linux CAN驱动实验

CAN简介

CAN 全称（Controller Area Network）控制局域网络。最早是由德国BOSCH（博世）开发，是当前应用最广泛的现场总线之一。应用领域汽车电子、工业自动化、医疗、工业和船舶等。

CAN特点：
1）多主控制
在总线空闲时，所有单元都可以发送消息。多个节点发送消息时，根据节点ID决定优先级。
2）系统的柔软性
3）通信速度快
最高1M(举例小于40M），最长10KM，速度低于5Kbps
4）具有错误检测、错误通知和错误恢复功能
5）连接节点多

CAN协议
协议提供5种帧格式来传输数据：数据帧、遥控帧、错误帧、过载帧和间隔帧。其中数据帧和遥控帧有标准格式和扩展格式。

原理图：

修改设备树

imx6ull.dtsi文件中，compatible 属性就可以找到 I.MX6ULL 的 FlexCAN 驱动源文件。

flexcan1: can@02090000 {
         compatible = "fsl,imx6ul-flexcan", "fsl,imx6q-flexcan";
         reg = <0x02090000 0x4000>;
         interrupts = <GIC_SPI 110 IRQ_TYPE_LEVEL_HIGH>;
         clocks = <&clks IMX6UL_CLK_CAN1_IPG>,
                  <&clks IMX6UL_CLK_CAN1_SERIAL>;
         clock-names = "ipg", "per";
         stop-mode = <&gpr 0x10 1 0x10 17>;
         status = "disabled";
 };

打开imx6ull-alientek-emmc.dts，添加引脚配置信息

pinctrl_flexcan1: flexcan1grp{
          fsl,pins = <
                  MX6UL_PAD_UART3_RTS_B__FLEXCAN1_RX      0x1b020
                  MX6UL_PAD_UART3_CTS_B__FLEXCAN1_TX      0x1b020
          >;
  };

追加节点信息，并将status设置为"OK"

&flexcan1 {
        pinctrl-names = "default";
        pinctrl-0 = <&pinctrl_flexcan1>;
        xceiver-supply = <&reg_can_3v3>;
        status = "okay";
};

内核使能CAN总线

1)打开CAN总线子系统，

-> Networking support 
	 <*> CAN bus subsystem support

2）使能Freescale系列的FlexCAN外设驱动

-> Networking support 
	-> CAN bus subsystem support 
		 -> CAN Device Drivers 
		    <*> Platform CAN drivers with Netlink support 
		    <*> Support for Freescale FLEXCAN based chips

需要移植的工具
1）iproute2
2）can-utils

通信测试
1）回环测试

root@ATK-IMX6U:~# ifconfig can0 down
root@ATK-IMX6U:~# ip link set can0 type can bitrate 500000 loopback on
root@ATK-IMX6U:~# ifconfig can0 up
root@ATK-IMX6U:~# candump can0 &
[1] 900
root@ATK-IMX6U:~# cansend can0 5A1#11.22.33.44.55.66.77.88
  can0  5A1   [8]  11 22 33 44 55 66 77 88

如果can0 开启先关闭
设置回环测试模式，并设置can0的速度为500Kbit/s,非回环测试去掉loopback on
打开can1
candump后台接受数据
cansend cano 发送数据

cansend命令发送can数据,51A是帧ID，#后面是发送的数据。can2.0一次最多发送8个字节，8个字节之间用 . 隔开。
测试成功，后台接收到自己发给自己的数据。

应用程序 loopback

#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <net/if.h>
#include <linux/can.h>
#include <linux/can/raw.h>

#define PF_CAN 29
#define AF_CAN PF_CAN

int main(int argc, char *argv[])
{
	int fd, ret, flag, len;
	char senddata[32] = "hello";
	struct sockaddr_can addr;
	struct ifreq ifr;
	struct can_frame frame;
	socklen_t socket_len = sizeof(struct sockaddr_can);

	fd = socket(PF_CAN, SOCK_RAW, CAN_RAW); 
	if (fd < 0) {
		printf("Open socket failed!\n");
		return fd;
	}
	strcpy((char *)(ifr.ifr_name), "can0");
	
	ret = ioctl(fd, SIOCGIFINDEX, &ifr);
	if (ret != 0) {
		ERR_MSG("SIOCGIFINDEX failed! ret:%d\n", ret);
		close(fd);
		return ret;
	}
	printf("can0 can_ifindex = %x\n",ifr.ifr_ifindex);

	flag = 1;//1：代表回环  0：关闭
    ret = setsockopt(fd, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &flag, sizeof(flag));
	if (ret != 0) {
		printf("Set loopback disable failed! ret:%d\n", ret);
		close(fd);
		return ret;
	}
	DBG_MSG("Set can0 loopback disable\n");

	flag = 1;//1 代表接收  0 代表关闭
    ret = setsockopt(fd, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, 
               &flag, sizeof(flag));
	if (ret != 0) {
		printf("Disable receiving own message failed! ret:%d\n", ret);
		close(fd);
		return ret;
	}
	
	addr.can_family = AF_CAN;/* Use AF_CAN protocol family */
	addr.can_ifindex = ifr.ifr_ifindex;
	
	/* Binding socket */
	ret = bind(fd, (struct sockaddr*)&addr, sizeof(addr));
	if (ret != 0) {
		printf("Bind socket failed! ret:%d\n", ret);
		close(fd);
		return ret;
	}
	printf("Bind can0 socket\n");

	frame.can_id = 0x123;
	len = strlen(senddata);
	
	while (1) {
		strncpy((char *)frame.data, senddata, len);
		frame.can_dlc = len;
		ret = sendto(fd, &frame, sizeof(struct can_frame), 0, (struct sockaddr*)&addr, sizeof(addr));
		if (ret > 0) {
			printf("Send success: [%s], ret=%d\n", senddata, ret);
			ret = recvfrom(fd, &frame, sizeof(struct can_frame), 0, (struct sockaddr *)&addr, &socket_len);
			if (ret > 0) {
				printf("Recv message: [%s], ret=%d\n", frame.data, ret);
			}
		}
		usleep(500000);
	}

	return 0;
}