(相關資料圖)

1. 簡介

ArmSoM-W3 RK3588 開發板中已集成AN總線：

2. 內核配置

CONFIG_CAN=yCONFIG_CAN_DEV=yCONFIG_CAN_ROCKCHIP=yCONFIG_CANFD_ROCKCHIP=y

cd kernelmake ARCH=arm64 menuconfigmake savedefconfig

3. DTS 節點配置

3.1 主要參數:

interrupts = ;

轉換完成，產生中斷信號。

clock

時鐘屬性，用于驅動開關clk，reset屬性，用于每次復位總線。

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 板級配置 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 >;      //根據原理圖配置};

4. 調試

ifconfig -a

ip link set can0 down   //關閉CANip link set can0 type can bitrate 500000   //設置?特率500KHzip -details -statistics link show can0    //打印can0信息ip link set can0 up     //啟動CAN

cansend can0 123#DEADBEEF            //發送（標準幀,數據幀,ID:123,date:DEADBEEF）cansend can0 123#R                            //發送（標準幀,遠程幀,ID:123）cansend can0 00000123#12345678    //發送（擴展幀,數據幀,ID:00000123,date:DEADBEEF）cansend can0 00000123#R                 //發送（擴展幀,遠程幀,ID:00000123）

candump can0       //candump can0

審核編輯：湯梓紅

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