ip && canutils命令

1、查看是否有can设备

       ipaddr

2、关闭can设备

      ip link setcan0 down

3、配置波特率

ip link set can0 type can bitrate 250000
设置CNA0的波特率为250K，在设置前需要先把CAN0关闭了

4、打开can设备

      ip link setcan0 up

5、查看can设备详细信息

  ip -details link show can0

  can0: <NOARP,UP,LOWER_UP,ECHO>mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10

    link/can 

    can state ERROR-ACTIVE(berr-counter tx 0 rx 0) restart-ms 0 

    bitrate 500000 sample-point0.875 

    tq 125 prop-seg 6 phase-seg17 phase-seg2 2 sjw 1

    sja1000: tseg1 1..16 tseg21..8 sjw 1..4 brp 1..64 brp-inc 1

    clock 16000000

6、发送测试

./cansend can0 -e 0x11 0x22 0x33 0x44 0x550x66 0x77 0x88

interface = can0, family = 29, type = 3,proto = 1

测试软件上能看到接收的帧

7、接收测试，接收测试软件发送的帧：

# ./candump can0

interface = can0, family = 29, type = 3,proto = 1

<0x001> [8] 00 00 00 00 00 00 00 00
<0x002> [8] 01 00 00 00 00 00 00 00
<0x003> [8] 02 00 00 00 00 00 00 00
<0x004> [8] 03 00 00 00 00 00 00 00

8、重启

使用内核文档说的ip link set can0 type can restart-ms 100会报

RTNETLINK answers: Device or resource busy

9、环回测试

ip link set can0 down

 ip link set can0 type can bitrate 50000 loopback on/off

ip link set can0 up

candump can0 &

 cansend can0 -s 0x11 0x22 0x33 0x44 0x55 0x66 0x77 0x88

 10.、将两块板的can接口接起来,CANH对CANH, CANL对CANL,一边发送,另一边接收,测试之前速率要设置好,且can接口已经up.
#candump can0 开发板1执行接收命令

      #cansend can0 123#11223344556677  开发板2发送数据  

11、关于can工具的使用(cansend等),参考can源码目录下的lib.h文件, 里边讲得很清楚