Linux CAN驱动及测试总结

平台：Zynq-7010     内核：Linux3.14.52

Xilinx官网CAN驱动相关： http://www.wiki.xilinx.com/Linux+CAN+driver

1、内核中开启CAN总线：

    1）进入内核源码顶层目录 cd /opt/hzzd/linux/linux-xlnx-xilinx-v2014.2.01/

    2）make ARCH=arm CROSS_COMPILE=arm-xilinx-linux-gnueabi- menuconfig

    3）选中"Networking support"->"CAN bus subsystem support"->"CAN device drivers"->"xilinx CAN"，保存退出；

2、设备树中添加：

    

  
  
For Zynq CANPS Dts file:
    zynq_can_0: can@e0008000 {
            compatible = "xlnx,zynq-can-1.0";
            clocks = <&clkc 19>, <&clkc 36>;
            clock-names = "can_clk", "pclk";
            reg = <0xe0008000 0x1000>;
            interrupts = <0 28 4>;
            interrupt-parent = <&intc>;
            tx-fifo-depth = <0x40>;
            rx-fifo-depth = <0x40>;
        };
For Axi CAN Dts file:
    axi_can_0: axi-can@40000000 {
            compatible = "xlnx,axi-can-1.00.a";
            clocks = <&clkc 0>, <&clkc 1>;
            clock-names = "can_clk","s_axi_aclk" ;
            reg = <0x40000000 0x10000>;
            interrupt-parent = <&intc>;
            interrupts = <0 59 1>;
            tx-fifo-depth = <0x40>;
            rx-fifo-depth = <0x40>;
        };

3、上述Xilinx官网下载测试lib包，注意需将libsocketcan.so.2.2.0拷贝到目标板的/lib文件夹下，并建立快捷方式：ln -s libsocketcan.so.2.2.0 libsocketcan.so.2；

4、编写CAN的socket收发测试程序canApp；

5、以下步骤均指在目标板操作：

root@hzzd:/mnt/zynq_canutils# ./canconfig can0 bitrate 200000              

XILINX_CAN e0008000.can can0: bitrate error 0.0%

can0 bitrate: 199999, sample-point: 0.750

root@hzzd:/mnt/zynq_canutils# ./canconfig can0 start         

xiao's open

can0 state: ERROR-ACTIVE

root@hzzd:/mnt/zynq_canutils# cd ..

root@hzzd:/mnt# ./canApp 

1

2

can frame sent 0