linux龙芯LS1B socketCAN测试（含canutils安装）

1.硬件

这里采用龙芯LS1B的开发板，linux内核版本 3.18.0，使用龙芯内置的CAN0总线进行通信测试。包含mips平台下的canutils安装。

2.配置linux内核

首先在linux内核选项如下，使能CAN总线，

  [*] Networking support  ---> 
    <*>   CAN bus subsystem support  --->
      CAN Device Drivers  --->
		    <*> Platform CAN drivers with Netlink support 
		    [*]   CAN bit-timing calculation 
        	<*> Philips/NXP SJA1000 devices  --->
         			 <*>   Generic Platform Bus based SJA1000 driver
          			 [*] Loongson1 CAN Controller 0

注：这里还需要配置使能pwm0，不然就会提示：can0：bit-timing not yet defined

Device Drivers   ---> 
[*]Pulse-Width Modulation (PWM) Support  --->
     <*>Loongson1 PWM support 
     [*] PWM0 support

重新编译内核，当内核起动后，打印如下信息，说明龙芯内置CAN配置成功

3.安装canutils

3.1下载源码

标题

下载canutils和libsocketcan

libsocketcan地址：https://public.pengutronix.de/software/libsocketcan/libsocketcan-0.0.11.tar.bz2

canutils地址：https://public.pengutronix.de/software/socket-can/canutils/v4.0/canutils-4.0.6.tar.bz2

3.2编译libsocketcan

tar -jxvf libsocketcan-0.0.11.tar.bz2

进入解压后目录，配置

./configure --host=mipsel-linux --prefix=/home/alice/cantest/libsocketcan/

编译安装

make

make install

在libsocketcan/生成3个文件夹如下

3.2 编译canutils

解压

tar -jxvf canutils-4.0.6.tar.bz2
cd ./canutils-4.0.6

将 libsocketcan 里面的头文件 libsocketcan.h can_netlink.h 复制到 canutils 的 include 里面，不然会报错
配置，编译安装

./configure --host=mipsel-linux --prefix=/home/alice/cantest/canutils/    libsocketcan_LIBS=-lsocketcan  LDFLAGS="-L/home/alice/cantest/libsocketcan/lib" libsocketcan_CFLAGS=-I/home/alice/cantest/libsocketcan/include
make
make install

4.配置龙芯CAN0

将canutil生成的文件bin目录拷到开发板中

停止can0通信，

./canconfig can0 stop
设置波特率，为250kbps
./canconfig can0 bitrate 250000
起动can0
./canconfig can0 start
如下所示，起动成功

[root@DMF:bin]#./canconfig can0 stop
can0 state: STOPPED
[root@DMF:bin]#./canconfig can0 bitrate 250000
sja1000_platform sja1000_platform.0 can0: setting BTR0=0x0a BTR1=0x1b
can0 bitrate: 250000, sample-point: 0.866
[root@DMF:bin]#./canconfig can0 start
can0 state: ERROR-ACTIVE

5.CAN0收发测试

打开can接收通信，通过USB-CAN Toos发送数据，开发板收到的can数据显示如下：

通过开发板cansend发送数据，USB-CAN Toos接收数据如下图

[root@DMF:bin]# ./cansend can0 -i 0x123 0x11 0x22 0x33 0x44 0x55 0x66 0x77 0x88
interface = can0, family = 29, type = 3, proto = 1