来源：jf_30051736
2023-06-10 22:45:28
(资料图片仅供参考)
1. 简介
ArmSoM-W3 RK3588 开发板中已集成AN总线：
专栏总目录CAN(controller Area Network)CAN BUS:控制器局域网络总线目前世界上绝大多数汽车制造厂商都采用CAN总线来实现汽车内部控制系统之间的数据通信。RK3568/RK3588的CAN驱动文件：drivers/net/can/rockchip/rockchip_canfd.c2. 内核配置
rockchip_linux_defconfig配置：CONFIG_CAN=yCONFIG_CAN_DEV=yCONFIG_CAN_ROCKCHIP=yCONFIG_CANFD_ROCKCHIP=ycd kernelmake ARCH=arm64 menuconfigmake savedefconfig3. DTS 节点配置
3.1 主要参数:
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
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 板级配置 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 >; //根据原理图配置};4. 调试
查询当前⽹络设备:ifconfig -aip 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CANcansend 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审核编辑：汤梓红
