socketcan_wrapper

build

make clean
make

create can0, vcan0 device

Before running the application, the following items have to be done.

• create can0 device

ls -al /dev/ttyUSB*
sudo slcand -o -c -s6 /dev/ttyUSB0 can0
sudo ip link set up can0

• s option list

+----------------+---------------+
| ASCII Command  |  CAN Bitrate  |
+----------------+---------------+
|  s0            |  10 Kbit/s    |
|  s1            |  20 Kbit/s    |
|  s2            |  50 Kbit/s    |
|  s3            |  100 Kbit/s   |
|  s4            |  125 Kbit/s   |
|  s5            |  250 Kbit/s   |
|  s6            |  500 Kbit/s   |
|  s7            |  800 Kbit/s   |
|  s8            |  1000 Kbit/s  |
+----------------+---------------+

• create vcan0 device

sudo ip link add name vcan0 type vcan
sudo ip link set up vcan0

• check vcan0 device

ifconfig
ip -details -statistics link show vcan0

run application

./main

can-utils to verify app.

• At first, app is excuted before doing below.
• To verify this application, we will use can-utils
  • if can-utils package is not installed, type below command.

    sudo apt-get install can-utils

• verify reading message from bus. Open new terminal(shell) session. And type below command.

  cansend vcan0 01a#11223344AABBCCDD

  If reading message in app is completed successfully, app log will be printed as below.

  read CAN message(blocked io). msg id = 0x01a, dlc = 8, data = 11 22 33 44 AA BB CC DD

• verify writing message to bus. Open new terminal(shell) session. And type below command.

  pi@raspberrypi:~/$ candump vcan0

  If writing message in app is completed successfully, app log will be printed as below.

  vcan0  123   [2]  11 22
  vcan0  123   [2]  11 22
  vcan0  123   [8]  11 22 33 44 55 66 77 88
  vcan0  123   [8]  11 22 33 44 55 66 77 88

usb-can device

In my experience, I used the below cable.
https://www.seeedstudio.com/USB-CAN-Analyzer-p-2888.html

reference

https://docs.kernel.org/networking/can.html

https://elinux.org/Bringing_CAN_interface_up