本篇主要介绍dSPACE的复杂硬件输入接口,包括正交编码器、串口、CAN总线、UDP。
正交编码器输入
![Snipaste_2021-11-01_23-24-15.png](/2021/06/13/4-Tutorials/dSPACE/dSPACE-03/dSPACE%E7%A1%AC%E4%BB%B6%E6%8E%A5%E5%8F%A3%20-%20%E4%B8%AD%E7%BA%A7%E7%AF%87/Snipaste_2021-11-01_23-24-15.png)
![image-20211124170638327](/2021/06/13/4-Tutorials/dSPACE/dSPACE-03/dSPACE%E7%A1%AC%E4%BB%B6%E6%8E%A5%E5%8F%A3%20-%20%E4%B8%AD%E7%BA%A7%E7%AF%87/image-20211124170638327.png)
💡 Tips
- dSPACE内用于接受正交编码器信号的解码器仅有6个,即最多能同时采集6路正交编码器信号;
- 可设置使用DIO1或DIO2连接编码器信号线,其中DIO2必须需要互补信号输入,用于保证强电磁干扰下的信号可靠性;
- 可在参数界面设置是否使用Z相信号输入,三根信号线必须以ABZ的顺序接入连续的3个dSPACE数字量引脚,仅首引脚号可设置;
- 编码器的测量模式可在角度模式和位置模式之间选择,角度模式下输出角度,位置模式下输出线数;
RS-232/485串口
![image-20211124170823354](/2021/06/13/4-Tutorials/dSPACE/dSPACE-03/dSPACE%E7%A1%AC%E4%BB%B6%E6%8E%A5%E5%8F%A3%20-%20%E4%B8%AD%E7%BA%A7%E7%AF%87/image-20211124170823354.png)
![Snipaste_2021-11-03_11-05-09.png](/2021/06/13/4-Tutorials/dSPACE/dSPACE-03/dSPACE%E7%A1%AC%E4%BB%B6%E6%8E%A5%E5%8F%A3%20-%20%E4%B8%AD%E7%BA%A7%E7%AF%87/Snipaste_2021-11-03_11-05-09.png)
![image-20211124170935214](/2021/06/13/4-Tutorials/dSPACE/dSPACE-03/dSPACE%E7%A1%AC%E4%BB%B6%E6%8E%A5%E5%8F%A3%20-%20%E4%B8%AD%E7%BA%A7%E7%AF%87/image-20211124170935214.png)
![image-20211124170949481](/2021/06/13/4-Tutorials/dSPACE/dSPACE-03/dSPACE%E7%A1%AC%E4%BB%B6%E6%8E%A5%E5%8F%A3%20-%20%E4%B8%AD%E7%BA%A7%E7%AF%87/image-20211124170949481.png)
使用时请注意接口的线序
![image-20211124171028615](/2021/06/13/4-Tutorials/dSPACE/dSPACE-03/dSPACE%E7%A1%AC%E4%BB%B6%E6%8E%A5%E5%8F%A3%20-%20%E4%B8%AD%E7%BA%A7%E7%AF%87/image-20211124171028615.png)
CAN总线通信
![image-20211124171133316](/2021/06/13/4-Tutorials/dSPACE/dSPACE-03/dSPACE%E7%A1%AC%E4%BB%B6%E6%8E%A5%E5%8F%A3%20-%20%E4%B8%AD%E7%BA%A7%E7%AF%87/image-20211124171133316.png)
以DJI的M3508的电调C620为例,介绍如何使用dSPACE进行CAN总线数据通信
- 阅读文档,获取设备CAN总线通信的相关信息,包括:CAN总线通信速度、设备标志符(ID)、帧类型、帧格式、发送/接受报文格式和数据含义
![image-20211124171225993](/2021/06/13/4-Tutorials/dSPACE/dSPACE-03/dSPACE%E7%A1%AC%E4%BB%B6%E6%8E%A5%E5%8F%A3%20-%20%E4%B8%AD%E7%BA%A7%E7%AF%87/image-20211124171225993.png)
- 使用dSPACE的CAN总线模块
![image-20211124171256939](/2021/06/13/4-Tutorials/dSPACE/dSPACE-03/dSPACE%E7%A1%AC%E4%BB%B6%E6%8E%A5%E5%8F%A3%20-%20%E4%B8%AD%E7%BA%A7%E7%AF%87/image-20211124171256939.png)
Ethernet UDP通信
- 基础概念 - IP地址,端口
![image-20211124171426517](/2021/06/13/4-Tutorials/dSPACE/dSPACE-03/dSPACE%E7%A1%AC%E4%BB%B6%E6%8E%A5%E5%8F%A3%20-%20%E4%B8%AD%E7%BA%A7%E7%AF%87/image-20211124171426517.png)
- 配置通信参数
![Snipaste_2021-11-04_10-21-58.png](/2021/06/13/4-Tutorials/dSPACE/dSPACE-03/dSPACE%E7%A1%AC%E4%BB%B6%E6%8E%A5%E5%8F%A3%20-%20%E4%B8%AD%E7%BA%A7%E7%AF%87/Snipaste_2021-11-04_10-21-58.png)
![image-20211124171742608](/2021/06/13/4-Tutorials/dSPACE/dSPACE-03/dSPACE%E7%A1%AC%E4%BB%B6%E6%8E%A5%E5%8F%A3%20-%20%E4%B8%AD%E7%BA%A7%E7%AF%87/image-20211124171742608.png)
- 按通信协议对发送数据进行打包、对接受数据进行解码
![Snipaste_2021-11-04_12-13-20.png](/2021/06/13/4-Tutorials/dSPACE/dSPACE-03/dSPACE%E7%A1%AC%E4%BB%B6%E6%8E%A5%E5%8F%A3%20-%20%E4%B8%AD%E7%BA%A7%E7%AF%87/Snipaste_2021-11-04_12-13-20.png)
💡 使用帮助文档
对于dSAPCE提供的Simulink模块,右键Help打开dSPACE Help界面,可查看该模块的具体使用方法;