linux系统下can的驱动测试

测试can需要ip,can-utils和libsocketcan库.

通过ip工具配置can,如速率,启用和禁用can等.不能用buildroot编译出来的ip,需要重新编译.

1. 编译ip:

ip源码 http://pkgs.fedoraproject.org/repo/pkgs/iproute/iproute2-2.6.39.tar.gz/8a3b6bc77c2ecf752284aa4a6fc630a6/iproute2-2.6.39.tar.gz

1>. 修改Makefile

DESTDIR=/home/tom/myd-xc7z010/usr/ 修改安装目录

#DBM_INCLUDE:=$(ROOTDIR)/usr/include 屏蔽屏这行

CC = arm-xilinx-linux-gnueabi-gcc 使用交叉编译器编译

2>. 运行ip源码目录下的build.sh编译, build.sh内容:

#!/bin/sh

# create by myir tom 2015-01-28

# put this file under the ip source root dir

cp misc/Makefile{,.orig}

sed '/^TARGETS/s@arpd@@g' misc/Makefile.orig > misc/Makefile

export GNUEABI=arm-xilinx-linux-gnueabi

export CC=$GNUEABI-gcc

export LD=$GNUEABI-ld

export NM=$GNUEABI-nm

export AR=$GNUEABI-ar

export RANLIB=$GNUEABI-ranlib

export CXX=$GNUEABI-c++

export PREFIX=$FILESYS_PATH/usr

export CROSS_COMPILE_PREFIX=$PREFIX

export PATH=$TOOL_CHAIN_PATH/bin:$PATH

export DBM_INCLUDE=/usr/include

export INCLUDES=/usr/include

export DESTDIR=$PREFIX/

./configure --host=arm-xilinx-linux-gnueabi --prefix=$PREFIX --enable-debug

make

sudo make install

3>. 将ip工具copy到文件系统下

将/home/tom/myd-xc7z010/usr/sbin/ip copy到嵌入式文件系统目录/usr/sbin下,还需要把buildroot自带的ip(在/sbin目录下)重命名为ip_buildroot.

查看ip版本和用法:

$ ./ip -V

ip utility, iproute2-ss110629

$ ./ip link help

Usage: ip link add link DEV [ name ] NAME

[ txqueuelen PACKETS ]

[ address LLADDR ]

[ broadcast LLADDR ]

[ mtu MTU ]

type TYPE [ ARGS ]

ip link delete DEV type TYPE [ ARGS ]

ip link set { dev DEVICE | group DEVGROUP } [ { up | down } ]

[ arp { on | off } ]

[ dynamic { on | off } ]

[ multicast { on | off } ]

[ allmulticast { on | off } ]

[ promisc { on | off } ]

[ trailers { on | off } ]

[ txqueuelen PACKETS ]

[ name NEWNAME ]

[ address LLADDR ]

[ broadcast LLADDR ]

[ mtu MTU ]

[ netns PID ]

[ alias NAME ]

[ vf NUM [ mac LLADDR ]

[ vlan VLANID [ qos VLAN-QOS ] ]

[ rate TXRATE ] ]

[ master DEVICE ]

[ nomaster ]

ip link show [ DEVICE | group GROUP ]

TYPE := { vlan | veth | vcan | dummy | ifb | macvlan | can }

2. can-utils和libsocketcan可以使用buildroot编译

Target packages > Libraries > Networking选上

[*] libsocketcan

Target packages > Networking applications选上

[*] can-utils

3. 测试

can接口需要在down状态下才能设置

1>. 查看can接口状态

down下的状态

# ip link set can0 down

# ip -details link show can0

2: can0: mtu 16 qdisc pfifo_fast state DOWN qlen 10

link/can

can state STOPPED (berr-counter tx 0 rx 0) restart-ms 0

bitrate 49999 sample-point 0.875

tq 2500 prop-seg 3 phase-seg1 3 phase-seg2 1 sjw 1

xilinx_can: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..256 brp-inc 1

clock 99999999

loopback状态

# ip link set can0 type can bitrate 50000 loopback on

xilinx_can e0008000.can can0: bitrate error 0.0%

# ip -details link show can0

2: can0: mtu 16 qdisc pfifo_fast state DOWN qlen 10

link/can

can state STOPPED (berr-counter tx 0 rx 0) restart-ms 0

bitrate 49999 sample-point 0.875

tq 2500 prop-seg 3 phase-seg1 3 phase-seg2 1 sjw 1

xilinx_can: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..256 brp-inc 1

clock 99999999

up下的状态

# ip link set can0 down

# ip link set can0 type can bitrate 50000 loopback off

xilinx_can e0008000.can can0: bitrate error 0.0%

# ip link set can0 up

# ip -details link show can0

2: can0: mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10

link/can

can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0

bitrate 49999 sample-point 0.875

tq 2500 prop-seg 3 phase-seg1 3 phase-seg2 1 sjw 1

xilinx_can: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..256 brp-inc 1

clock 99999999

2>. 使用loopback模式测试:

使用loopback模式可测试本机的can驱动是否正常工作.

# ip link set can0 down

# ip link set can0 type can bitrate 50000 loopback on

xilinx_can e0008000.can can0: bitrate error 0.0%

# ip link set can0 up

# candump can0 &

# cansend can0 123#11223344556677

# can0 123 [7] 11 22 33 44 55 66 77

can0 123 [7] 11 22 33 44 55 66 77

3>. 将两块板的can接口接起来,CANH对CANH, CANL对CANL,一边发送,另一边接收,测试之前速率要设置好,且can接口已经up.

#candump can0 开发板1执行接收命令

#cansend can0 123#11223344556677 开发板2发送数据

4> 关于can工具的使用(cansend等),参考can源码目录下的lib.h文件, 里边讲得很清楚