1. 简介

ArmSoM-W3 RK3588 开发板中已集成AN总线：

专栏总目录CAN(controller Area Network)CAN BUS:控制器局域网络总线目前世界上绝大多数汽车制造厂商都采用CAN总线来实现汽车内部控制系统之间的数据通信。RK3568/RK3588的CAN驱动文件：drivers/net/can/rockchip/rockchip_canfd.c

2. 内核配置

rockchip_linux_defconfig配置：

CONFIG_CAN=yCONFIG_CAN_DEV=yCONFIG_CAN_ROCKCHIP=yCONFIG_CANFD_ROCKCHIP=y

内核配置：

cd kernelmake ARCH=arm64 menuconfigmake savedefconfig

选择：Networking support ---> CAN bus subsystem support ( )--->CAN Device Drivers() ---> Platform CAN drivers with Netlink support(*)

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";    };

compatible = “rockchip,can-1.0” ，rockchip,can-1.0用来匹配can控制器驱动。compatible = “rockchip,can-2.0” ，rockchip,can-2.0用来匹配canfd控制器驱动。assigned-clock-rates用来配置can的始终频率，如果CAN的比特率低于等于3M建议修改CAN时钟到100M，信号更稳定。高于3M比特率的，时钟设置200M就可以。pinctrl配置：根据实际板卡连接情况配置can_h和can_l的iomux作为can功能使用。

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};

由于系统根据上述dts节点创建的CAN设备只有一个，而第一个创建的设备为CAN0

4. 调试

查询当前⽹络设备:

ifconfig -a

CAN启动

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

CAN发送

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）

CAN接收