Difference between revisions of "CAN bus Linux driver"
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Revision as of 17:04, 30 January 2009
WORK IN PROGRESS
The current CAN bus driver uses SocketCAN API which is now the official CAN API for Linux.
SocketCAN is based on the Linux socket. Further details can be found on the links at the bottom of this page.
Driver installation
$ make linux26-menuconfig
in Device Drivers ---> SPI support ---> select <M> Freescale iMX SPI controller as module
in Networking ---> select <M> CAN bus subsystem support as module in Networking ---> CAN bus subsystem support --> select <M> Raw CAN Protocol as module in Networking ---> CAN bus subsystem support --> select <M> Broadcast Manager CAN Protocol as module in Networking ---> CAN bus subsystem support --> CAN Device Drivers --> select <M> Virtual Local CAN Interface as module in Networking ---> CAN bus subsystem support --> CAN Device Drivers --> select <M> Microchip 251x series SPI CAN Controller as module
Usage
- load all the needed drivers:
insmod /lib/modules/drivers/spi/spi_imx.ko insmod /lib/modules/2.6.23.1/kernel/net/can/can.ko insmod /lib/modules/2.6.23.1/kernel/net/can/candev.ko insmod /lib/modules/2.6.23.1/kernel/net/can/can-raw.ko insmod /lib/modules/2.6.23.1/kernel/drivers/net/can/mcp251x.ko
Quick test
Once the driver installed, the CAN interface has to be started like a standard net interface
ifconfig can0 up
and can be stopped like that:
ifconfig can0 down
The socketCAN version can be retrieved like that:
cat /proc/net/can/version
The socketCAN statistics can be retrieved like that:
cat /proc/net/can/stats
Userspace tools
- Several tools are provided by socketCAN:
- candump: dump traffic on a CAN network
- cansend: simple command line tool to send CAN-frames via CAN_RAW sockets
- cangen: CAN frames generator for testing purpose
- canplayer: send CAN frames from a file to a CAN interface
- These tools can be compiled and installed on the target by means of the buildroot menuconfig:
[armadeus]$ make menuconfig
Links
- http://developer.berlios.de/projects/socketcan/ (CAN Linux Driver)
- http://ww1.microchip.com/downloads/en/DeviceDoc/21801e.pdf (MCP2515 datasheet)
- http://www.kvaser.com/can/protocol/index.htm (CAN introduction)
