mirror of
https://github.com/RIOT-OS/RIOT.git
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f0e994532a
- Add tja1042 pin configuration to tests/can_trx - Add ncv7356 pin configuration to tests/can_trx - Add can transceivers to tests/conn_can - Add tja1042 pin configuration to tests/conn_can - Add ncv7356 pin configuration to tests/conn_can - rename print functions - Add to CFLAGS
87 lines
1.9 KiB
Markdown
87 lines
1.9 KiB
Markdown
tests/conn_can
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================
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Demo application for the CAN stack with conn_can interface.
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Usage
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=====
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Adapt pin configuration in Makefile to match the used CAN transceiver (e.g. TJA1042_STB_PIN)
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Build, flash and start the application:
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```
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export BOARD=your_board
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make
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make flash
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make term
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```
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To initialize a CAN transceiver device (trx_id = 0)
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```
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init 0
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```
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To set a CAN transceiver device's (trx_id = 0) mode to TRX_NORMAL_MODE
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```
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set_mode 0 0
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```
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The CAN interfaces are registered at startup to the dll. The list of registered
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interfaces and their RIOT names can be retrieved with:
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```
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test_can list
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```
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To send a raw CAN frame, id 0x100 with 2 bytes of data 01 02 on interface 0:
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```
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test_can send 0 100 01 02
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```
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To send a raw CAN remote request frame, id 0x100 on interface 0 and datalenght 7:
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```
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test_can sendrtr 0 100 7
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```
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A remote request frame has a NULL payload but can have a specific data length code (DLC).
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Valid DLC val: 0..8
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Two threads are launched to enable receiving frames. To receive raw CAN frames,
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ids 0x100 and 0x500 with thread 0 on interface 1, with 10s timeout:
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```
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test_can recv 1 0 10000000 100 500
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```
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A connection can be closed with its thread id, for instance:
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```
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test_can close 0
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```
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To send an ISO-TP datagram, first bind a connection with one of the threads,
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source id 700, dest id 708, thread 1 and interface 0:
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```
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test_can bind_isotp 0 1 700 708
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```
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Then send the data 01 02 03 04 05 0a 0b 0c:
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```
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test_can send_isotp 1 01 02 03 04 05 0a 0b 0c
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```
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To receive from an ISO-TP channel, it must be bound, then with the previous channel,
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and 10s timeout:
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```
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test_can recv_isotp 1 10000000
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```
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An ISO-TP channel can be closed with:
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```
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test_can close_isotp 1
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```
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You can also set a bitrate (this won't work on native with vcan, only with real
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interfaces, but then root access are needed), for instance 250000 bit/s with
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sampling point 87.5%:
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```
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test_can set_bitrate 250000 875
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```
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