电子说
CONFIG_CAN=y
CONFIG_CAN_DEV=y
CONFIG_CAN_ROCKCHIP=y
CONFIG_CANFD_ROCKCHIP=y
cd kernel
make ARCH=arm64 menuconfig
make savedefconfig
interrupts = ;
转换完成,产生中断信号。
clock
时钟属性,用于驱动开关clk,reset属性,用于每次复位总线。
pinctrl
can1: can@fea60000 {
compatible = "rockchip,can-2.0";
reg = < 0x0 0xfea60000 0x0 0x1000 >;
interrupts = < GIC_SPI 342 IRQ_TYPE_LEVEL_HIGH >;
clocks = < &cru CLK_CAN1 >, < &cru PCLK_CAN1 >;
clock-names = "baudclk", "apb_pclk";
resets = < &cru SRST_CAN1 >, < &cru SRST_P_CAN1 >;
reset-names = "can", "can-apb";
pinctrl-names = "default";
pinctrl-0 = < &can1m0_pins >;
tx-fifo-depth = < 1 >;
rx-fifo-depth = < 6 >;
status = "disabled";
};
/* can1 */
&can1 {
status = "okay";
assigned-clocks = < &cru CLK_CAN1 >;
assigned-clock-rates = < 200000000 >;
pinctrl-names = "default";
pinctrl-0 = < &can1m1_pins >; //根据原理图配置
};
ifconfig -a
ip link set can0 down //关闭CAN
ip link set can0 type can bitrate 500000 //设置⽐特率500KHz
ip -details -statistics link show can0 //打印can0信息
ip link set can0 up //启动CAN
cansend can0 123#DEADBEEF //发送(标准帧,数据帧,ID:123,date:DEADBEEF)
cansend can0 123#R //发送(标准帧,远程帧,ID:123)
cansend can0 00000123#12345678 //发送(扩展帧,数据帧,ID:00000123,date:DEADBEEF)
cansend can0 00000123#R //发送(扩展帧,远程帧,ID:00000123)
candump can0 //candump can0
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