測試can需要ip,can-utils和libsocketcan庫.
通過ip工具配置can,如速率,啟用和禁用can等.不能用buildroot編譯出來的ip,需要重新編譯.
1. 編譯ip:
ip原始碼
1>. 修改makefile
destdir=/home/tom/myd-xc7z010/usr/ 修改安裝目錄
#dbm_include:=$(rootdir)/usr/include 遮蔽屏這行
cc = arm-xilinx-linux-gnueabi-gcc 使用交叉編譯器編譯
2>. 執行ip原始碼目錄下的build.sh編譯, build.sh內容:
#!/bin/sh
# create by myir tom 2015-01-28
# put this file under the ip source root dir
cp misc/makefile
sed '/^targets/s@arpd@@g' misc/makefile.orig > misc/makefile
export gnueabi=arm-xilinx-linux-gnueabi
export cc=$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/
./configure --host=arm-xilinx-linux-gnueabi --prefix=$prefix --enable-debug
make
sudo make install
3>. 將ip工具copy到檔案系統下
將/home/tom/myd-xc7z010/usr/sbin/ip copy到嵌入式檔案系統目錄/usr/sbin下,還需要把buildroot自帶的ip(在/sbin目錄下)重新命名為ip_buildroot.
檢視ip版本和用法:
$ ./ip -v
ip utility, iproute2-ss110629
$ ./ip link help
usage: ip link add link dev [ name ] name
[ txqueuelen packets ]
[ address lladdr ]
[ broadcast lladdr ]
[ mtu mtu ]
type type [ args ]
ip link delete dev type type [ args ]
ip link set [ ]
[ arp ]
[ dynamic ]
[ multicast ]
[ allmulticast ]
[ promisc ]
[ trailers ]
[ txqueuelen packets ]
[ name newname ]
[ address lladdr ]
[ broadcast lladdr ]
[ mtu mtu ]
[ netns pid ]
[ alias name ]
[ vf num [ mac lladdr ]
[ vlan vlanid [ qos vlan-qos ] ]
[ rate txrate ] ]
[ master device ]
[ nomaster ]
ip link show [ device | group group ]
type :=
2. can-utils和libsocketcan可以使用buildroot編譯
target packages > libraries > networking選上
[*] libsocketcan
[*] can-utils
3. 測試
can介面需要在down狀態下才能設定
1>. 檢視can介面狀態
down下的狀態
# ip link set can0 down
# ip -details link show can0
2: can0: mtu 16 qdisc pfifo_fast state down qlen 10
link/can
can state stopped (berr-counter tx 0 rx 0) restart-ms 0
bitrate 49999 sample-point 0.875
tq 2500 prop-seg 3 phase-seg1 3 phase-seg2 1 sjw 1
xilinx_can: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..256 brp-inc 1
clock 99999999
loopback狀態
# ip link set can0 type can bitrate 50000 loopback on
xilinx_can e0008000.can can0: bitrate error 0.0%
# ip -details link show can0
2: can0: mtu 16 qdisc pfifo_fast state down qlen 10
link/can
can state stopped (berr-counter tx 0 rx 0) restart-ms 0
bitrate 49999 sample-point 0.875
tq 2500 prop-seg 3 phase-seg1 3 phase-seg2 1 sjw 1
xilinx_can: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..256 brp-inc 1
clock 99999999
up下的狀態
# ip link set can0 down
# ip link set can0 type can bitrate 50000 loopback off
xilinx_can e0008000.can can0: bitrate error 0.0%
# ip link set can0 up
# ip -details link show can0
2: can0: mtu 16 qdisc pfifo_fast state unknown qlen 10
link/can
can state error-active (berr-counter tx 0 rx 0) restart-ms 0
bitrate 49999 sample-point 0.875
tq 2500 prop-seg 3 phase-seg1 3 phase-seg2 1 sjw 1
xilinx_can: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..256 brp-inc 1
clock 99999999
2>. 使用loopback模式測試:
使用loopback模式可測試本機的can驅動是否正常工作.
# ip link set can0 down
# ip link set can0 type can bitrate 50000 loopback on
xilinx_can e0008000.can can0: bitrate error 0.0%
# ip link set can0 up
# candump can0 &
# cansend can0 123#11223344556677
# can0 123 [7] 11 22 33 44 55 66 77
can0 123 [7] 11 22 33 44 55 66 77
3>. 將兩塊板的can介面接起來,canh對canh, canl對canl,一邊傳送,另一邊接收,測試之前速率要設定好,且can介面已經up.
#candump can0 開發板1執行接收命令
#cansend can0 123#11223344556677 開發板2傳送資料
4> 關於can工具的使用(cansend等),參考can原始碼目錄下的lib.h檔案, 裡邊講得很清楚
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