Difference between revisions of "Rock3/dev/can"
(→Test can function between two ROCK 3 A) |
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{{Languages|rock3/dev/adb}} | {{Languages|rock3/dev/adb}} | ||
| − | [[rock3 | ROCK 3]] > [[rock3/dev | Development]] > [[rock3/dev/can | | + | [[rock3 | ROCK 3]] > [[rock3/dev | Development]] > [[rock3/dev/can | CAN bus communication]] |
=== Description === | === Description === | ||
| − | This guide tells about how to use can on ROCK | + | This guide tells about how to use can on ROCK 3A. |
=== Preparation === | === Preparation === | ||
| − | * Two ROCK | + | * Two ROCK 3A running Linux OS |
* Two SN65HVD23x 3.3-V CAN Bus Transceivers boards. | * Two SN65HVD23x 3.3-V CAN Bus Transceivers boards. | ||
* Several Dupont wires. | * Several Dupont wires. | ||
| − | === Operations on ROCK | + | === Operations on ROCK 3A === |
==== Install can test tool ==== | ==== Install can test tool ==== | ||
$ sudo apt update | $ sudo apt update | ||
$ sudo apt-get install can-utils iproute2 | $ sudo apt-get install can-utils iproute2 | ||
| − | ==== Check the information about | + | ==== Check the information about can ==== |
Check can device | Check can device | ||
$ ifconfig can0 | $ ifconfig can0 | ||
| Line 48: | Line 48: | ||
1152 144 175 0 35 0 | 1152 144 175 0 35 0 | ||
TX: bytes packets errors dropped carrier collsns | TX: bytes packets errors dropped carrier collsns | ||
| − | 0 0 0 0 0 0 | + | 0 0 0 0 0 0 |
==== Test can function by loopback test ==== | ==== Test can function by loopback test ==== | ||
| − | Here we need one ROCK | + | Here we need one ROCK 3A. |
$ sudo ip link set can0 down | $ sudo ip link set can0 down | ||
| Line 62: | Line 62: | ||
You can run more '''candump can0 &''' to get more answer. | You can run more '''candump can0 &''' to get more answer. | ||
| − | ==== Test can function between two ROCK | + | ==== Test can function between two ROCK 3A ==== |
===== Hardware connection ===== | ===== Hardware connection ===== | ||
| − | ROCK | + | ROCK 3A One --- SN65HVD23x 3.3-V CAN Bus Transceivers Board One --- SN65HVD23x 3.3-V CAN Bus Transceivers Board Two --- ROCK 3A Two |
| + | |||
| + | ===== Example: ROCK 3A Two send data to ROCK 3A One via can ===== | ||
| − | |||
This is the c program : [[Media:Can_test.zip]] | This is the c program : [[Media:Can_test.zip]] | ||
| − | ROCK | + | |
| + | ROCK 3A One: | ||
$ gcc -Wall -g -O0 -o can_receive can_receive.c | $ gcc -Wall -g -O0 -o can_receive can_receive.c | ||
| Line 84: | Line 86: | ||
data[7] = 8 | data[7] = 8 | ||
| − | ROCK | + | ROCK 3A Two: |
$ gcc -Wall -g -O0 -o can_send can_secd.c | $ gcc -Wall -g -O0 -o can_send can_secd.c | ||
Latest revision as of 02:01, 7 February 2023
ROCK 3 > Development > CAN bus communication
Description
This guide tells about how to use can on ROCK 3A.
Preparation
- Two ROCK 3A running Linux OS
- Two SN65HVD23x 3.3-V CAN Bus Transceivers boards.
- Several Dupont wires.
Operations on ROCK 3A
Install can test tool
$ sudo apt update $ sudo apt-get install can-utils iproute2
Check the information about can
Check can device
$ ifconfig can0
can0: flags=193<UP,RUNNING,NOARP> mtu 72
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 144 bytes 1152 (1.1 KiB)
RX errors 175 dropped 0 overruns 0 frame 35
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 62
See more details about device can0
$ ip -details -statistic link show can0
2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 72 qdisc pfifo_fast state UP mode DEFAULT group defa
ult qlen 10
link/can promiscuity 0 minmtu 0 maxmtu 0
can <FD> state ERROR-WARNING (berr-counter tx 0 rx 0) restart-ms 0
bitrate 1000000 sample-point 0.740
tq 20 prop-seg 18 phase-seg1 18 phase-seg2 13 sjw 1
rockchip_canfd: tseg1 1..128 tseg2 1..128 sjw 1..128 brp 1..256 brp-inc 2
dbitrate 1000000 dsample-point 0.720
dtq 40 dprop-seg 8 dphase-seg1 9 dphase-seg2 7 dsjw 1
rockchip_canfd: dtseg1 1..32 dtseg2 1..16 dsjw 1..16 dbrp 1..256 dbrp-inc 2
clock 100000000
re-started bus-errors arbit-lost error-warn error-pass bus-off
0 140 0 0 15 0 numtxqueues 1 n
umrxqueues 1 gso_max_size 65536 gso_max_segs 65535
RX: bytes packets errors dropped overrun mcast
1152 144 175 0 35 0
TX: bytes packets errors dropped carrier collsns
0 0 0 0 0 0
Test can function by loopback test
Here we need one ROCK 3A.
$ sudo ip link set can0 down $ sudo ip link set can0 type can bitrate 1000000 dbitrate 1000000 loopback on fd on $ sudo ip link set can0 up $ sudo candump can0 & $ sudo cansend can0 123#11223344 can0 123 [4] 11 22 33 44
You can run more candump can0 & to get more answer.
Test can function between two ROCK 3A
Hardware connection
ROCK 3A One --- SN65HVD23x 3.3-V CAN Bus Transceivers Board One --- SN65HVD23x 3.3-V CAN Bus Transceivers Board Two --- ROCK 3A Two
Example: ROCK 3A Two send data to ROCK 3A One via can
This is the c program : Media:Can_test.zip
ROCK 3A One:
$ gcc -Wall -g -O0 -o can_receive can_receive.c $ sudo ./can_receive this is a can receive demo can_id = 0x123 can_dlc = 8 data[0] = 1 data[1] = 2 data[2] = 3 data[3] = 4 data[4] = 5 data[5] = 6 data[6] = 7 data[7] = 8
ROCK 3A Two:
$ gcc -Wall -g -O0 -o can_send can_secd.c $ sudo ./can_send this is a can send demo can_id = 0x123 can_dlc = 8 data[0] = 1 data[1] = 2 data[2] = 3 data[3] = 4 data[4] = 5 data[5] = 6 data[6] = 7 data[7] = 8
These are the communication between the two boards.
Troubleshooting
Check ROCK 3 FAQs first, if it doesn't help, start a new post on the forum https://forum.radxa.com/c/rock3.