How to test CAN/CANFD in linux
The Linux kernel supports CAN with the SocketCAN framework.
Driver installation
$ make linux-menuconfig
Networking support --->
<M> CAN bus subsystem support --->
--- CAN bus subsystem support
<M> Raw CAN Protocol (raw access with CAN-ID filtering)
<M> Broadcast Manager CAN Protocol (with content filtering)
CAN Device Drivers --->
<M> Virtual Local CAN Interface (vcan)
<M> Platform CAN drivers with Netlink support
[*] CAN bit-timing calculation
<M> Microchip 251x series SPI CAN ControllerRootFs
You need to prepare 3 components for the root file system.
要在linux下面配置和测试CAN，需要安装以下三个组件。
- iproute2 （配置CAN接口时需要）
- libsocketcan（使用CAN必须）
- can-utils (CAN的测试小工具，linux下测试CAN比较好用应用程序)
下面提供buildroot和源码安装两种方式，根据自己的情况取其一就可以了。
iproute2
- buildroot
Package Selection for the target --->
Networking applications --->
[*] iproute2- Source install
- Download:Index of /pub/linux/utils/net/iproute2/
- Edit config.mk : Modify "AR" and "CC" according to the compiler you are using.
ifeq ("$(origin V)", "command line") VERBOSE = $(V) endif ifndef VERBOSE VERBOSE = 0 endif ifeq ($(VERBOSE),1) Q = else Q = @ endif ifeq ($(VERBOSE), 0) QUIET_CC = @echo ' CC '$@; QUIET_AR = @echo ' AR '$@; QUIET_LINK = @echo ' LINK '$@; QUIET_YACC = @echo ' YACC '$@; QUIET_LEX = @echo ' LEX '$@; endif AR:=aarch64-linux-gnu-ar CC:=aarch64-linux-gnu-gcc TC_CONFIG_NO_XT:=y IP_CONFIG_SETNS:=y CFLAGS += -DHAVE_SETNS CFLAGS += -DNEED_STRLCPY %.o: %.c $(QUIET_CC)$(CC) $(CFLAGS) $(EXTRA_CFLAGS) $(CPPFLAGS) -c -o $@ $< TC_CONFIG_XT:=n - make&install
cd ${BR_BINARIES_DIR}/iproute2-4.20.0 make clean make make install DESTDIR=$TMP_ROOT_DIR
libsocktcan
- buildroot
Target packages --->
Libraries --->
Networking --->
[*] libsocketcancan-utils
- buildroot
Target packages --->
Networking applications --->
[*] can-utilsUsage of can-utils
- Link up
- CAN 2.0 link up
ip link set can0 up type can bitrate 100000 - CAN FD link up
ip link set can0 up type can bitrate 500000 dbitrate 2000000 fd on
-
- If the following error occurs when you do the last instruction :
check that this command: # which ip return this message: /sbin/ip and not this one : /bin/ip If the binary is installed in /bin instead of /sbin, the executable file is a link to busybox and the command to set the bitrate doesn't work on busybox, so try the following instructions: $ make busybox-clean $ make busybox-dirclean $ make menuconfig Package Selection for the target ---> Networking applications ---> [*] iproute2 $ make Then, reflash your rootfs.ip: either "dev" is duplicate, or "type" is garbage
- If the following error occurs when you do the last instruction :
- CAN 2.0 link up
- Send can frames
#The following command sends 3 bytes on the bus (0x1E, 0x10, 0x10) with the identifier 500. cansend can0 500#1E.10.10 #You can send a remote request message cansend can0 500#R #gen and send random frames cangen can0 -I i -m -v -n 100 -g 10
cansen 后的帧数据格式详解如下
* Examples:
*
* 123# -> standard CAN-Id = 0x123, len = 0
* 12345678# -> extended CAN-Id = 0x12345678, len = 0
* 123#R -> standard CAN-Id = 0x123, len = 0, RTR-frame
* 123#R0 -> standard CAN-Id = 0x123, len = 0, RTR-frame
* 123#R7 -> standard CAN-Id = 0x123, len = 7, RTR-frame
* 123#R8_9 -> standard CAN-Id = 0x123, len = 8, dlc = 9, RTR-frame
* 7A1#r -> standard CAN-Id = 0x7A1, len = 0, RTR-frame
*
* 123#00 -> standard CAN-Id = 0x123, len = 1, data[0] = 0x00
* 123#1122334455667788 -> standard CAN-Id = 0x123, len = 8
* 123#1122334455667788_E -> standard CAN-Id = 0x123, len = 8, dlc = 14
* 123#11.22.33.44.55.66.77.88 -> standard CAN-Id = 0x123, len = 8
* 123#11.2233.44556677.88 -> standard CAN-Id = 0x123, len = 8
* 32345678#112233 -> error frame with CAN_ERR_FLAG (0x2000000) set
*
* 123##0112233 -> CAN FD frame standard CAN-Id = 0x123, flags = 0, len = 3
* 123##1112233 -> CAN FD frame, flags = CANFD_BRS, len = 3
* 123##2112233 -> CAN FD frame, flags = CANFD_ESI, len = 3
* 123##3 -> CAN FD frame, flags = (CANFD_ESI | CANFD_BRS), len = 0
* ^^
* CAN FD extension to handle the canfd_frame.flags content例子：
cansend can0 1F334455##0112233445566778899aabbccdd
cansend can0 1F334455##1112233445566778899aabbccdd 
cansend can0 1F334455##3112233445566778899aabbccdd 
补充
can在linux下的配置，详细的内容还是参见：https://www.kernel.org/doc/Documentation/networking/can.txt
$ ip link set can0 type can help
Usage: ip link set DEVICE type can
[ bitrate BITRATE [ sample-point SAMPLE-POINT] ] |
[ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1
phase-seg2 PHASE-SEG2 [ sjw SJW ] ][ dbitrate BITRATE [ dsample-point SAMPLE-POINT] ] |
[ dtq TQ dprop-seg PROP_SEG dphase-seg1 PHASE-SEG1
dphase-seg2 PHASE-SEG2 [ dsjw SJW ] ][ loopback { on | off } ]
[ listen-only { on | off } ]
[ triple-sampling { on | off } ]
[ one-shot { on | off } ]
[ berr-reporting { on | off } ]
[ fd { on | off } ]
[ fd-non-iso { on | off } ]
[ presume-ack { on | off } ][ restart-ms TIME-MS ]
[ restart ]Where: BITRATE := { 1..1000000 }
SAMPLE-POINT := { 0.000..0.999 }
TQ := { NUMBER }
PROP-SEG := { 1..8 }
PHASE-SEG1 := { 1..8 }
PHASE-SEG2 := { 1..8 }
SJW := { 1..4 }
RESTART-MS := { 0 | NUMBER }
Example configuring 500 kbit/s arbitration bitrate and 4 Mbit/s data bitrate:
$ ip link set can0 up type can bitrate 500000 sample-point 0.75 \
dbitrate 4000000 dsample-point 0.8 fd on
$ ip -details link show can0
5: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 72 qdisc pfifo_fast state UNKNOWN \
mode DEFAULT group default qlen 10
link/can promiscuity 0
can <FD> state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
bitrate 500000 sample-point 0.750
tq 50 prop-seg 14 phase-seg1 15 phase-seg2 10 sjw 1
pcan_usb_pro_fd: tseg1 1..64 tseg2 1..16 sjw 1..16 brp 1..1024 \
brp-inc 1
dbitrate 4000000 dsample-point 0.800
dtq 12 dprop-seg 7 dphase-seg1 8 dphase-seg2 4 dsjw 1
pcan_usb_pro_fd: dtseg1 1..16 dtseg2 1..8 dsjw 1..4 dbrp 1..1024 \
dbrp-inc 1
clock 80000000
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