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Difference between revisions of "Rock3/dev/can"

< Rock3‎ | dev
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{{Languages|rock3/dev/adb}}
 
{{Languages|rock3/dev/adb}}
  
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     [[rock3 | ROCK 3]] > [[rock3/dev | Development]] > [[rock3/dev/can | Using Can]]
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     [[rock3 | ROCK 3]] > [[rock3/dev | Development]] > [[rock3/dev/can | CAN bus communication]]
  
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===Description===
+
=== Description ===
 +
This guide tells about how to use can on ROCK 3A.
  
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ROCK 3 supports can function. Here we will test it on ROCK 3A.
+
=== Preparation ===
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Here we use two board to test this function.
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* Two ROCK 3A running Linux OS
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===Hardware support===
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* Two SN65HVD23x 3.3-V CAN Bus Transceivers boards.
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* Several Dupont wires.
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Support hardware platform:
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* ROCK 3A x2
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* Dupont Line
+
  
 
=== Operations on ROCK 3A ===
 
=== Operations on ROCK 3A ===
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==== Install Test Tool ====
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==== Install can test tool ====
 
  $ sudo apt update
 
  $ sudo apt update
 
  $ sudo apt-get install can-utils iproute2
 
  $ sudo apt-get install can-utils iproute2
  
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==== Check the information of Can ====
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==== Check the information about can ====
 
Check can device  
 
Check can device  
 
  $ ifconfig can0
 
  $ ifconfig can0
Line 31: Line 29:
 
         device interrupt 62   
 
         device interrupt 62   
  
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Check Can detailed information
+
See more details about device can0
 
  $ ip -details -statistic link show 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
 
  2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 72 qdisc pfifo_fast state UP mode DEFAULT group defa
Line 50: 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  
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     0          0        0      0      0      0      
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     0          0        0      0      0      0
  
 
==== Test can function by loopback test ====
 
==== Test can function by loopback test ====
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Just need one board.
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Here we need one ROCK 3A.
 +
 
 
  $ sudo ip link set can0 down
 
  $ 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 type can bitrate 1000000 dbitrate 1000000 loopback on fd on
Line 60: Line 59:
 
  $ sudo cansend can0 123#11223344
 
  $ sudo cansend can0 123#11223344
 
  can0  123  [4]  11 22 33 44
 
  can0  123  [4]  11 22 33 44
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you can run more '''candump can0 &''' to get more answer.
 
  
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==== Test can function between two Rock 3a ====
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You can run more '''candump can0 &''' to get more answer.
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===== '''how to connect two board:''' =====
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board A:CAN1_TX_M0 connect to board B:CAN1_TX_M0
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==== 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 =====
  
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board A:CAN1_RX_M0 connect to board B:CAN1_RX_M0
 
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===== '''board A to be receiver and board B to be sender''' =====
 
 
This is the c program : [[Media:Can_test.zip]]
 
This is the c program : [[Media:Can_test.zip]]
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Board A :
+
 
 +
ROCK 3A One:
 +
 
 
  $ gcc -Wall -g -O0 -o can_receive can_receive.c
 
  $ gcc -Wall -g -O0 -o can_receive can_receive.c
 
  $ sudo ./can_receive
 
  $ sudo ./can_receive
Line 83: Line 85:
 
  data[6] = 7
 
  data[6] = 7
 
  data[7] = 8
 
  data[7] = 8
−
+
 
−
Board B :
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ROCK 3A Two:
 +
 
 
  $ gcc -Wall -g -O0 -o can_send can_secd.c
 
  $ gcc -Wall -g -O0 -o can_send can_secd.c
 
  $ sudo ./can_send
 
  $ sudo ./can_send
Line 98: Line 101:
 
  data[6] = 7
 
  data[6] = 7
 
  data[7] = 8
 
  data[7] = 8
−
This is the communication between the two boards.
+
 
 +
These are the communication between the two boards.
 +
 
 +
==== Troubleshooting ====
 +
 
 +
Check [[rock3/FAQs |ROCK 3 FAQs]] first, if it doesn't help, start a new post on the forum https://forum.radxa.com/c/rock3.

Latest revision as of 02:01, 7 February 2023

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    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.

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