AOM-3841 CAN FD（CAN0/1）

CAN FD

AOM-3841 has two CAN ports.
Use the “candump” and “cansend” tools directly to send and receive messages. The tools have been embedded into the system.

AOM-DB3500 CAN0_1 HW Pindefine

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		Ground
6	GND		Ground
7	N/A		Not Applicable
8	N/A		Not Applicable

  

Check Network Ports

Check network ports of can0 and can1: 

# 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

… …

Configure

Use “ip” command to configure can port. See details of the usage of “ip link”:

# ip link help
… …
ip link set { DEVICE | dev DEVICE | group DEVGROUP }
[ { up | down } ]
[ type TYPE ARGS ]
… …

# 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 } ]
… …

For example, set can0 "birate rate” to 1000000 “dbitrate rate” to 2000000 “fd” to on

# #---- For can0 ----# #
# ip link set can0 down
# ip link set can0 type can bitrate 1000000 dbitrate 2000000 fd on
# ip link set can0 up

Send and Reveive Data

• As receiver

# #---- 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 &

• As sender

# #---- 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