RK3588-CAN总线 热文
2023-06-11 16:44:31
jf_30051736 2023-06-11 16:44:31
(资料图片)
CONFIG_CAN=yCONFIG_CAN_DEV=yCONFIG_CAN_ROCKCHIP=yCONFIG_CANFD_ROCKCHIP=y
内核配置:cd kernelmake ARCH=arm64 menuconfigmake savedefconfig
选择:Networking support ---> CAN bus subsystem support ( )--->CAN Device Drivers() ---> Platform CAN drivers with Netlink support(*)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"; };
compatible = “rockchip,can-1.0” ,rockchip,can-1.0用来匹配can控制器驱动。compatible = “rockchip,can-2.0” ,rockchip,can-2.0用来匹配canfd控制器驱动。assigned-clock-rates用来配置can的始终频率,如果CAN的比特率低于等于3M建议修改CAN时钟到100M,信号更稳定。高于3M比特率的,时钟设置200M就可以。pinctrl配置:根据实际板卡连接情况配置can_h和can_l的iomux作为can功能使用。/* 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};
由于系统根据上述dts节点创建的CAN设备只有一个,而第一个创建的设备为CAN0ifconfig -a
CAN启动ip link set can0 down //关闭CANip link set can0 type can bitrate 500000 //设置⽐特率500KHzip -details -statistics link show can0 //打印can0信息ip link set can0 up //启动CAN
CAN发送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)
CAN接收candump can0 //candump can0
审核编辑:汤梓红
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