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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: <NOARP,ECHO> 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: <NOARP,ECHO> mtu 16 qdisc pfifo_fast state DOWN qlen 10 link/can can <LOOPBACK> 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: <NOARP,UP,LOWER_UP,ECHO> 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