BoneBlack am335x can0 通讯配置与测试

准备工具：

　　1、内核3.14.65，u-boot、文件系统

　　2、boneblack开发板

　　3、串口线、电源线，测试线，测试夹

一、配置内核支持CAN通讯

[*] Networking support ->

   <*|M> CAN bus subsystem support ->

      <*|M> Raw CAN Protocol (raw access with CAN-ID filtering)

      <*|M> Broadcast Manager CAN Protocol (with content filtering)

      <*|M> CAN Gateway/Router (with netlink configuration)

         CAN Device Drivers ->

            <*|M>   Platform CAN drivers with Netlink support

            [*]     CAN bit-timing calculation

            <*|M>   Bosch C_CAN/D_CAN devices ->

               <M> Generic Platform Bus based C_CAN/D_CAN driver

　　can通讯的内核配置我选择的是直接加载，并不是以模块化的方式将can模块加载进内核的。

　　配置完之后编译内核。

二配置内核的设备树文件，使其支持CAN0，也可以根据自己的硬件选择不同的引脚配置。

　　在am335x-bone-common.dtsi的文件下的am33xx_pinmux节点下添加can0的引脚配置

dcan0_pins_default: dcan0_pins_default {

        pinctrl-single,pins = <

            0x178 (PIN_OUTPUT | MUX_MODE2) /* uart1_ctsn.d_can0_tx */

            0x17c (PIN_INPUT_PULLDOWN | MUX_MODE2) /* uart1_rtsn.d_can0_rx */

        >;

　　我选择Boneblack上的uart1_ctsn作为can0的发送引脚，uart1_rtsn作为can0的接收引脚

　　然后在am335x-bone-common.dtsi文件的最下面添加can0的节点

&dcan0 {

    status = "okay";    /* 这里要为okay，如果是disable的话当系统启动起来之后利用命令ifconfig -a或ipaddr会看不到can0的 */

    pinctrl-names = "default";

    pinctrl- = <&dcan0_pins_default>;

};

　　修改之后保存，然后编译设备树。

三、将生成的内核，和设备树下载到Boneblack开发板中，如何下载前面有介绍。

　　启动开发板，启动log如下：

U-Boot SPL 2016.03 (Oct   - ::)

preloader_console_init()

>>spl:SDRAM_init()

>>spl:board_init_r()

 MAIN_OSC: 24Mhz

 DPLL_Mpu_Freq: 300MHz

 DPLL_Core_Freq: 100MHz

 DPLL_Per_Freq_usb_phy_clk: 960MHz

 DPLL_Per_Freq_PRU_ICSS_Uart_moduclk: 192MHz

 DPLL_Per_Freq_MMC_moduclk: 96MHz

 DPLL_Per_Freq_SPI_moduclk: 48MHz

 DPLL_Per_Freq_UART_moduclk: 48MHz

 DPLL_Per_Freq_I2C_moduclk: 48MHz

 This is sure,only I think

/arch/arm/cpu/armv7/omap-common/save_omap_boot_params

/arch/arm/cpu/armv7/omap-common/gpmc_init

/arch/arm/cpu/armv7/omap-common/i2c_init

/arch/arm/cpu/armv7/omap-common/arch_misc_init()

/arch/arm/cpu/armv7/omap-common/hw_watchdog_init()

/arch/arm/cpu/armv7/omap-common/am33xx_spl_board_init()

Trying to boot from MMC

MMC->xxxx/drivers/mmc/mmc.c2

reading args

spl_load_image_fat_os: error reading image args, err - -

reading u-boot.img

reading u-boot.img

U-Boot 2016.03 (Oct   - :: +)

U-Boot code:  -> 808DA324  BSS_END: -> 80926BBC

       Watchdog enabled

I2C:   ready

DRAM:   MiB

NAND:   MiB

nand_init->xxxx/drivers/mtd/nand/nand.c

MMC:   OMAP SD/MMC: , OMAP SD/MMC:

MMC->xxxx/drivers/mmc/mmc.c1

MMC->xxxx/drivers/mmc/mmc.c2

xxxx/common/env_common.c

*** Error - No Valid Environment Area found

*** Warning - bad CRC, using default environment

xxxx/common/env_common.c

Net:   xxx/board/ti/am335x/board_eth_init--->,6be7

xxx/board/ti/am335x/board_eth_init--->,5fab5ef4

<ethaddr> not set. Validating first E-fuse MAC

Here at xxx/drivers/net/cpsw.c

phy_reg--->

phy_reg--->

phy_reg--->

phy_reg---> c0f1

phy_reg---> 1e1

phy_reg--->

phy_reg--->

phy_reg---> ffff

phy_reg---> ffff

phy_reg---> ffff

phy_reg---> ffff

phy_reg---> ffff

phy_reg---> ffff

phy_reg---> ffff

phy_reg---> ffff

phy_reg--->

phy_reg--->

phy_reg--->

phy_reg---> e0

phy_reg---> ffff

phy_reg--->

phy_reg--->

phy_reg--->

phy_reg--->

phy_reg---> ffff

phy_reg---> ffff

phy_reg--->

phy_reg--->

phy_reg--->

phy_reg--->

phy_reg--->

phy_reg--->

End

xxx/Board/Ti/Am335x/Board.c:---->Ethernet_init

maria: ---->

maria: ----> 410000ff

maria: ---->

maria: ---->

maria: ---->

maria: ---->

maria: ---->

maria: ---->

maria: ---->

maria: ---->

maria: ----> 23e00040

maria: ---->

maria: ---->

maria: ---->

xxx/Board/Ti/Am335x/Board.c:---->Ethernet_init

cpsw, usb_ether

NET: -> xxxx/net/eth_legacy.c

Press SPACE to abort autoboot in  seconds

## Error: "envboot" not defined

 lcd reset

Card did not respond to voltage select!

Card did not respond to voltage select!

Card did not respond to voltage select!

switch to partitions #, OK

mmc1(part ) is current device

Scanning mmc :...

switch to partitions #, OK

mmc1(part ) is current device

SD/MMC found on device

reading boot.scr

** Unable to read file boot.scr **

reading uEnv.txt

 bytes read in  ms (62.5 KiB/s)

Loaded environment from uEnv.txt

Importing environment from mmc ...

Running uenvcmd ...

reading uImage

 bytes read in  ms (16.6 MiB/s)

reading am335x-boneblack.dtb

 bytes read in  ms (3.5 MiB/s)

## Booting kernel from Legacy Image at  ...

   Image Name:   Linux-3.14.

   Created:      --  :: UTC

   Image Type:   ARM Linux Kernel Image (uncompressed)

   Data Size:     Bytes = 4.2 MiB

   Load Address:

   Entry Point:

   Verifying Checksum ... OK

## Flattened Device Tree blob at

   Booting using the fdt blob at 0x83000000

   Loading Kernel Image ... OK

   Loading Device Tree to 8fff5000, end 8ffff287 ... OK

Starting kernel ...

[    0.000000] Booting Linux on physical CPU 0x0

[    0.000000] Linux version 3.14. (zyr@ubuntu) (gcc version 4.6. (Ubuntu/Linaro 4.6.-1ubuntu5) ) # SMP Wed Mar  :: CST

[    0.000000] CPU: ARMv7 Processor [413fc082] revision  (ARMv7), cr=10c5387d

[    0.000000] CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache

[    0.000000] Machine model: TI AM335x BeagleBone

[    0.000000] cma: CMA: reserved  MiB at 9e800000

[    0.000000] Memory policy: Data cache writeback

[    0.000000] CPU: All CPU(s) started in SVC mode.

[    0.000000] AM335X ES2. (sgx neon )

[    0.000000] PERCPU: Embedded  pages/cpu @dfad5000 s13184 r8192 d15488 u36864

[    0.000000] Built  zonelists in Zone order, mobility grouping on.  Total pages:

[    0.000000] Kernel command line: console=ttyO0,115200n8 root=/dev/mmcblk0p2 rootwait

[    0.000000] PID hash table entries:  (order: ,  bytes)

[    0.000000] Dentry cache hash table entries:  (order: ,  bytes)

[    0.000000] Inode-cache hash table entries:  (order: ,  bytes)

[    0.000000] Memory: 487504K/523264K available (5840K kernel code, 665K rwdata, 2252K rodata, 376K init, 5528K bss, 35760K reserved, 0K highmem)

[    0.000000] Virtual kernel memory layout:

[    0.000000]     vector  : 0xffff0000 - 0xffff1000   (    kB)

[    0.000000]     fixmap  : 0xfff00000 - 0xfffe0000   (  kB)

[    0.000000]     vmalloc : 0xe0800000 - 0xff000000   (  MB)

[    0.000000]     lowmem  : 0xc0000000 - 0xe0000000   (  MB)

[    0.000000]     pkmap   : 0xbfe00000 - 0xc0000000   (    MB)

[    0.000000]     modules : 0xbf000000 - 0xbfe00000   (   MB)

[    0.000000]       .text : 0xc0008000 - 0xc07ef538   ( kB)

[    0.000000]       .init : 0xc07f0000 - 0xc084e380   (  kB)

[    0.000000]       .data : 0xc0850000 - 0xc08f66f0   (  kB)

[    0.000000]        .bss : 0xc08f66f0 - 0xc0e5c760   ( kB)

[    0.000000] Hierarchical RCU implementation.

[    0.000000]  RCU restricting CPUs from NR_CPUS= to nr_cpu_ids=.

[    0.000000] RCU: Adjusting geometry for rcu_fanout_leaf=, nr_cpu_ids=

[    0.000000] NR_IRQS: nr_irqs:

[    0.000000] IRQ: Found an INTC at 0xfa200000 (revision 5.0) with  interrupts

[    0.000000] Total of  interrupts on  active controller

[    0.000000] OMAP clockevent source: timer2 at  Hz

[    0.000011] sched_clock:  bits at 24MHz, resolution 41ns, wraps every 178956969942ns

[    0.000054] OMAP clocksource: timer1 at  Hz

[    0.000817] Console: colour dummy device 80x30

[    0.000870] Lock dependency validator: Copyright (c)  Red Hat, Inc., Ingo Molnar

[    0.000879] ... MAX_LOCKDEP_SUBCLASSES:

[    0.000887] ... MAX_LOCK_DEPTH:

[    0.000894] ... MAX_LOCKDEP_KEYS:

[    0.000901] ... CLASSHASH_SIZE:

[    0.000908] ... MAX_LOCKDEP_ENTRIES:

[    0.000915] ... MAX_LOCKDEP_CHAINS:

[    0.000922] ... CHAINHASH_SIZE:

[    0.000929]  memory used by lock dependency info:  kB

[    0.000937]  per task-struct memory footprint:  bytes

[    0.000981] Calibrating delay loop... 996.14 BogoMIPS (lpj=)

[    0.079212] pid_max: default:  minimum:

[    0.079561] Security Framework initialized

[    0.079673] Mount-cache hash table entries:  (order: ,  bytes)

[    0.079686] Mountpoint-cache hash table entries:  (order: ,  bytes)

[    0.097314] CPU: Testing write buffer coherency: ok

[    0.098550] CPU0: thread -, cpu , socket -, mpidr

[    0.098618] Setting up static identity map for 0x80589728 - 0x80589798

[    0.101696] Brought up  CPUs

[    0.101716] SMP: Total of  processors activated (996.14 BogoMIPS).

[    0.101725] CPU: All CPU(s) started in SVC mode.

[    0.104396] devtmpfs: initialized

[    0.114023] VFP support v0.: implementor  architecture  part  variant c rev

[    0.147246] omap_hwmod: tptc0 using broken dt data from edma

[    0.147599] omap_hwmod: tptc1 using broken dt data from edma

[    0.147940] omap_hwmod: tptc2 using broken dt data from edma

[    0.155419] omap_hwmod: debugss: _wait_target_disable failed

[    0.214523] pinctrl core: initialized pinctrl subsystem

[    0.218479] regulator-dummy: no parameters

[    0.221997] NET: Registered protocol family

[    0.227066] DMA: preallocated  KiB pool for atomic coherent allocations

[    0.244733] platform .edma: alias fck already exists

[    0.244771] platform .edma: alias fck already exists

[    0.244791] platform .edma: alias fck already exists

[    0.248902] OMAP GPIO hardware version 0.1

[    0.263090] platform 481cc000.d_can: alias fck already exists

[    0.276209] No ATAGs?

[    0.276233] hw-breakpoint: debug architecture 0x4 unsupported.

[    0.337682] bio: create slab <bio-> at

[    0.376739] edma-dma-engine edma-dma-engine.: TI EDMA DMA engine driver

[    0.378748] vmmcsd_fixed:  mV

[    0.386634] SCSI subsystem initialized

[    0.388876] usbcore: registered new interface driver usbfs

[    0.389483] usbcore: registered new interface driver hub

[    0.390255] usbcore: registered new device driver usb

[    0.393015] omap_i2c 44e0b000.i2c: could not find pctldev for node /pinmux@44e10800/pinmux_i2c0_pins, deferring probe

[    0.393061] platform 44e0b000.i2c: Driver omap_i2c requests probe deferral

[    0.400884] Switched to clocksource timer1

[    0.554499] NET: Registered protocol family

[    0.556485] TCP established hash table entries:  (order: ,  bytes)

[    0.556668] TCP bind hash table entries:  (order: ,  bytes)

[    0.558032] TCP: Hash tables configured (established  bind )

[    0.558191] TCP: reno registered

[    0.558216] UDP hash table entries:  (order: ,  bytes)

[    0.558408] UDP-Lite hash table entries:  (order: ,  bytes)

[    0.559365] NET: Registered protocol family

[    0.560715] RPC: Registered named UNIX socket transport module.

[    0.561225] RPC: Registered udp transport module.

[    0.561239] RPC: Registered tcp transport module.

[    0.561249] RPC: Registered tcp NFSv4. backchannel transport module.

[    0.562421] hw perfevents: enabled with ARMv7 Cortex-A8 PMU driver,  counters available

[    0.569877] futex hash table entries:  (order: ,  bytes)

[    0.718162] VFS: Disk quotas dquot_6.5.2

[    0.718360] Dquot-cache hash table entries:  (order ,  bytes)

[    0.720305] NFS: Registering the id_resolver key type

[    0.720663] Key type id_resolver registered

[    0.720682] Key type id_legacy registered

[    0.721147] jffs2: version 2.2. (NAND) (SUMMARY)  © - Red Hat, Inc.

[    0.721595] msgmni has been set to

[    0.724558] io scheduler noop registered

[    0.724580] io scheduler deadline registered

[    0.724637] io scheduler cfq registered (default)

[    0.727518] pinctrl-single 44e10800.pinmux:  pins at pa f9e10800 size

[    0.734508] Serial: / driver,  ports, IRQ sharing enabled

[    0.742089] omap_uart 44e09000.serial: no wakeirq for uart0

[    0.743346] 44e09000.serial: ttyO0 at MMIO 0x44e09000 (irq = , base_baud = ) is a OMAP UART0

[    1.406745] console [ttyO0] enabled

[    1.415576] omap_rng .rng: OMAP Random Number Generator ver.

[    1.424997] [drm] Initialized drm 1.1.

[    1.459283] brd: module loaded

[    1.480634] loop: module loaded

[    1.490200] mtdoops: mtd device (mtddev=name/number) must be supplied

[    1.502074] vcan: Virtual CAN interface driver

[    1.506739] CAN device driver interface

[    1.514879] c_can_platform 481cc000.d_can: c_can_platform device registered (regs=fa1cc000, irq=)

[    1.528370] usbcore: registered new interface driver asix

[    1.534839] usbcore: registered new interface driver ax88179_178a

[    1.541734] usbcore: registered new interface driver cdc_ether

[    1.548248] usbcore: registered new interface driver smsc95xx

[    1.554951] usbcore: registered new interface driver net1080

[    1.561350] usbcore: registered new interface driver cdc_subset

[    1.567904] usbcore: registered new interface driver zaurus

[    1.574429] usbcore: registered new interface driver cdc_ncm

[    1.582422] usbcore: registered new interface driver cdc_wdm

[    1.588799] usbcore: registered new interface driver usb-storage

[    1.595802] usbcore: registered new interface driver usbtest

[    1.605474] mousedev: PS/ mouse device common for all mice

[    1.616897] omap_rtc 44e3e000.rtc: rtc core: registered 44e3e000.rtc as rtc0

[    1.625795] i2c /dev entries driver

[    1.629823] Driver for -wire Dallas network protocol.

[    1.640500] omap_wdt: OMAP Watchdog Timer Rev 0x01: initial timeout  sec

[    1.652349] .mmc supply vmmc_aux not found, using dummy regulator

[    1.701827] 481d8000.mmc supply vmmc_aux not found, using dummy regulator

[    1.763545] usbcore: registered new interface driver usbhid

[    1.769376] usbhid: USB HID core driver

[    1.778960] oprofile: using arm/armv7

[    1.783604] TCP: cubic registered

[    1.787077] Initializing XFRM netlink socket

[    1.791757] NET: Registered protocol family

[    1.796480] NET: Registered protocol family

[    1.801326] can: controller area network core (rev  abi )

[    1.807934] NET: Registered protocol family

[    1.812825] can: raw protocol (rev )

[    1.817364] can: broadcast manager protocol (rev  t)

[    1.823345] can: netlink gateway (rev ) max_hops=

[    1.829411] Key type dns_resolver registered

[    1.836526] ThumbEE CPU extension supported.

[    1.841217] Registering SWP/SWPB emulation handler

[    1.851007] regulator-dummy: disabling

[    1.856231] slave hdmi.: could not get i2c

[    1.861179] platform hdmi.: Driver slave requests probe deferral

[    1.867702] mmc1: BKOPS_EN bit is not set

[    1.873326] platform 4830e000.lcdc: Driver tilcdc requests probe deferral

[    1.889725] mmc1: new high speed MMC card at address

[    1.901557] mmcblk0: mmc1: P1XXXX 3.60 GiB

[    1.907269] mmcblk0boot0: mmc1: P1XXXX partition  16.0 MiB

[    1.914572] DCDC1: at  mV

[    1.918019] mmcblk0boot1: mmc1: P1XXXX partition  16.0 MiB

[    1.930456]  mmcblk0: p1 p2

[    1.936355] vdd_mpu:  <-->  mV at  mV

[    1.947265] vdd_core:  <-->  mV at  mV

[    1.954052]  mmcblk0boot1: unknown partition table

[    1.962997] LDO1: at  mV

[    1.967575]  mmcblk0boot0: unknown partition table

[    1.975804] LDO2: at  mV

[    1.981973] LDO3:  mV

[    1.986787] LDO4: at  mV

[    1.992033] tps65217 -: TPS65217 ID 0xe version 1.2

[    1.997673] omap_i2c 44e0b000.i2c: bus  rev0. at  kHz

[    2.134211] tilcdc 4830e000.lcdc: found TDA19988

[    2.141196] [drm] Supports vblank timestamp caching Rev  (21.10.).

[    2.148118] [drm] No driver support for vblank timestamp query.

[    2.155218] tilcdc 4830e000.lcdc: No connectors reported connected with modes

[    2.162777] [drm] Cannot find any crtc or sizes - going 1024x768

[    2.183488] Console: switching to colour frame buffer device 128x48

[    2.195393] tilcdc 4830e000.lcdc: fb0:  frame buffer device

[    2.201258] tilcdc 4830e000.lcdc: registered panic notifier

[    2.207150] [drm] Initialized tilcdc 1.0.  on minor

[    2.280799] davinci_mdio 4a101000.mdio: davinci mdio revision 1.6

[    2.287187] davinci_mdio 4a101000.mdio: detected phy mask fffffffe

[    2.296447] libphy: 4a101000.mdio: probed

[    2.300661] davinci_mdio 4a101000.mdio: phy[]: device 4a101000.mdio:, driver SMSC LAN8710/LAN8720

[    2.311980] Detected MACID = f4:5e:ab:5f:e7:6b

[    2.321178] omap_rtc 44e3e000.rtc: setting system clock to -- :: UTC ()

[    2.356287] EXT3-fs (mmcblk0p2): recovery required on readonly filesystem

[    2.363582] EXT3-fs (mmcblk0p2): write access will be enabled during recovery

[    2.707789] kjournald starting.  Commit interval  seconds

[    2.719324] EXT3-fs (mmcblk0p2): recovery complete

[    2.724420] EXT3-fs (mmcblk0p2): mounted filesystem with ordered data mode

[    2.731774] VFS: Mounted root (ext3 filesystem) readonly on device :.

[    2.742040] devtmpfs: mounted

[    2.745722] Freeing unused kernel memory: 376K (c07f0000 - c084e000)

INIT: version 2.88 booting

Starting udev

[    3.331908] udev[]: starting version

[    7.904301] random: nonblocking pool is initialized

Starting Bootlog daemon: bootlogd: cannot allocate pseudo tty: No such file or directory

bootlogd.

[    8.828499] EXT3-fs (mmcblk0p2): using internal journal

Configuring network interfaces... [    9.599426] net eth0: initializing cpsw version 1.12 ()

[    9.681574] net eth0: phy found : id is : 0x7c0f1

[    9.686639] libphy: PHY 4a101000.mdio: not found

[    9.691691] net eth0: phy 4a101000.mdio: not found on slave

done.

Mon Feb  :: UTC

INIT: Entering runlevel:

Starting syslogd/klogd: done

Stopping Bootlog daemon: bootlogd.

 _____                    _____           _         _

|  _  |___ ___ ___ ___   |  _  |___ ___  |_|___ ___| |_

|     |  _| .'| . | . |  |   __|  _| . | | | -_|  _|  _|

|__|__|_| |__,|_  |___|  |__|  |_| |___|_| |___|___|_|

              |___|                    |___|

Arago Project http://arago-project.org zyr-am335x ttyO0

Arago 2013.05 zyr-am335x ttyO0

zyr-am335x login:

四、为了方便can的测试需要使用的iproute2-2.6.39和canutils与libsocketcan-0.0.10

　　A 配置ip命令

　　　　下载iproute2-2.6.39链接地址：

　　　　https://src.fedoraproject.org/repo/pkgs/iproute/iproute2-2.6.39.tar.gz/8a3b6bc77c2ecf752284aa4a6fc630a6/iproute2-2.6.39.tar.gz

　　　　解压iproute2-2.6.39进入目录：

　　　　方法一：修改Makefile文件

　　　　在31行改为 CC = arm-linux-gnueabihf-gcc

　　　　在39行改为 SUBDIRS=lib ip 以为我们只要ip命令所以之编译ip即可。

　　　　修改之后make，将在ip目录里生成的ip可执行文件copy 到Boneblack开发板的文件系统/bin或者/sbin中。前提是将板子上的已经有的ip给重命名掉，比如改为ip-　　busybox（原先的ip命令是busybox生成的不能控制can）。

　　可以参考网站：http://emb.hqyj.com/Column/Column596.htm

　　　　方法二：修改Makefile文件

　　　　- DESTDIR=/usr/

　　　　+ #DESTDIR=/usr/

　　　　ROOTDIR=$(DESTDIR)

　　　　LIBDIR=/usr/lib/

　　　　# Path to db_185.h include

　　　　- DBM_INCLUDE:=$(ROOTDIR)/usr/include

　　　　+ #DBM_INCLUDE:=$(ROOTDIR)/usr/include

　　　　- CC = gcc

　　　　+ #CC = gcc
　　　　保存退出。

　　然后在iproute2-2.6.39加入以下配置脚本build.sh

#!/bin/sh

 # create by myir tom 2015-01-28

 # put this file under the ip source root dir

 FILESYS_PATH=/home/zyr/Source_code/CAN_Utilities/iproute2-2.6.39/Filesystem

 #TOOL_CHAIN_PATH=/home/zyr/Source_code/CAN_Utilities/iproute2-2.6.39/tool_chain

 cp misc/Makefile{,.orig}

 sed '/^TARGETS/s@arpd@@g' misc/Makefile.orig > misc/Makefile

 export GNUEABI=arm-linux-gnueabi

 export CC=$GNUEABI-gcc

 export LD=$GNUEABI-ld

 export NM=$GNUEABI-nm

 export AR=$GNUEABI-ar

 export RANLIB=$GNUEABI-ranlib

 export CXX=$GNUEABI-c++

 export PREFIX=$FILESYS_PATH/usr

 export CROSS_COMPILE_PREFIX=$PREFIX

 export PATH=$TOOL_CHAIN_PATH/bin:$PATH

 export DBM_INCLUDE=/usr/include

 export INCLUDES=/usr/include

 export DESTDIR=$PREFIX/

 #echo $PREFIX

 #echo $PATH

 #echo $DESTDIR

 ./configure --host=arm-linux-gnueabi --prefix=$PREFIX --enable-debug

　　　　运行配置脚本是：sh build.sh

　　　　编译文件：make

　　　　将在ip目录里生成的ip可执行文件copy 到Boneblack开发板的文件系统/bin或者/sbin中。前提是将板子上的已经有的ip给重命名掉，比如改为ip-busybox（原先的ip命令是busybox生成的不能控制can）。

　　　　可以参考网站：http://processors.wiki.ti.com/index.php/AM335X_DCAN_Driver_Guide#CAN_Utilities

　　　　这样配置IP的命令已经做好了。

　　B、配置can-utils （参考网址：http://processors.wiki.ti.com/index.php/Linux_Core_DCAN_User%27s_Guide）

　　　　1、下载canutils 4.0.6 https://public.pengutronix.de/software/socket-can/canutils/v4.0/

　　　　2、配置编译canutils需要库文件libsocketcan-0.0.10 https://public.pengutronix.de/software/libsocketcan/

　　　　3、解压canutils和libsocketcan-0.0.10

　　　　　　　　进入libsocketcan-0.0.10目录添加build.sh配置脚本：

#!/bin/sh

#libsocketcan cross compilation

#Environment variables

#Make sure that TOOL CHAIN path (TOOL_CHAIN_PATH) and target file system (INSTALL_PATH) paths are exported along with #these variables. Example INSTALL_PATH is PWD/install (present working directory is LIBSOCKETCAN_PATH).

#Note, create "install" directory under LIBSOCKETCAN_PATH

export GNUEABI=arm-linux-gnueabi

export CC=$GNUEABI-gcc

export LD=$GNUEABI-ld

export NM=$GNUEABI-nm

export AR=$GNUEABI-ar

export RANLIB=$GNUEABI-ranlib

export CXX=$GNUEABI-c++

export INSTALL_PATH=$PWD/install

export PREFIX=$INSTALL_PATH/

export CROSS_COMPILE_PREFIX=$PREFIX

export PATH=/usr/arm-linux-gnueabi/bin:$PATH   #好像这个变量也可以不要

./configure --host=arm-linux-gnueabi --prefix=$PREFIX --enable-debug

 make

 make install

　　　　运行脚本sh build.sh 会在libsocketcan-0.0.10目录下生成install文件夹，里边有生成的对应的库。将生成的install里的lib文件复制到BoneBlack的文件系统中的lib中，并将　　install中的头文件复制到can-utils目录中的include中。

　　　　4、进入canutils目录，在此目录添加build.sh脚本

#!/bin/sh

LIBSOCKETCAN_PATH=/home/zyr/Source_code/CAN_Utilities/libsocketcan-0.0.10

export GNUEABI=arm-linux-gnueabi

export CC=$GNUEABI-gcc

export LD=$GNUEABI-ld

export NM=$GNUEABI-nm

export AR=$GNUEABI-ar

export RANLIB=$GNUEABI-ranlib

export CXX=$GNUEABI-c++

export PREFIX=$PWD/usrzhu

export CROSS_COMPILE_PREFIX=$PREFIX

export PATH=/usr/arm-linux-gnueabi/bin:$PATH

export LIBSOCKETCAN_INSTALL_DIR=$LIBSOCKETCAN_PATH/install

export PKG_CONFIG_PATH=$LIBSOCKETCAN_PATH/config

export LD_LIBRARY_PATH=${LIBDIR}:${LD_LIBRARY_PATH}

export LD_RAN_PATH=${LIBDIR}:${LD_RAN_PATH}

export LDFLAGS="-Wl,--rpath -Wl,$LIBSOCKETCAN_INSTALL_DIR/lib"

export INCLUDES="-I$LIBSOCKETCAN_INSTALL_DIR/include"

./configure --host=arm-linux-gnueabi --prefix=$PREFIX 

make

make install

　　　　运行脚本会在该目录下生成usrzhu文件夹，里边对应的目录里有canconfig、candump、cansend、canecho、cansequence等可知执行文件，并将其复制到对应的开发板的文件系统的目录中。

　　　　或者参考这个网站：http://emb.hqyj.com/Column/Column596.htm

　　　　　　　　　https://www.cnblogs.com/chenfulin5/p/6797756.html

　　问题：1、根据以上的步骤都可以生成canconfig、candump、cansend、canecho、cansequence但是都不能在Bonblack开发板是运行，运行./canconfig就会报no such file或者no command find。没办法了，不知道为什么编译好的可执行文件不能运行的，用的编译器就是交叉编译器理论上生成的可执行文件可以在arm上跑的呀，网上翻资料有可能是连接库的问题，于是写了个简单的1+1程序，用arm-linux-gnueabi交叉编译，将生成的可执行文件下载到开发板中，可以运行。于是就在pc上查看1+1程序是怎么链接的。

zyr@ubuntu:~/Source_code/text/gcc-test$ readelf -l test 

Elf file type is EXEC (Executable file)

Entry point 0x831d

There are 9 program headers, starting at offset 52

Program Headers:

  Type           Offset   VirtAddr   PhysAddr   FileSiz MemSiz  Flg Align

  EXIDX          0x000418 0x00008418 0x00008418 0x00008 0x00008 R   0x4

  PHDR           0x000034 0x00008034 0x00008034 0x00120 0x00120 R E 0x4

  INTERP         0x000154 0x00008154 0x00008154 0x00019 0x00019 R   0x1

      [Requesting program interpreter: /lib/ld-linux-armhf.so.3]

  LOAD           0x000000 0x00008000 0x00008000 0x00424 0x00424 R E 0x8000

  LOAD           0x000f0c 0x00010f0c 0x00010f0c 0x0011c 0x00120 RW  0x8000

  DYNAMIC        0x000f18 0x00010f18 0x00010f18 0x000e8 0x000e8 RW  0x4

  NOTE           0x000170 0x00008170 0x00008170 0x00044 0x00044 R   0x4

  GNU_STACK      0x000000 0x00000000 0x00000000 0x00000 0x00000 RW  0x4

  GNU_RELRO      0x000f0c 0x00010f0c 0x00010f0c 0x000f4 0x000f4 R   0x1

 Section to Segment mapping:

  Segment Sections...

   00     .ARM.exidx

   01

   02     .interp

   03     .interp .note.ABI-tag .note.gnu.build-id .gnu.hash .dynsym .dynstr .gnu.version .gnu.version_r .rel.dyn .rel.plt .init .plt .text .fini .rodata .ARM.exidx .eh_frame

   04     .init_array .fini_array .jcr .dynamic .got .data .bss

   05     .dynamic

   06     .note.ABI-tag .note.gnu.build-id

   07

   08     .init_array .fini_array .jcr .dynamic

zyr@ubuntu:~/Source_code/text/gcc-test$

　　得知这个可执行文件是连接在/lib/ld-linux-armhf.so.3这里的。

　　　　2、网上资料搜索得知识动态库的链接不正确。所以利用命令查看cansend的链接库（在PC上查看之前生成的cansend的链接目标）：

　　　　readelf -l cansend

zyr@ubuntu:~/Source_code/CAN_Utilities/canutils-4.0.6/usrzhu/bin$ ls

candump  canecho  cansend  cansequence

zyr@ubuntu:~/Source_code/CAN_Utilities/canutils-4.0.6/usrzhu/bin$ readelf -l cansend 

Elf file type is EXEC (Executable file)

Entry point 0x8a99

There are 9 program headers, starting at offset 52

Program Headers:

  Type           Offset   VirtAddr   PhysAddr   FileSiz MemSiz  Flg Align

  EXIDX          0x000fc4 0x00008fc4 0x00008fc4 0x00008 0x00008 R   0x4

  PHDR           0x000034 0x00008034 0x00008034 0x00120 0x00120 R E 0x4

  INTERP         0x000154 0x00008154 0x00008154 0x00013 0x00013 R   0x1

      [Requesting program interpreter: /lib/ld-linux.so.3]

  LOAD           0x000000 0x00008000 0x00008000 0x00fd0 0x00fd0 R E 0x8000

  LOAD           0x001efc 0x00011efc 0x00011efc 0x0016c 0x00184 RW  0x8000

  DYNAMIC        0x001f08 0x00011f08 0x00011f08 0x000f8 0x000f8 RW  0x4

  NOTE           0x000168 0x00008168 0x00008168 0x00044 0x00044 R   0x4

  GNU_STACK      0x000000 0x00000000 0x00000000 0x00000 0x00000 RW  0x4

  GNU_RELRO      0x001efc 0x00011efc 0x00011efc 0x00104 0x00104 R   0x1

 Section to Segment mapping:

  Segment Sections...

   00     .ARM.exidx

   01

   02     .interp

   03     .interp .note.ABI-tag .note.gnu.build-id .gnu.hash .dynsym .dynstr .gnu.version .gnu.version_r .rel.dyn .rel.plt .init .plt .text .fini .rodata .ARM.exidx .eh_frame

   04     .init_array .fini_array .jcr .dynamic .got .data .bss

   05     .dynamic

   06     .note.ABI-tag .note.gnu.build-id

   07

   08     .init_array .fini_array .jcr .dynamic

zyr@ubuntu:~/Source_code/CAN_Utilities/canutils-4.0.6/usrzhu/bin$

　　得知cansend链接在了lib/ld-linux.so.3这个文件。但是查看BoneBlack的文件系统的/lib中并没有ld-linux.so.3这个文件。没有的话怎么办呢，做一个吧。抱着试一试的态度做了一个这样的链接：

　　ln -s ld-linux.so.3 ld-linux-armhf.so.3

　　将ld-linux.so.3复制到开发板的lib目录下。

　　然后将新的文件系统下载到BoneBlack中，没想到竟然成功了。但是canconfig这个命令依然不能运行，没办法，好像要链接到libsockecan-0.0.10生成的库中的。我就没有再搞了，因为ip命令完全可以代替canconfig的。

五、配置can0

　　1、查看ip版本 ip -V

iroot@zyr-am335x:~# ip -V

ip utility, iproute2-ss110629

　　2、配置can0的波特率为125000hz并使其进入loopback模式

　　　　首先关闭can0，然后在配置波特率

root@zyr-am335x:~# ip link set can0 down

root@zyr-am335x:~# ip link set can0 type can bitrate  loopback 0n

Error: argument of "loopback" must be "on" or "off"

root@zyr-am335x:~# ip link set can0 type can bitrate  loopback on

root@zyr-am335x:~#

　　3、查看can0的状态有三种方式可以查看

root@zyr-am335x:~# ip -d -s link show can0

: can0: <NOARP,ECHO> mtu  qdisc noop state DOWN qlen

    link/can

    can <LOOPBACK> state STOPPED (berr-counter tx  rx ) restart-ms

    bitrate  sample-point 0.875

    tq  prop-seg  phase-seg1  phase-seg2  sjw

    c_can: tseg1 .. tseg2 .. sjw .. brp .. brp-inc

    clock

    re-started bus-errors arbit-lost error-warn error-pass bus-off

    RX: bytes  packets  errors  dropped overrun mcast

    TX: bytes  packets  errors  dropped carrier collsns

root@zyr-am335x:~# ip -details link show can0

: can0: <NOARP,ECHO> mtu  qdisc noop state DOWN qlen

    link/can

    can <LOOPBACK> state STOPPED (berr-counter tx  rx ) restart-ms

    bitrate  sample-point 0.875

    tq  prop-seg  phase-seg1  phase-seg2  sjw

    c_can: tseg1 .. tseg2 .. sjw .. brp .. brp-inc

    clock

root@zyr-am335x:~# cat /proc/net/can/stats

         transmitted frames (TXF)

         received frames (RXF)

         matched frames (RXMF)

         % total match ratio (RXMR)

         frames/s total tx rate (TXR)

         frames/s total rx rate (RXR)

         % current match ratio (CRXMR)

         frames/s current tx rate (CTXR)

         frames/s current rx rate (CRXR)

         % max match ratio (MRXMR)

         frames/s max tx rate (MTXR)

         frames/s max rx rate (MRXR)

         current receive list entries (CRCV)

         maximum receive list entries (MRCV)

root@zyr-am335x:~#

　　从以上知道can0 在loopback模式，can0stopped，波特率125000hz，接收0发送0.

　　4、开启can0

root@zyr-am335x:~# ip link set can0 up

[ 6316.441829] c_can_platform 481cc000.d_can can0: setting BTR=1c0b BRPE=

root@zyr-am335x:~# ip -d -s link show can0

: can0: <NOARP,UP,LOWER_UP,ECHO> mtu  qdisc pfifo_fast state UNKNOWN qlen

    link/can

    can <LOOPBACK> state ERROR-ACTIVE (berr-counter tx  rx ) restart-ms

    bitrate  sample-point 0.875

    tq  prop-seg  phase-seg1  phase-seg2  sjw

    c_can: tseg1 .. tseg2 .. sjw .. brp .. brp-inc

    clock

    re-started bus-errors arbit-lost error-warn error-pass bus-off

    RX: bytes  packets  errors  dropped overrun mcast

    TX: bytes  packets  errors  dropped carrier collsns

root@zyr-am335x:~#

　　5、在loopback模式发送数据然后在接收

root@zyr-am335x:~# cansend can0 -i 0xAA 0x55 0x55 0x55 0x55

interface = can0, family = , type = , proto =

root@zyr-am335x:~# candump can0

interface = can0, family = , type = , proto = 

root@zyr-am335x:~# ip -d -s link show can0

: can0: <NOARP,UP,LOWER_UP,ECHO> mtu  qdisc pfifo_fast state UNKNOWN qlen

    link/can

    can <LOOPBACK> state ERROR-ACTIVE (berr-counter tx  rx ) restart-ms

    bitrate  sample-point 0.875

    tq  prop-seg  phase-seg1  phase-seg2  sjw

    c_can: tseg1 .. tseg2 .. sjw .. brp .. brp-inc

    clock

    re-started bus-errors arbit-lost error-warn error-pass bus-off

    RX: bytes  packets  errors  dropped overrun mcast

    TX: bytes  packets  errors  dropped carrier collsns

root@zyr-am335x:~# cat /proc/net/can/stats

         transmitted frames (TXF)

         received frames (RXF)

         matched frames (RXMF)

         % total match ratio (RXMR)

         frames/s total tx rate (TXR)

         frames/s total rx rate (RXR)

         % current match ratio (CRXMR)

         frames/s current tx rate (CTXR)

         frames/s current rx rate (CRXR)

         % max match ratio (MRXMR)

         frames/s max tx rate (MTXR)

         frames/s max rx rate (MRXR)

         current receive list entries (CRCV)

         maximum receive list entries (MRCV)

root@zyr-am335x:~#

　　发现控制台并没接收到数据，但是查看can0的状态可以得知我们发送了也接收到了。同时用示波器可以看到d_can0_tx脚的波形。可参考can总线的帧格式来看示波器的波形。根据波形可以分析出ID为0xAA，中间的数据正好是0x55 0x55 0x55 0x55.这就说明我们的can0的内核驱动是正确的。

　　6、修改can0的工作模式trile-sampling

root@zyr-am335x:~# ip link set can0 down

root@zyr-am335x:~# ip -details link show can0

: can0: <NOARP,ECHO> mtu  qdisc pfifo_fast state DOWN qlen

    link/can

    can <LOOPBACK> state STOPPED (berr-counter tx  rx ) restart-ms

    bitrate  sample-point 0.875

    tq  prop-seg  phase-seg1  phase-seg2  sjw

    c_can: tseg1 .. tseg2 .. sjw .. brp .. brp-inc

    clock

root@zyr-am335x:~# ip link set can0 type can bitrate  loopback off

root@zyr-am335x:~# ip -details link show can0

: can0: <NOARP,ECHO> mtu  qdisc pfifo_fast state DOWN qlen

    link/can

    can state STOPPED (berr-counter tx  rx ) restart-ms

    bitrate  sample-point 0.875

    tq  prop-seg  phase-seg1  phase-seg2  sjw

    c_can: tseg1 .. tseg2 .. sjw .. brp .. brp-inc

    clock

root@zyr-am335x:~# ip link set can0 type can bitrate  trile-sampling on

can: what is "trile-sampling"?

Usage: ip link set DEVICE type can

        [ bitrate BITRATE [ sample-point SAMPLE-POINT] ] |

        [ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1

          phase-seg2 PHASE-SEG2 [ sjw SJW ] ]

        [ loopback { on | off } ]

        [ listen-only { on | off } ]

        [ triple-sampling { on | off } ]

        [ one-shot { on | off } ]

        [ berr-reporting { on | off } ]

        [ restart-ms TIME-MS ]

        [ restart ]

        Where: BITRATE       := { .. }

               SAMPLE-POINT  := { 0.000..0.999 }

               TQ            := { NUMBER }

               PROP-SEG      := { .. }

               PHASE-SEG1    := { .. }

               PHASE-SEG2    := { .. }

               SJW           := { .. }

               RESTART-MS    := {  | NUMBER }

root@zyr-am335x:~# ip link set can0 type can bitrate  triple-sampling on

root@zyr-am335x:~# ip -details link show can0

: can0: <NOARP,ECHO> mtu  qdisc pfifo_fast state DOWN qlen

    link/can

    can <TRIPLE-SAMPLING> state STOPPED (berr-counter tx  rx ) restart-ms

    bitrate  sample-point 0.875

    tq  prop-seg  phase-seg1  phase-seg2  sjw

    c_can: tseg1 .. tseg2 .. sjw .. brp .. brp-inc

    clock

root@zyr-am335x:~#

7、通过can0的triple-sampling模式发送数据

　　　　a、以标准ID 0x80 发送数据 0x55 0x55 0x55 0x55 0xaa 0xaa 0xaa 0xaa

　　　　　　发送方：　　

root@zyr-am335x:~# ip link set can0 type can bitrate  triple-sampling on

root@zyr-am335x:~# ip link set can0 up

[ 3747.621957] c_can_platform 481cc000.d_can can0: setting BTR=1c0b BRPE=

root@zyr-am335x:~# cansend can0 -i 0x80 0x55 0x55 0x55 0x55 0xaa 0xaa 0xaa 0xaa

interface = can0, family = , type = , proto =

root@zyr-am335x:~# cansend can0 -i 0x80 0x55 0x55 0x55 0x55 0xaa 0xaa 0xaa 0xaa --loop=

interface = can0, family = , type = , proto =

root@zyr-am335x:~#

　　　　　　接收方：

root@zyr-am335x:~# candump can0

interface = can0, family = , type = , proto =

<0x080> []     aa aa aa aa

<0x080> []     aa aa aa aa

<0x080> []     aa aa aa aa

<0x080> []     aa aa aa aa

<0x080> []     aa aa aa aa

<0x080> []     aa aa aa aa

<0x080> []     aa aa aa aa

<0x080> []     aa aa aa aa

<0x080> []     aa aa aa aa

<0x080> []     aa aa aa aa

<0x080> []     aa aa aa aa

　　b、以扩展ID方式发送数据

　　　　发送方：

root@zyr-am335x:~# cansend can0 -i 0x800 0x55 0x55 0x55 0x55 0xaa 0xaa 0xaa 0xaa -e --loop=

interface = can0, family = , type = , proto =

root@zyr-am335x:~#

　　　　接收方：

root@zyr-am335x:~# candump can0

interface = can0, family = , type = , proto =

<0x00000800> []     aa aa aa aa

<0x00000800> []     aa aa aa aa

<0x00000800> []     aa aa aa aa

<0x00000800> []     aa aa aa aa

<0x00000800> []     aa aa aa aa

<0x00000800> []     aa aa aa aa

<0x00000800> []     aa aa aa aa

<0x00000800> []     aa aa aa aa

<0x00000800> []     aa aa aa aa

<0x00000800> []     aa aa aa aa

六：硬件电路的连接：

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