(资料图)

1. 简介

ArmSoM-W3 RK3588 开发板中已集成AN总线：

2. 内核配置

CONFIG_CAN=yCONFIG_CAN_DEV=yCONFIG_CAN_ROCKCHIP=yCONFIG_CANFD_ROCKCHIP=y

cd kernelmake ARCH=arm64 menuconfigmake savedefconfig

3. DTS 节点配置

3.1 主要参数:

interrupts = ;

转换完成，产生中断信号。

clock

时钟属性，用于驱动开关clk，reset属性，用于每次复位总线。

pinctrl

3.2 公共配置 kernel-5.10/arch/arm64/boot/dts/rockchip/rk3588s.dtsi

can1: can@fea60000 {            compatible = "rockchip,can-2.0";            reg = < 0x0 0xfea60000 0x0 0x1000 >;            interrupts = < GIC_SPI 342 IRQ_TYPE_LEVEL_HIGH >;            clocks = < &cru CLK_CAN1 >, < &cru PCLK_CAN1 >;            clock-names = "baudclk", "apb_pclk";            resets = < &cru SRST_CAN1 >, < &cru SRST_P_CAN1 >;            reset-names = "can", "can-apb";            pinctrl-names = "default";            pinctrl-0 = < &can1m0_pins >;            tx-fifo-depth = < 1 >;            rx-fifo-depth = < 6 >;            status = "disabled";    };

3.3 板级配置 kernel-5.10/arch/arm64/boot/dts/rockchip/rk3588-armsom-w3.dts

/* can1 */&can1 {        status = "okay";        assigned-clocks = < &cru CLK_CAN1 >;        assigned-clock-rates = < 200000000 >;        pinctrl-names = "default";        pinctrl-0 = < &can1m1_pins >;      //根据原理图配置};

4. 调试

ifconfig -a

ip link set can0 down   //关闭CANip link set can0 type can bitrate 500000   //设置⽐特率500KHzip -details -statistics link show can0    //打印can0信息ip link set can0 up     //启动CAN

cansend can0 123#DEADBEEF            //发送（标准帧,数据帧,ID:123,date:DEADBEEF）cansend can0 123#R                            //发送（标准帧,远程帧,ID:123）cansend can0 00000123#12345678    //发送（扩展帧,数据帧,ID:00000123,date:DEADBEEF）cansend can0 00000123#R                 //发送（扩展帧,远程帧,ID:00000123）

candump can0       //candump can0

审核编辑：汤梓红