BORA SOM/BELK-L/Pheripherals/CAN
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CAN[edit | edit source]
See CAN Pinout page and BXELK Vivado project for more details.
| Physical device | Processor's resource | Connector | Type | Notes |
|---|---|---|---|---|
| CAN BUS | can0 | J24 | differential CAN bus |
The following commands can be issued from command line in order to send and receive CAN frames:
root@bora:~# dmesg | grep -i can [ 0.643798] CAN device driver interface [ 0.997787] can: controller area network core (rev 20120528 abi 9) [ 1.008392] can: raw protocol (rev 20120528) [ 1.012661] can: broadcast manager protocol (rev 20120528 t) [ 1.018294] can: netlink gateway (rev 20130117) max_hops=1 root@bora:~# canconfig can0 stop can0 state: STOPPED root@bora:~# canconfig can0 bitrate 500000 can0 bitrate: 500000, sample-point: 0.875 root@bora:~# canconfig can0 start can0 state: ERROR-ACTIVE root@bora:~# cansend can0 -i 0x77 0x33 0x88 0x33 0x88 0x33 0x88 0x33 interface = can0, family = 29, type = 3, proto = 1 root@bora:~# cansend can0 -i 0x77 0x33 0x88 0x33 0x88 0x33 0x88 0x33 interface = can0, family = 29, type = 3, proto = 1 root@bora:~# cansend can0 -i 0x77 0x33 0x88 0x33 0x88 0x33 0x88 0x33 interface = can0, family = 29, type = 3, proto = 1 root@bora:~# candump can0 interface = can0, family = 29, type = 3, proto = 1 <0x100> [8] 12 34 56 78 9a bc de ff <0x100> [8] 12 34 56 78 9a bc de ff <0x100> [8] 12 34 56 78 9a bc de ff <0x100> [8] 12 34 56 78 9a bc de ff <0x100> [8] 12 34 56 78 9a bc de ff ^C root@bora:~#
In case canutils package is missing, user can install it directly from DAVE's BORA package server using smart update && smart install canutils commands:
root@bora:~# smart update Updating cache... ######################################## [100%] Fetching information for 'all'... -> https://yocto.dave.eu/belk-3.0.1/all/repodata/repomd.xml repomd.xml ######################################## [ 50%] [snip] Channels have 393 new packages. Saving cache... root@bora:~# smart install canutils Loading cache... Updating cache... ######################################## [100%] Computing transaction... Installing packages (2): canutils-4.0.6-r0@armv7a_vfp_neon libsocketcan2-0.0.9-r0@armv7a_vfp_neon 27.8kB of package files are needed. 46.8kB will be used. Confirm changes? (Y/n): y [..snip..]
See Advanced use of Yocto build system for more information about using Yocto packages and smart
