u80fd\u6536\u5230\u591a\u5c11\u53cd\u9988\uff0c\u8fd8\u53d6\u51b3\u4e8e\u8bbe\u5907\u54cd\u5e94\u3001\u603b\u7ebf\u548c\u4f20\u8f93\u94fe\u8def\u3002<\/p>\n<h2 id=\"desktop\">03 \u00b7 \u7535\u8111\u7aef\uff1a\u628a\u591a\u6761\u901a\u9053\u653e\u5230\u5927\u5c4f\u5e55\u4e0a<\/h2>\n<p>\u684c\u9762\u7aef\u9002\u5408\u9700\u8981\u6301\u7eed\u67e5\u770b\u6570\u636e\u3001\u8c03\u6574\u914d\u7f6e\u548c\u5bfc\u51fa\u8bb0\u5f55\u7684\u573a\u666f\u3002\u5b83\u63d0\u4f9b\u6700\u591a\u56db\u4e2a\u72ec\u7acb\u901a\u9053\uff0c\u6bcf\u4e2a\u901a\u9053\u53ef\u4ee5\u9009\u62e9\u84dd\u7259\u3001Wi-Fi \u6216 USB\uff0c\u5206\u522b\u4fdd\u5b58\u8fde\u63a5\u4fe1\u606f\u3001\u7535\u673a\u914d\u7f6e\u548c\u62a5\u6587\u8bb0\u5f55\u8bbe\u7f6e\u3002<\/p>\n<p>\u684c\u9762\u7a97\u53e3\u590d\u7528\u9879\u76ee\u5df2\u6709\u7684\u7535\u673a\u3001IMU \u548c\u66f2\u7ebf\u8d44\u6e90\uff0c\u901a\u8fc7\u539f\u751f\u540e\u7aef\u8fde\u63a5\u8bbe\u5907\u3002\u8bbe\u5907\u5361\u7247\u3001\u5b9e\u65f6\u66f2\u7ebf\u3001CAN \u76d1\u89c6\u4e0e\u8bbe\u7f6e\u96c6\u4e2d\u5728\u4e00\u4e2a\u7a97\u53e3\u91cc\uff1b\u6bcf\u4e2a\u901a\u9053\u6709\u81ea\u5df1\u7684\u8bbe\u5907\u9875\uff0c\u4fbf\u4e8e\u628a\u4e0d\u540c\u603b\u7ebf\u4e0a\u7684\u8bbe\u5907\u5206\u5f00\u7ba1\u7406\u3002<\/p>\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-desktop-overview.webp'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-desktop-overview.webp\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"CAN Scope Linux \u684c\u9762\u7aef\u7684\u901a\u9053\u6807\u7b7e\u4e0e\u8bbe\u5907\u72b6\u6001\u5361\u7247\" width=\"1320\" height=\"920\" loading=\"lazy\" \/><\/div><figcaption>Linux \u684c\u9762\u7a0b\u5e8f\u5b9e\u9645\u6e32\u67d3\u7684\u8bbe\u5907\u9875\u9762\uff0c\u4f7f\u7528\u6a21\u62df\u6570\u636e\u3002\u684c\u9762\u7aef\u652f\u6301 Windows \/ Linux\uff0c\u5f53\u524d\u5c55\u793a\u7684\u662f Linux \u754c\u9762\u3002<\/figcaption><\/figure>\n<p>\u9700\u8981\u7ec6\u770b\u53cd\u9988\u65f6\uff0c\u53ef\u4ee5\u8fdb\u5165\u7535\u673a\u8be6\u60c5\u9875\uff0c\u8ba9\u53c2\u6570\u4e0e\u66f2\u7ebf\u4e00\u8d77\u663e\u793a\u3002\u901a\u9053\u914d\u7f6e\u53ef\u4ee5\u5bfc\u5165\u3001\u5bfc\u51fa\uff0c\u4fbf\u4e8e\u4fdd\u5b58\u4e00\u5957\u8c03\u8bd5\u5bf9\u8c61\uff1b\u5f53\u524d\u4fdd\u7559\u7684 CAN \u8bb0\u5f55\u8fd8\u53ef\u4ee5\u5bfc\u51fa\u4e3a CSV\uff0c\u4f9b\u540e\u7eed\u6574\u7406\u548c\u5206\u6790\u3002<\/p>\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-desktop-detail.webp'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-desktop-detail.webp\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\u684c\u9762\u7aef\u7535\u673a\u8be6\u60c5\uff1a\u72b6\u6001\u53c2\u6570\u548c\u591a\u6761\u5b9e\u65f6\u66f2\u7ebf\" width=\"1320\" height=\"920\" loading=\"lazy\" \/><\/div><figcaption>\u7535\u673a\u8be6\u60c5\u4e0e\u5b9e\u65f6\u66f2\u7ebf\u9884\u89c8\uff0c\u4f7f\u7528\u6a21\u62df\u6570\u636e\u3002\u914d\u7f6e\u548c\u8bb0\u5f55\u53ef\u4fdd\u5b58\uff0c\u4f46\u6b63\u5728\u8fdb\u884c\u7684\u53cd\u9988\u67e5\u8be2\u4e0d\u4f1a\u5728\u91cd\u8fde\u540e\u81ea\u52a8\u6062\u590d\u3002<\/figcaption><\/figure>\n<h2 id=\"can-monitor\">04 \u00b7 \u4ece\u89e3\u7801\u7ed3\u679c\u56de\u5230\u539f\u59cb CAN \u62a5\u6587<\/h2>\n<p>\u53c2\u6570\u66f2\u7ebf\u5e2e\u52a9\u7406\u89e3\u8bbe\u5907\u72b6\u6001\uff0c\u539f\u59cb\u62a5\u6587\u5219\u4fdd\u7559\u4e86\u8fdb\u4e00\u6b65\u6392\u67e5\u7684\u5165\u53e3\u3002CAN \u76d1\u89c6\u9875\u53ef\u4ee5\u67e5\u770b\u63a5\u6536\u3001\u6210\u529f\u53d1\u9001\u4e0e\u53d1\u9001\u5931\u8d25\u8bb0\u5f55\uff0c\u6309 CAN ID \u548c RX \/ TX \u7b5b\u9009\uff0c\u5e76\u7ed3\u5408\u8bbe\u5907\u7aef\u5e27\u7387\u3001\u9519\u8bef\u7edf\u8ba1\u4e0e\u4f30\u7b97\u8d1f\u8f7d\u89c2\u5bdf\u603b\u7ebf\u6d3b\u52a8\u3002<\/p>\n<p>\u684c\u9762\u7aef\u652f\u6301\u7ecf\u5178 CAN \u5355\u6b21\u53d1\u9001\uff0c\u5305\u62ec\u6807\u51c6\u5e27\u3001\u6269\u5c55\u5e27\u3001\u6570\u636e\u5e27\u548c\u8fdc\u7a0b\u5e27\uff0cDLC \u4e3a 0\uff5e8\u3002\u53d1\u9001\u64cd\u4f5c\u4f1a\u7b49\u5f85\u8bbe\u5907\u4fa7\u7684 CAN \u5b8c\u6210\u7ed3\u679c\uff1b\u5982\u679c\u8d85\u65f6\u6216\u65ad\u7ebf\uff0c\u754c\u9762\u5c06\u7ed3\u679c\u89c6\u4e3a\u672a\u77e5\uff0c\u4e0d\u81ea\u52a8\u91cd\u53d1\uff0c\u4ee5\u514d\u628a\u4e00\u6761\u53ef\u80fd\u5df2\u6267\u884c\u7684\u6307\u4ee4\u518d\u6b21\u9001\u51fa\u53bb\u3002<\/p>\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-can-monitor.webp'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-can-monitor.webp\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"CAN \u539f\u59cb\u62a5\u6587\u76d1\u89c6\u754c\u9762\u4e0e\u5355\u6b21\u53d1\u9001\u533a\u57df\" width=\"1320\" height=\"920\" loading=\"lazy\" \/><\/div><figcaption>CAN \u76d1\u89c6\u4e0e\u5355\u6b21\u53d1\u9001\u9875\u9762\uff0c\u4f7f\u7528\u6a21\u62df\u6570\u636e\u3002\u94fe\u8def\u53d7\u7406\u3001\u547d\u4ee4\u5199\u5165\u548c CAN \u603b\u7ebf\u5b9e\u9645\u53d1\u9001\u5b8c\u6210\u5c5e\u4e8e\u4e0d\u540c\u9636\u6bb5\u3002<\/figcaption><\/figure>\n<p>\u76ee\u524d\u9762\u5411<strong>\u7ecf\u5178 CAN<\/strong>\uff0c\u4e0d\u652f\u6301 CAN FD\u3002\u8bbe\u5907\u63a5\u53e3\u4f1a\u6b63\u5e38\u53c2\u4e0e ACK\uff0c\u4e0d\u80fd\u4f5c\u4e3a\u7eaf\u76d1\u542c\u6a21\u5f0f\u4f7f\u7528\uff1b\u9875\u9762\u4e2d\u7684 <code>LOAD EST.<\/code> \u662f\u4f30\u7b97\u503c\uff0c\u6ca1\u6709\u5305\u542b\u4f4d\u586b\u5145\u3001\u9519\u8bef\u5e27\u6216\u5931\u8d25\u5c1d\u8bd5\uff0c\u9002\u5408\u8f85\u52a9\u89c2\u5bdf\u53d8\u5316\u8d8b\u52bf\u3002<\/p>\n<h2 id=\"uart\">05 \u00b7 \u540c\u4e00\u53f0\u8bbe\u5907\uff0c\u4e5f\u53ef\u4ee5\u89c2\u5bdf\u5916\u90e8\u5355\u7247\u673a\u4e32\u53e3<\/h2>\n<p>\u5b9e\u9645\u8054\u8c03\u65f6\uff0c\u7535\u673a\u548c IMU \u4e4b\u5916\uff0c\u5e38\u5e38\u8fd8\u4f1a\u9047\u5230\u901a\u8fc7 UART \u8f93\u51fa\u72b6\u6001\u7684\u63a7\u5236\u677f\u3002CAN Scope \u53ef\u4ee5\u5728\u8bbe\u5907\u5c4f\u5e55\u628a\u6570\u636e\u7c7b\u578b\u5207\u6362\u4e3a UART\uff0c\u7ee7\u7eed\u4f7f\u7528\u84dd\u7259\u3001Wi-Fi \u6216\u684c\u9762 USB \u8fde\u63a5\uff0c\u63a5\u6536\u548c\u53d1\u9001\u539f\u59cb\u5b57\u8282\u3002<\/p>\n<p>\u754c\u9762\u652f\u6301 HEX \u4e0e UTF-8 \u6587\u672c\uff0c\u53d1\u9001\u65f6\u53ef\u4ee5\u6309\u9700\u8981\u8ffd\u52a0\u6362\u884c\uff1b\u63a5\u6536\u5185\u5bb9\u53ef\u4ee5\u6682\u505c\u663e\u793a\u6216\u6e05\u7a7a\u3002\u9ed8\u8ba4\u4e32\u53e3\u53c2\u6570\u4e3a 115200 \/ 8N1\uff0c\u4e5f\u53ef\u4ece 9600 \u5230 921600 \u7684\u516b\u6863\u901f\u7387\u4e2d\u9009\u62e9\u3002\u6682\u505c\u53ea\u5f71\u54cd\u663e\u793a\uff0c\u63a5\u6536\u4ecd\u7ee7\u7eed\u8fdb\u884c\uff0c\u754c\u9762\u4fdd\u7559\u6700\u8fd1 64 KiB \u6570\u636e\u3002<\/p>\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-uart.webp'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-uart.webp\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"UART \u9875\u9762\uff1a\u4e32\u53e3\u53c2\u6570\u3001HEX \u63a5\u6536\u3001\u8f93\u5165\u6846\u4e0e\u53d1\u9001\u72b6\u6001\" width=\"1280\" height=\"1308\" loading=\"lazy\" \/><\/div><figcaption>\u9879\u76ee\u5171\u7528\u7684 UART \u9875\u9762\uff0c\u6765\u81ea\u79bb\u7ebf\u754c\u9762\u6d4b\u8bd5\uff0c\u4f7f\u7528\u5408\u6210\u5b57\u8282\u6570\u636e\u3002Android \u4e0e\u684c\u9762\u7aef\u6cbf\u7528\u540c\u4e00\u5957\u4e32\u53e3\u9875\u9762\u4ea4\u4e92\u3002<\/figcaption><\/figure>\n<p>UART \u4e00\u6b21\u6700\u591a\u53d1\u9001 4096 \u5b57\u8282\uff0c\u6309\u5c0f\u6bb5\u7b49\u5f85\u8bbe\u5907\u5b8c\u6210\u786e\u8ba4\u3002\u8be5\u786e\u8ba4\u4ee3\u8868 ESP32 \u7684\u4e32\u53e3\u8f93\u51fa\u5df2\u5b8c\u6210\uff0c\u5916\u90e8\u5355\u7247\u673a\u662f\u5426\u6536\u5230\u6216\u6267\u884c\uff0c\u8fd8\u9700\u8981\u5bf9\u65b9\u534f\u8bae\u7684\u5e94\u7b54\u3002\u9ad8\u6ce2\u7279\u7387\u4e5f\u4e0d\u7b49\u4e8e\u65e0\u7ebf\u94fe\u8def\u80fd\u591f\u6301\u7eed\u65e0\u635f\u4f20\u8f93\uff0c\u9700\u8981\u53ef\u9760\u4f20\u8f93\u65f6\u5e94\u7ed3\u5408\u5e27\u957f\u3001\u6821\u9a8c\u3001\u5e8f\u53f7\u548c\u9650\u901f\u8bbe\u8ba1\u3002<\/p>\n<h2 id=\"panel\">06 \u00b7 \u5c4f\u5e55\u4e0e\u6309\u952e\uff0c\u8ba9\u8bbe\u5907\u72b6\u6001\u7559\u5728\u73b0\u573a<\/h2>\n<p>\u8bbe\u5907\u7aef\u4f7f\u7528 1.47 \u82f1\u5bf8 ST7789 \u5c4f\u5e55\uff0c\u5206\u8fa8\u7387\u4e3a 172 \u00d7 320\u3002\u4e2d\u6587\u603b\u89c8\u663e\u793a\u8fde\u63a5\u4e0e\u8fd0\u884c\u7edf\u8ba1\uff0c\u8bbe\u7f6e\u9875\u63d0\u4f9b\u4eae\u5ea6\u3001\u58f0\u97f3\u3001\u65b9\u5411\u3001\u901a\u4fe1\u6a21\u5f0f\u3001\u6570\u636e\u7c7b\u578b\u548c\u4e32\u53e3\u901f\u7387\u7b49\u5165\u53e3\uff0c\u652f\u6301\u56db\u4e2a\u663e\u793a\u65b9\u5411\u3002<\/p>\n<p>\u4e0d\u540c\u901a\u4fe1\u6a21\u5f0f\u4f7f\u7528\u4e0d\u540c\u7684\u4e3b\u9898\u989c\u8272\uff0c\u84dd\u7259\u4e3a\u84dd\u8272\u3001Wi-Fi \u4e3a\u7d2b\u8272\u3001USB \u4e3a\u7ea2\u8272\uff0c\u53cc\u673a A \/ B \u5206\u522b\u4f7f\u7528\u7eff\u8272\u548c\u9ec4\u8272\u3002GPIO3 \u7684\u7eff\u8272\u6307\u793a\u706f\u72ec\u7acb\u63d0\u793a\u8fde\u63a5\u4e0e\u6570\u636e\u6d3b\u52a8\uff0c\u4fbf\u4e8e\u5728\u4e0d\u4e00\u76f4\u76ef\u7740\u5c4f\u5e55\u65f6\u89c2\u5bdf\u8bbe\u5907\u72b6\u6001\u3002<\/p>\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-panel.webp'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-panel.webp\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"ST7789 \u4e2d\u6587\u603b\u89c8\u4e0e\u8bbe\u7f6e\u9875\uff0c\u5c55\u793a\u6a2a\u7ad6\u5c4f\u5e03\u5c40\" width=\"728\" height=\"832\" loading=\"lazy\" \/><\/div><figcaption>\u7531\u56fa\u4ef6\u5b9e\u9645\u7ed8\u5236\u4ee3\u7801\u751f\u6210\u7684\u5c4f\u5e55\u9884\u89c8\uff0c\u4f7f\u7528\u6a21\u62df\u6570\u636e\uff1b\u672c\u673a\u5c4f\u5e55\u663e\u793a\u72b6\u6001\u548c\u7edf\u8ba1\uff0c\u539f\u59cb\u62a5\u6587\u5728\u4e0a\u4f4d\u673a\u67e5\u770b\u3002<\/figcaption><\/figure>\n<h2 id=\"dual\">07 \u00b7 \u4e24\u53f0\u8bbe\u5907\uff0c\u53ef\u4ee5\u7ec4\u6210\u72ec\u7acb\u65e0\u7ebf\u6865<\/h2>\n<p>\u5982\u679c\u4e24\u7aef\u90fd\u9700\u8981\u63a5\u5165\u8bbe\u5907\uff0c\u53ef\u4ee5\u8ba9\u4e24\u53f0\u5206\u6790\u4eea\u5206\u522b\u8fdb\u5165 A \u7aef\u548c B \u7aef\uff0c\u901a\u8fc7 ESP-NOW \u914d\u5bf9\u540e\u8f6c\u53d1 CAN \u6216 UART \u6570\u636e\u3002\u914d\u5bf9\u7531\u4e24\u7aef\u5c4f\u5e55\u548c\u6309\u952e\u5b8c\u6210\uff0c\u9700\u8981\u6838\u5bf9\u6821\u9a8c\u7801\u5e76\u786e\u8ba4\uff0c\u4f7f\u7528\u65f6\u4e0d\u4f9d\u8d56 App \u6216\u7535\u8111\u3002<\/p>\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-dual.webp'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-dual.webp\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\u53cc\u673a A \u7aef\u3001B \u7aef\u8bbe\u7f6e\u4e0e\u5c4f\u5e55\u914d\u5bf9\u6d41\u7a0b\u9884\u89c8\" width=\"1060\" height=\"1050\" loading=\"lazy\" \/><\/div><figcaption>\u53cc\u673a\u6a21\u5f0f\u4e0e\u914d\u5bf9\u9875\u9762\uff0c\u7531\u5b9e\u9645\u56fa\u4ef6\u7ed8\u5236\u4ee3\u7801\u751f\u6210\uff0c\u4f7f\u7528\u6a21\u62df\u6570\u636e\u3002\u5b9e\u7269\u914d\u5bf9\u3001\u65e0\u7ebf\u8ddd\u79bb\u548c\u6301\u7eed\u541e\u5410\u4ecd\u9700\u5728\u76ee\u6807\u73af\u5883\u9a8c\u8bc1\u3002<\/figcaption><\/figure>\n<p>CAN \u53cc\u673a\u6865\u8fde\u63a5\u7684\u662f<strong>\u4e24\u6761\u72ec\u7acb\u603b\u7ebf<\/strong>\uff0c\u4e0d\u80fd\u628a A \/ B \u53c8\u5e76\u63a5\u5230\u540c\u4e00\u6761\u603b\u7ebf\u4e0a\u5f62\u6210\u73af\u8def\u3002\u65e0\u7ebf\u94fe\u8def\u4f20\u9012\u5e27\uff0c\u4e0d\u80fd\u5ef6\u4f38 CAN \u9010\u4f4d\u4ef2\u88c1\u548c ACK \u7684\u65f6\u5e8f\uff1b\u4e24\u6bb5\u603b\u7ebf\u5404\u81ea\u9700\u8981\u5339\u914d\u7684\u6ce2\u7279\u7387\u3001\u63a5\u7ebf\u4e0e\u7ec8\u7aef\u7535\u963b\u3002<\/p>\n<p>\u94fe\u8def\u91c7\u7528\u6709\u754c\u961f\u5217\u3001\u91cd\u8bd5\u53bb\u91cd\u548c\u8fc7\u671f\u6e05\u7406\uff0c\u907f\u514d\u91cd\u8fde\u540e\u8865\u53d1\u957f\u671f\u79ef\u538b\u7684\u6570\u636e\u3002\u65e0\u7ebf ACK \u8868\u793a\u5bf9\u7aef\u63a5\u7eb3\u4e86\u8f6c\u53d1\u6570\u636e\uff0cCAN \u53d1\u9001\u662f\u5426\u5b8c\u6210\u8fd8\u8981\u770b\u5bf9\u7aef\u63a7\u5236\u5668\uff1b\u6ee1\u8d1f\u8f7d\u65e0\u635f\u548c\u786c\u5b9e\u65f6\u80fd\u529b\u9700\u8981\u5355\u72ec\u6d4b\u91cf\u3002<\/p>\n<h2 id=\"connections\">08 \u00b7 \u84dd\u7259\u3001Wi-Fi \u548c USB\uff0c\u600e\u4e48\u9009\uff1f<\/h2>\n<figure class=\"wp-block-table\">\n<table>\n<thead>\n<tr>\n<th>\u65b9\u5f0f<\/th>\n<th>\u53ef\u7528\u5ba2\u6237\u7aef<\/th>\n<th>\u9002\u5408\u7684\u4f7f\u7528\u65b9\u5f0f<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>Bluetooth LE<\/td>\n<td>Android \/ Windows \/ Linux<\/td>\n<td>\u8fd1\u8ddd\u79bb\u65e0\u7ebf\u8fde\u63a5\uff0c\u6309\u8bbe\u5907\u5efa\u7acb\u901a\u9053<\/td>\n<\/tr>\n<tr>\n<td>Wi-Fi \u5c40\u57df\u7f51<\/td>\n<td>Android \/ Windows \/ Linux<\/td>\n<td>\u8bbe\u5907\u4e0e\u4e0a\u4f4d\u673a\u5904\u4e8e\u540c\u4e00\u5c40\u57df\u7f51\uff0c\u901a\u8fc7 TLS \u8fde\u63a5<\/td>\n<\/tr>\n<tr>\n<td>\u539f\u751f USB<\/td>\n<td>Windows \/ Linux<\/td>\n<td>\u5de5\u4f5c\u53f0\u7535\u8111\u76f4\u8fde\uff0c\u4e0d\u9700\u8981\u5148\u914d\u7f51<\/td>\n<\/tr>\n<tr>\n<td>ESP-NOW \u53cc\u673a<\/td>\n<td>\u65e0\u9700\u4e0a\u4f4d\u673a<\/td>\n<td>\u4e24\u7aef\u72ec\u7acb\u8f6c\u53d1 CAN \u6216 UART \u6570\u636e<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/figure>\n<p>Wi-Fi \u9996\u6b21\u4f7f\u7528\uff0c\u9700\u8981\u5148\u901a\u8fc7\u8ba4\u8bc1\u84dd\u7259\u914d\u7f6e 2.4 GHz \u7f51\u7edc\u5e76\u53d6\u5f97\u8bbe\u5907\u4fe1\u4efb\u4fe1\u606f\u3002\u5c40\u57df\u7f51\u8fde\u63a5\u6821\u9a8c\u8bbe\u5907\u8bc1\u4e66\u6307\u7eb9\uff0c\u5e76\u4f7f\u7528\u8bbf\u95ee\u4ee4\u724c\u8ba4\u8bc1\uff1b\u65e5\u5e38\u4f20\u8f93\u4e0d\u9700\u8981\u4e91\u7aef\u4e2d\u8f6c\u3002\u539f\u751f USB \u8d70 ESP32-S3 \u7684 USB Serial\/JTAG \u63a5\u53e3\uff0c\u4e0e\u5916\u63a5\u5355\u7247\u673a\u6240\u7528\u7684 TX \/ RX \u72ec\u7acb\u3002<\/p>\n<p>\u540c\u4e00\u53f0\u8bbe\u5907\u540c\u65f6\u53ea\u4f7f\u7528\u4e00\u79cd\u6570\u636e\u901a\u4fe1\u6a21\u5f0f\uff0c\u4e5f\u53ea\u9009\u62e9 CAN \/ UART \u4e2d\u7684\u4e00\u79cd\u6570\u636e\u7c7b\u578b\u3002\u5207\u6362\u6a21\u5f0f\u4f1a\u7ed3\u675f\u539f\u8fde\u63a5\uff1b\u4e3b\u52a8\u53d1\u9001\u548c\u7535\u673a\u67e5\u8be2\u7531\u7528\u6237\u660e\u786e\u5f00\u542f\uff0c\u91cd\u8fde\u540e\u4e0d\u4f1a\u81ea\u52a8\u6062\u590d\u3002<\/p>\n<h2 id=\"wiring\">09 \u00b7 \u63a5\u7ebf\uff0c\u4ece CANH \/ CANL \u548c TX \/ RX \u5f00\u59cb<\/h2>\n<p>\u5f53\u524d\u76ee\u6807\u786c\u4ef6\u662f ESP32-S3 Mini\u3001SN65HVD230\u3001ST7789 \u5c4f\u5e55\u3001\u4e09\u4e2a\u6309\u952e\u53ca\u6709\u6e90\u8702\u9e23\u5668\u3002CAN \u9ed8\u8ba4 1 Mbit\/s\u3002\u8fde\u63a5\u603b\u7ebf\u524d\uff0c\u5e94\u5148\u786e\u8ba4\u6536\u53d1\u5668\u4f9b\u7535\u3001\u5171\u5730\u3001CAN \u6ce2\u7279\u7387\u548c\u7ec8\u7aef\u7535\u963b\u914d\u7f6e\u3002<\/p>\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-wiring.webp'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/qianmo.icu\/wp-content\/uploads\/2026\/11\/can-scope-wiring.webp\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"CAN \u4e0e UART \u63a5\u7ebf\u793a\u610f\uff1aGPIO4\/5 \u63a5 SN65HVD230\uff0cGPIO43\/44 \u4e0e\u5916\u90e8 MCU \u4ea4\u53c9\u8fde\u63a5\uff0cUSB \u4f7f\u7528 GPIO19\/20\" width=\"1600\" height=\"1140\" loading=\"lazy\" \/><\/div><figcaption>\u539f\u521b\u63a5\u7ebf\u793a\u610f\u56fe\uff0c\u4f9d\u636e\u5f53\u524d\u5de5\u7a0b GPIO \u6620\u5c04\u7ed8\u5236\u3002\u5b9e\u9645\u4f9b\u7535\u3001\u63a5\u53e3\u65b9\u5411\u4e0e\u5668\u4ef6\u7535\u6c14\u53c2\u6570\u4ecd\u5e94\u6309\u6240\u7528\u677f\u5361\u6838\u5bf9\u3002<\/figcaption><\/figure>\n<ul>\n<li><strong>CAN\uff1a<\/strong>GPIO4 \u63a5 SN65HVD230 \u7684 CTX\uff0cGPIO5 \u63a5 CRX\uff0cCANH \/ CANL \u6309\u4fe1\u53f7\u540d\u79f0\u63a5\u5230\u603b\u7ebf\u3002\u5f53\u524d\u8bbe\u8ba1\u7684 CN6 \u4e0e CN5 \u5f15\u811a\u987a\u5e8f\u4e0d\u540c\uff0c\u4e0d\u80fd\u53ea\u6309\u811a\u53f7\u63a5\u7ebf\u3002<\/li>\n<li><strong>UART\uff1a<\/strong>GPIO43 \u4e3a TX\uff0c\u63a5\u5916\u90e8\u5355\u7247\u673a RX\uff1bGPIO44 \u4e3a RX\uff0c\u63a5\u5916\u90e8\u5355\u7247\u673a TX\uff1b\u53cc\u65b9\u5171\u5730\uff0c\u4f7f\u7528 3.3 V TTL\u3002<\/li>\n<li><strong>USB\uff1a<\/strong>\u4f7f\u7528\u8fde\u63a5 GPIO19 \/ GPIO20 \u7684\u539f\u751f USB \u53e3\u3002\u5f00\u53d1\u677f\u82e5\u6709\u4e24\u4e2a USB \u63d2\u5ea7\uff0c\u5e94\u533a\u5206\u539f\u751f USB \u4e0e USB \u8f6c\u4e32\u53e3\u63a5\u53e3\u3002<\/li>\n<\/ul>\n<p>UART \u4e0d\u80fd\u76f4\u63a5\u8fde\u63a5 RS232\u3001RS485 \u6216 5 V \u4e32\u53e3\u3002\u539f\u7406\u56fe\u4e0e PCB \u539f\u59cb\u5de5\u7a0b\u76ee\u524d\u5c1a\u672a\u7eb3\u5165\u9879\u76ee\u4ed3\u5e93\uff0c\u7535\u6c14\u4e0e\u4f9b\u7535\u7ec6\u8282\u8bf7\u7ed3\u5408\u5b9e\u9645\u786c\u4ef6\u786e\u8ba4\u3002<\/p>\n<h2 id=\"getting-started\">10 \u00b7 \u7b2c\u4e00\u6b21\u4f7f\u7528\uff0c\u5efa\u8bae\u6309\u8fd9\u4e2a\u987a\u5e8f\u8d70<\/h2>\n<ol>\n<li><strong>\u51c6\u5907\u914d\u5957\u56fa\u4ef6\u548c\u5ba2\u6237\u7aef\u3002<\/strong>\u9700\u8981 UART\u3001USB \u7b49\u529f\u80fd\u65f6\uff0c\u4f7f\u7528\u5bf9\u5e94\u7684\u65b0\u7248\u672c\u6e90\u7801\u6784\u5efa\uff0c\u5148\u786e\u8ba4\u4e24\u7aef\u652f\u6301\u540c\u4e00\u529f\u80fd\u3002<\/li>\n<li><strong>\u5148\u5efa\u7acb\u4e00\u6761\u8fde\u63a5\u3002<\/strong>\u624b\u673a\u4ece\u84dd\u7259\u5f00\u59cb\uff0c\u7535\u8111\u53ef\u4ece\u84dd\u7259\u6216 USB \u5f00\u59cb\uff1b\u4e00\u6b21\u53ea\u8ba9\u4e00\u4e2a\u4e0a\u4f4d\u673a\u8fde\u63a5\u540c\u4e00\u53f0\u5206\u6790\u4eea\u3002<\/li>\n<li><strong>\u5148\u67e5\u770b\u72b6\u6001\uff0c\u518d\u6dfb\u52a0\u5bf9\u8c61\u3002<\/strong>CAN \u6a21\u5f0f\u5148\u786e\u8ba4\u6ce2\u7279\u7387\u548c\u603b\u7ebf\u6d3b\u52a8\uff0c\u518d\u6dfb\u52a0\u4e00\u53f0\u7535\u673a\u6216 IMU\uff0c\u586b\u5bf9 ID \u4e0e\u53cd\u9988 ID\u3002<\/li>\n<li><strong>\u518d\u5f00\u542f\u4e3b\u52a8\u67e5\u8be2\u3002<\/strong>\u9700\u8981\u65f6\u5355\u72ec\u5f00\u542f\u8fbe\u5999\u53cd\u9988\u67e5\u8be2\uff0c\u89c2\u5bdf\u5b9e\u9645\u53cd\u9988\u901f\u7387\u4e0e\u9519\u8bef\u7edf\u8ba1\uff0c\u518d\u51b3\u5b9a\u662f\u5426\u8c03\u6574\u9891\u7387\u3002<\/li>\n<li><strong>\u4fdd\u5b58\u4e00\u4efd\u914d\u7f6e\u3002<\/strong>\u5bfc\u51fa\u901a\u9053\u548c\u8bbe\u5907\u914d\u7f6e\uff1b\u9700\u8981\u590d\u76d8\u65f6\u5bfc\u51fa\u5f53\u524d\u4fdd\u7559\u7684 CAN \u8bb0\u5f55\u3002<\/li>\n<\/ol>\n<p>Linux \u684c\u9762\u6e90\u7801\u8fd0\u884c\u9700\u8981 Python 3.12\uff0864 \u4f4d\uff0c\u63a8\u8350\uff09\uff0c\u5728\u4ed3\u5e93\u6839\u76ee\u5f55\u6267\u884c\uff1a<\/p>\n<pre class=\"wp-block-code\"><code>bash desktop\/start.sh<\/code><\/pre>\n<p>Windows \u5b89\u88c5 Python \u5e76\u52a0\u5165 PATH \u540e\uff0c\u53ef\u53cc\u51fb <code>desktop\/start.bat<\/code>\u3002\u542f\u52a8\u811a\u672c\u9996\u6b21\u521b\u5efa\u865a\u62df\u73af\u5883\u5e76\u5b89\u88c5\u4f9d\u8d56\u3002\u56fa\u4ef6\u4f7f\u7528 ESP-IDF v6.0.2\uff0cAndroid \u4f7f\u7528 JDK 17\u3001Android SDK 35 \u4e0e Build Tools 35.0.0\uff1b\u5177\u4f53\u6784\u5efa\u6b65\u9aa4\u89c1\u9879\u76ee README\u3002<\/p>\n<h2 id=\"project-links\">\u9879\u76ee\u5730\u5740\u3001\u7248\u672c\u4e0e\u540e\u7eed\u8fdb\u5c55<\/h2>\n<p>\u6587\u7ae0\u6309 <strong>2026 \u5e74 11 \u6708 4 \u65e5<\/strong>\u7684\u9879\u76ee\u6e90\u7801\u6574\u7406\uff1aESP32-S3 \u56fa\u4ef6 <strong>1.24.2<\/strong>\u3001Android App <strong>1.21.0<\/strong>\u3001CAN Scope Desktop <strong>1.2.4<\/strong>\u3002\u4e0d\u540c\u7ec4\u4ef6\u72ec\u7acb\u7f16\u53f7\u3002<\/p>\n<p>\u76ee\u524d\u5df2\u53d1\u5e03\u7684\u5b8c\u6574\u5957\u4ef6\u6807\u7b7e\u4e3a <code>desktop-v1.0.0<\/code>\uff0c\u5176\u4e2d\u662f\u56fa\u4ef6 1.21.0\u3001Android 1.20.0 \u548c Desktop 1.0.0\uff0c\u5c5e\u4e8e\u5386\u53f2\u5feb\u7167\u3002\u5b83\u4e0e\u672c\u6587\u4ecb\u7ecd\u7684\u5f53\u524d\u6e90\u7801\u529f\u80fd\u5b58\u5728\u5dee\u5f02\uff0c\u540e\u7eed\u65b0\u529f\u80fd\u5e94\u4ee5\u6e90\u7801\u548c\u76f8\u5e94\u53d1\u5e03\u8bf4\u660e\u4e3a\u51c6\u3002<\/p>\n<ul>\n<li><a href=\"https:\/\/github.com\/QianmoNai\/Wireless-CAN-Analyzer\">GitHub\uff1aWireless-CAN-Analyzer \u9879\u76ee\u4e3b\u9875<\/a><\/li>\n<li><a href=\"https:\/\/gitee.com\/qianmonai\/Wireless-CAN-Analyzer\">Gitee\uff1a\u56fd\u5185\u540c\u6b65\u4ed3\u5e93<\/a><\/li>\n<li><a href=\"https:\/\/github.com\/QianmoNai\/Wireless-CAN-Analyzer\/releases\/tag\/desktop-v1.0.0\">\u5386\u53f2\u5b8c\u6574\u5957\u4ef6\u4e0e\u7248\u672c\u8bf4\u660e<\/a><\/li>\n<li><a href=\"https:\/\/github.com\/QianmoNai\/Wireless-CAN-Analyzer\/blob\/main\/desktop\/README.md\">\u684c\u9762\u5b89\u88c5\u3001\u8fde\u63a5\u4e0e\u6253\u5305\u6587\u6863<\/a><\/li>\n<li><a href=\"https:\/\/github.com\/QianmoNai\/Wireless-CAN-Analyzer\/blob\/main\/docs\/USB.md\">USB \u76f4\u8fde\u4e0e\u8fdc\u7a0b\u8bbe\u7f6e<\/a> \u00b7 <a href=\"https:\/\/github.com\/QianmoNai\/Wireless-CAN-Analyzer\/blob\/main\/docs\/UART.md\">UART \u63a5\u7ebf\u4e0e\u4f7f\u7528<\/a> \u00b7 <a href=\"https:\/\/github.com\/QianmoNai\/Wireless-CAN-Analyzer\/blob\/main\/docs\/DUAL_CAN.md\">\u53cc\u673a\u8f6c\u53d1\u8bf4\u660e<\/a><\/li>\n<\/ul>\n<p><strong>\u8bbf\u95ee\u8bf4\u660e\uff1a<\/strong>GitHub \/ Gitee \u4ed3\u5e93\u76ee\u524d\u4e3a\u79c1\u6709\uff0c\u9700\u8981\u76f8\u5e94\u8d26\u53f7\u5177\u6709\u8bbf\u95ee\u6743\u9650\uff1b\u672c\u6587\u63d0\u4f9b\u9879\u76ee\u4ecb\u7ecd\u4e0e\u754c\u9762\u5c55\u793a\uff0c\u4e0d\u4ee3\u8868\u4e0a\u8ff0\u94fe\u63a5\u5bf9\u6240\u6709\u8bbf\u5ba2\u5f00\u653e\u3002\u6e90\u7801\u5de5\u7a0b\u91c7\u7528 GPL-3.0-only\uff0c\u5916\u90e8\u4f9d\u8d56\u4e0e\u5b57\u5e93\u9075\u5faa\u5404\u81ea\u8bb8\u53ef\u8bc1\u3002<\/p>\n<p>\u6211\u5e0c\u671b CAN Scope \u80fd\u628a\u201c\u63a5\u4e0a\u8bbe\u5907\u3001\u770b\u89c1\u53cd\u9988\u3001\u7406\u89e3\u6570\u636e\u3001\u7559\u4e0b\u8bb0\u5f55\u201d\u8fd9\u6761\u8c03\u8bd5\u8def\u5f84\u505a\u5f97\u66f4\u987a\u624b\u3002\u5bf9\u4e8e\u6b63\u5728\u505a\u673a\u5668\u4eba\u6216\u5d4c\u5165\u5f0f\u9879\u76ee\u7684\u540c\u5b66\uff0c\u53ef\u4ee5\u5148\u4ece\u81ea\u5df1\u7684\u4e00\u53f0\u7535\u673a\u3001\u4e00\u4e2a IMU \u6216\u4e00\u6bb5\u4e32\u53e3\u6570\u636e\u5f00\u59cb\uff0c\u518d\u9010\u6b65\u6269\u5c55\u5230\u591a\u901a\u9053\u5de5\u4f5c\u53f0\u3002<\/p>\n<p><small>\u914d\u56fe\u8bf4\u660e\uff1a\u672c\u6587\u4f7f\u7528\u539f\u521b\u7ed3\u6784 \/ \u63a5\u7ebf\u793a\u610f\u56fe\uff0c\u4ee5\u53ca\u9879\u76ee\u5b9e\u9645\u9875\u9762\u6216\u56fa\u4ef6\u7ed8\u5236\u4ee3\u7801\u751f\u6210\u7684\u6a21\u62df\u9884\u89c8\u3002\u6784\u5efa\u3001\u81ea\u52a8\u6d4b\u8bd5\u548c\u6a21\u62df\u754c\u9762\u5206\u522b\u9a8c\u8bc1\u5bf9\u5e94\u7684\u8f6f\u4ef6\u884c\u4e3a\uff1b\u771f\u5b9e\u8bbe\u5907\u517c\u5bb9\u6027\u3001\u65e0\u7ebf\u8ddd\u79bb\u4e0e\u6301\u7eed\u541e\u5410\uff0c\u5e94\u4ee5\u76f8\u5e94\u5b9e\u6d4b\u8bb0\u5f55\u4e3a\u51c6\u3002\u9879\u76ee\u4e0d\u96b6\u5c5e\u4e8e\u5927\u7586\u3001\u8fbe\u5999\u6216\u4e50\u946b\uff0c\u578b\u53f7\u7528\u4e8e\u8bf4\u660e\u534f\u8bae\u517c\u5bb9\u8303\u56f4\u3002<\/small><\/p>\n<style>#post-814 .post-header-with-thumbnail .post-thumbnail { filter: brightness(.32); }\n#post-814 .post-header-with-thumbnail .post-title { line-height: 1.5; font-weight: 600; }\n@media (max-width: 600px) { #post-814 .post-header-with-thumbnail .post-title { font-size: 22px; line-height: 1.5; } }\n<\/style>","protected":false},"excerpt":{"rendered":"<p>\u7528\u4e00\u53f0 ESP32-S3\uff0c\u628a CAN \u7535\u673a\u3001IMU \u4e0e\u5916\u90e8\u5355\u7247\u673a\u4e32\u53e3\u6570\u636e\u5e26\u5230\u624b\u673a\u548c\u7535\u8111\u4e0a\u3002\u672c\u6587\u4ecb\u7ecd CAN Scope \u7684\u591a\u901a\u9053\u76d1\u63a7\u3001\u5b9e\u65f6\u66f2\u7ebf\u3001BLE \/ Wi-Fi \/ USB \u8fde\u63a5\u3001\u72ec\u7acb\u53cc\u673a\u8f6c\u53d1\uff0c\u4ee5\u53ca\u63a5\u7ebf\u548c\u7b2c\u4e00\u6b21\u4f7f\u7528\u7684\u65b9\u6cd5\u3002<\/p>\n","protected":false},"author":1,"featured_media":818,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[48],"tags":[74,73,75,76,17],"class_list":["post-814","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-48","tag-can","tag-esp32-s3","tag-uart","tag-76","tag-17"],"_links":{"self":[{"href":"https:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/posts\/814","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/comments?post=814"}],"version-history":[{"count":1,"href":"https:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/posts\/814\/revisions"}],"predecessor-version":[{"id":825,"href":"https:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/posts\/814\/revisions\/825"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/media\/818"}],"wp:attachment":[{"href":"https:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/media?parent=814"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/categories?post=814"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/qianmo.icu\/index.php\/wp-json\/wp\/v2\/tags?post=814"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}