linux can驱动

1.硬件原理图

2.设备树

/{
     flexcan1: can@02090000 {
		compatible = "fsl,imx6ul-flexcan", "fsl,imx6q-flexcan";
		reg = <0x02090000 0x4000>;
		interrupts = <GIC_SPI 110 IRQ_TYPE_LEVEL_HIGH>;
		clocks = <&clks IMX6UL_CLK_CAN1_IPG>,
				<&clks IMX6UL_CLK_CAN1_SERIAL>;
		clock-names = "ipg", "per";
		stop-mode = <&gpr 0x10 1 0x10 17>;
		status = "disabled";
	};

        reg_can_3v3: regulator@0 {
            compatible = "regulator-fixed";
            reg = <0>;
            regulator-name = "can-3v3";
            regulator-min-microvolt = <3300000>;
            regulator-max-microvolt = <3300000>;
        };
};

&flexcan1 {
    pinctrl-names = "default";
    pinctrl-0 = <&pinctrl_flexcan1>;
    xceiver-supply = <&reg_can_3v3>;/* 指定 CAN 收发器的电压为 3.3V */
    status = "okay";
};

&iomuxc {
    pinctrl-names = "default";
    pinctrl-0 = <&pinctrl_hog_1>;
    imx6ul-evk {

        pinctrl_flexcan1: flexcan1grp{
            fsl,pins = <
                MX6UL_PAD_UART3_CTS_B__FLEXCAN1_TX         0x000010B0
                MX6UL_PAD_UART3_RTS_B__FLEXCAN1_RX         0x000010B0
            >;
        };
    };
};

3.设置开发板的 can0 接口，速度为 500Kbit/S
ip link set can0 type can bitrate 500000  //设置 can0，速率 500Kbit
ifconfig can0 up                                       //打开 can0
candump can0 &                                     //candump 后台接收数据

命令发送数据：
cansend can0 5A1#11.22.33.44.55.66.77.88