===== CAN =====
==== CAN configuration STKa8Xx ====
DIP switch SW1 and SW2 are used to configure the CAN interfaces CAN1 and CAN2.
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{{:intern:general_information:tutorial:mba8xx-can.png?400|{{:intern:general_information:tutorial:mba8xx-can.png?400|}}
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==== List available CAN Interfaces ====
root@MBaXXX:~ ip link show
output:
1: lo: mtu 65536 qdisc noqueue state UNKNOWN mode DEFAULT group default qlen 1000
link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
2: can0: mtu 16 qdisc pfifo_fast state DOWN mode DEFAULT group default qlen 10
link/can
3: can1: mtu 16 qdisc pfifo_fast state DOWN mode DEFAULT group default qlen 10
link/can
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==== Activate CAN Interface ====
root@MBaXXX:~ ip link set can0 up
root@MBaXXX:~ ip link set can1 up
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==== Change Default CAN Bitrate ====
root@MBaXXX:~ ip link set can0 down
root@MBaXXX:~ ip link set can1 down
root@MBaXXX:~ ip link set can0 type can bitrate
root@MBaXXX:~ ip link set can1 type can bitrate
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==== Loopback Test CAN Interface ====
* Connect wires to the provided PHOENIX connectors from the Starterkit as shown below.\\
{{:intern:general_information:tutorial:mba8xx-can-loop.png?400|}}
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* Following command examples shows how to test the CAN interface
root@MBaXXX:~ ip link set can0 down
root@MBaXXX:~ ip link set can1 down
root@MBaXXX:~ ip link set can0 type can bitrate 500000
root@MBaXXX:~ ip link set can1 type can bitrate 500000
root@MBaXXX:~ ip link set can0 up
root@MBaXXX:~ ip link set can1 up
root@MBaXXX:~ candump can1&
root@MBaXXX:~ cansend can0 5A1#11.2233.44556677.88
output:
root@tqma8xqp-mba8xx:~# can1 5A1 [8] 11 22 33 44 55 66 77 88
root@MBaXXX:~ killall candump
root@MBaXXX:~ candump can0&
root@MBaXXX:~ cansend can1 5A1#11.2233.44556677.88
output:
root@tqma8xqp-mba8xx:~# can0 5A1 [8] 11 22 33 44 55 66 77 88
==== setting CAN bautrate ====
root@MBaXXX:~ canconfig can bitrate
++++ example |
root@MBAXXX:~ canconfig can0 bitrate 500000
++++
==== Activate CAN Interface ====
root@MBaXXX:~ ifconfig can up
++++ example |
root@MBaXXX:~ ifconfig can0 up
++++
==== CAN Test CAN0 to CAN1 ====
root@MBaXXX:~ candump can1&
root@MBaXXX:~ cansend can0
++++ example |
root@MBaXXX:~ candump can1&
root@MBaXXX:~ cansend can0 0x01 0x10
++++