(資料圖片)
1. 簡介
ArmSoM-W3 RK3588 開發板中已集成AN總線：
專欄總目錄CAN(controller Area Network)CAN BUS:控制器局域網絡總線目前世界上絕大多數汽車制造廠商都采用CAN總線來實現汽車內部控制系統之間的數據通信。RK3568/RK3588的CAN驅動文件：drivers/net/can/rockchip/rockchip_canfd.c2. 內核配置
rockchip_linux_defconfig配置：CONFIG_CAN=yCONFIG_CAN_DEV=yCONFIG_CAN_ROCKCHIP=yCONFIG_CANFD_ROCKCHIP=ycd kernelmake ARCH=arm64 menuconfigmake savedefconfig3. DTS 節點配置
3.1 主要參數:
interrupts = ;
轉換完成，產生中斷信號。
clock
時鐘屬性，用于驅動開關clk，reset屬性，用于每次復位總線。
pinctrl
3.2 公共配置 kernel-5.10/arch/arm64/boot/dts/rockchip/rk3588s.dtsi
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"; };3.3 板級配置 kernel-5.10/arch/arm64/boot/dts/rockchip/rk3588-armsom-w3.dts
/* can1 */&can1 { status = "okay"; assigned-clocks = < &cru CLK_CAN1 >; assigned-clock-rates = < 200000000 >; pinctrl-names = "default"; pinctrl-0 = < &can1m1_pins >; //根據原理圖配置};4. 調試
查詢當前?絡設備:ifconfig -aip link set can0 down //關閉CANip link set can0 type can bitrate 500000 //設置?特率500KHzip -details -statistics link show can0 //打印can0信息ip link set can0 up //啟動CANcansend can0 123#DEADBEEF //發送（標準幀,數據幀,ID:123,date:DEADBEEF）cansend can0 123#R //發送（標準幀,遠程幀,ID:123）cansend can0 00000123#12345678 //發送（擴展幀,數據幀,ID:00000123,date:DEADBEEF）cansend can0 00000123#R //發送（擴展幀,遠程幀,ID:00000123）candump can0 //candump can0審核編輯：湯梓紅
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