RIOT/tests/sys/conn_can

conn_can test application

Demo application for the CAN stack with conn_can interface.

Usage

Adapt pin configuration in Makefile to match the used CAN transceiver (e.g. TJA1042_STB_PIN)

Build, flash and start the application:

BOARD=<board-name> make flash term

To initialize a CAN transceiver device (trx_id = 0)

init 0

To set a CAN transceiver device's (trx_id = 0) mode to TRX_NORMAL_MODE

set_mode 0 0

The CAN interfaces are registered at startup to the dll. The list of registered interfaces and their RIOT names can be retrieved with:

test_can list

To send a raw CAN frame, id 0x100 with 2 bytes of data 01 02 on interface 0:

test_can send 0 100 01 02

To send a raw CAN remote request frame, id 0x100 on interface 0 and datalenght 7:

test_can sendrtr 0 100 7

A remote request frame has a NULL payload but can have a specific data length code (DLC). Valid DLC val: 0..8

Two threads are launched to enable receiving frames. To receive raw CAN frames, ids 0x100 and 0x500 with thread 0 on interface 1, with 10s timeout:

test_can recv 1 0 10000000 100 500

A connection can be closed with its thread id, for instance:

test_can close 0

To send an ISO-TP datagram, first bind a connection with one of the threads, source id 700, dest id 708, thread 1 and interface 0:

test_can bind_isotp 0 1 700 708

Then send the data 01 02 03 04 05 0a 0b 0c:

test_can send_isotp 1 01 02 03 04 05 0a 0b 0c

To receive from an ISO-TP channel, it must be bound, then with the previous channel, and 10s timeout:

test_can recv_isotp 1 10000000

An ISO-TP channel can be closed with:

test_can close_isotp 1

You can also set a bitrate (this won't work on native with vcan, only with real interfaces, but then root access are needed), for instance 250000 bit/s with sampling point 87.5%:

test_can set_bitrate 250000 875

Native Setup

For documentation on how to setup CAN on native and send/receive RAW CAN or ISO-TP frames refer to README.native.can.md.