===== CAN =====

<accordion collapsed="true">
<panel title="STKa8Xx">

==== CAN configuration STKa8Xx ====

DIP switch SW1 and SW2 are used to configure the CAN interfaces CAN1 and CAN2.
\\  
{{:intern:general_information:tutorial:mba8xx-can.png?400|{{:intern:general_information:tutorial:mba8xx-can.png?400|}}
\\
==== List available CAN Interfaces ====
<code>
root@MBaXXX:~ ip link show

output:
1: lo: <LOOPBACK,UP,LOWER_UP> 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: <NOARP,ECHO> mtu 16 qdisc pfifo_fast state DOWN mode DEFAULT group default qlen 10
    link/can
3: can1: <NOARP,ECHO> mtu 16 qdisc pfifo_fast state DOWN mode DEFAULT group default qlen 10
    link/can
</code>
\\
==== Activate CAN Interface ====
<code>
root@MBaXXX:~ ip link set can0 up
root@MBaXXX:~ ip link set can1 up
</code>
\\
==== Change Default CAN Bitrate ====
<code>
root@MBaXXX:~ ip link set can0 down
root@MBaXXX:~ ip link set can1 down
root@MBaXXX:~ ip link set can0 type can bitrate <baudrate>
root@MBaXXX:~ ip link set can1 type can bitrate <baudrate>
</code>
\\
==== 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|}}
\\
  * Following command examples shows how to test the CAN interface
<code>
root@MBaXXX:~ ip link set can0 down
root@MBaXXX:~ ip link set can1 down
</code>
<code>
root@MBaXXX:~ ip link set can0 type can bitrate 500000
root@MBaXXX:~ ip link set can1 type can bitrate 500000
</code>
<code>
root@MBaXXX:~ ip link set can0 up
root@MBaXXX:~ ip link set can1 up
</code>
<code>
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
</code>
<code>
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
</code>
</panel>
</accordion>



<WRAP hide>
==== setting CAN bautrate ====
<code>
root@MBaXXX:~ canconfig can<interface nr> bitrate <baudrate>
</code>
++++ example |
<code>
root@MBAXXX:~ canconfig can0 bitrate 500000
</code>
++++
==== Activate CAN Interface ====
<code>
root@MBaXXX:~ ifconfig can<interface nr> up
</code>
++++ example |
<code>
root@MBaXXX:~ ifconfig can0 up
</code>
++++
==== CAN Test CAN0 to CAN1 ====
<code>
root@MBaXXX:~ candump can1&
root@MBaXXX:~ cansend can0 <byte1> <byte2> 
</code>

++++ example |
<code>
root@MBaXXX:~ candump can1&
root@MBaXXX:~ cansend can0 0x01 0x10
</code>
++++
</WRAP>