View source for AOM-3841 CAN FD（CAN0/1）


=== '''CAN FD''' ===

AOM-3841 has two CAN ports.<br/> Use the “candump” and “cansend” tools directly to send and receive messages. The&nbsp;tools have been embedded into the system.

=== '''AOM-DB3500 CAN0_1 HW Pindefine''' ===

{| border="1" cellpadding="1" cellspacing="1" style="width: 500px;"
|-
| '''Pin'''
| '''Signal'''
| '''I/O'''
| '''Description'''
|-
| 1
| CAN0_D+
| I/O
| CAN0 Data+
|-
| 2
| CAN0_D-
| I/O
| CAN0 Data-
|-
| 3
| CAN1_D+
| I/O
| CAN1 Data+
|-
| 4
| CAN1_D-
| I/O
| CAN1 Data-
|-
| 5
| GND
| &nbsp;
| Ground
|-
| 6
| GND
| &nbsp;
| Ground
|-
| 7
| N/A
| &nbsp;
| Not Applicable
|-
| 8
| N/A
| &nbsp;
| Not Applicable
|}
<p style="text-align: justify;">[[File:AOM-DB3500 CAN0 1.jpg|RTENOTITLE]]&nbsp;&nbsp;[[File:AOM-DB3500 CAN0 1 Pin define.jpg]]</p> 

=== '''Check Network Ports''' ===

Check network ports of can0 and can1:&nbsp;
<pre># ifconfig -a
… …
can0: flags=193<UP,RUNNING,NOARP> mtu 16
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

can1: flags=193<UP,RUNNING,NOARP> mtu 16
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

… …
</pre>

==== '''Configure''' ====

Use “ip” command to configure can port. See details of the usage of “ip link”:
<pre># ip link help
… …
ip link set { DEVICE | dev DEVICE | group DEVGROUP }
[ { up | down } ]
[ type TYPE ARGS ]
… …
</pre>
<pre># ip link help can
… …
ip link set DEVICE type can
[ bitrate BITRATE [ sample-point SAMPLE-POINT] ] |
[ dbitrate BITRATE [ dsample-point SAMPLE-POINT] ] |
[ fd { on | off } ]
… …
</pre>

For example, set can0&nbsp;"birate rate” to 1000000 “dbitrate rate” to 2000000 “fd” to on
<pre># #---- For can0 ----# #
# ip link set can0 down
# ip link set can0 type can bitrate 1000000 dbitrate 2000000 fd on
# ip link set can0 up
</pre>

=== '''Send and Reveive Data''' ===

*'''As receiver''' 
<pre># #---- As receiver ----# #
# ip link set can0 down
# ip link set can0 type can bitrate 1000000 dbitrate 2000000 fd on
# ip link set can0 up
# candump can0 &
</pre>

*'''As sender''' 
<pre># #---- As sender ----# #
# ip link set can1 down
# ip link set can1 type can bitrate 1000000 dbitrate 2000000 fd on
# ip link set can1 up
# cansend can1 123##155

# #----If no error, the receiver will receive the following data----# #
Can0 123 [01] 55</pre>