xavier agx can/canfd 发送接收测试（一）

第一步：必须保证你的接线正确

 xavier agx 像上图一样需要外接CAN收发器，同时xavier agx与usbcan(分析仪)都需要接120欧电阻(CAN总线的要求)

第二步用命令行初始化CAN(FD)

# 安装busybox, 需要里面的devmem工具
sudo apt install busybox

# 检查当前的寄存器值
sudo busybox devmem 0x0c303000	# 0x0000C055
sudo busybox devmem 0x0c303008	# 0x0000C055
sudo busybox devmem 0x0c303010	# 0x0000C059
sudo busybox devmem 0x0c303018	# 0x0000C059

# 用devmem修改寄存器
sudo busybox devmem 0x0c303000 32 0x0000C400
sudo busybox devmem 0x0c303008 32 0x0000C458
sudo busybox devmem 0x0c303010 32 0x0000C400
sudo busybox devmem 0x0c303018 32 0x0000C458

# 改完后检查
sudo busybox devmem 0x0c303000	# 0x0000C400
sudo busybox devmem 0x0c303008	# 0x0000C458
sudo busybox devmem 0x0c303010	# 0x0000C400
sudo busybox devmem 0x0c303018	# 0x0000C458

#寄存器改好了, 该挂载了, 使用modprobe:
sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan

# 检查挂载
lsmod

#下面是挂载后, 用lsmod检查的情况:
xavier@xavier-c:~$ lsmod
Module                  Size  Used by
mttcan                 66187  0
can_dev                13306  1 mttcan
can_raw                10388  3
can                    46600  1 can_raw
fuse                  103841  3
zram                   26166  7
overlay                48691  0
hid_logitech_hidpp     22721  0
hid_logitech_dj        13813  0
nvgpu                1569917  20
bluedroid_pm           13912  0
ip_tables              19441  0
x_tables               28951  1 ip_tables

#挂载好了, 还需要配置一些波特率之类的参数:
#配置为1Mbps的标准CAN
sudo ip link set can0 type can bitrate 1000000
sudo ip link set can1 type can bitrate 1000000

#或者配置为仲裁段500k, 数据段2M的的CANFD:
sudo ip link set can0 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on
sudo ip link set can1 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on

#打开CAN控制器:
sudo ip link set up can0
sudo ip link set up can1

# 检查
ifconfig

#关闭CAN控制器:
sudo ip link set down can0
sudo ip link set down can1

# 检查
ifconfig	# 关闭的话里面就没有can0, can1了

第三步：CAN(FD)的收发

# 123是十六进制帧ID, #后面是8字节十六进制数, 可以用.相隔也可以不用
cansend can0 123#99.95.42.07.2B.96.66.6E
cansend can1 123#99.95.42.07.2B.96.66.6E

# 随机发送
cangen -v can0
cangen -v can1

发送数据的格式(均为十六进制, 3字节是标准帧, 8字节是扩展帧, #跟标准数据帧, #R跟遥控帧, ##跟CANFD帧):

<can_frame>:
 <can_id>#{R|data}          for CAN 2.0 frames
 <can_id>##<flags>{data}    for CAN FD frames

<can_id>:
 can have 3 (SFF) or 8 (EFF) hex chars
{data}:
 has 0..8 (0..64 CAN FD) ASCII hex-values (optionally separated by '.')
<flags>:
 a single ASCII Hex value (0 .. F) which defines canfd_frame.flags

Examples:
  5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / 123##1 / 213##311
  1F334455#1122334455667788 / 123#R for remote transmission request.

第四步：CAN接收

candump can0
candump can1