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can-utils

This section describes the use of can-utils utilities on Pigeon computers.

The can-utils package is installed by default.

  • Transmit 8 bytes with ID 0x100 (dots are optional): 
$ cansend can0 100#31.32.33.34.35.36.37.38
  • Before sending CAN FD frames, the interface must be started in CAN FD mode:
$ ip link set can0 down
$ ip link set can0 up type can bitrate 500000 sample-point 0.75 dbitrate 4000000 dsample-point 0.8 fd on
  • Transmit a CAN FD message with BRS (Bit Rate Switch):
$ cansend can0 100##131.32.33.34.35.36.37.38
  • Transmit a CAN FD message without BRS:
$ cansend can0 100##031.32.33.34.35.36.37.38
  • Cansend usage: 
$ cansend 
: 
#{data} for Classical CAN 2.0 data frames 
#R{len} for Classical CAN 2.0 data frames 
#{data}_{dlc} for Classical CAN 2.0 data frames 
#R{len}_{dlc} for Classical CAN 2.0 data frames 
##{data} for CAN FD frames 
: 3 (SFF) or 8 (EFF) hex chars 
{data}: 0..8 (0..64 CAN FD) ASCII hex-values (optionally separated by '.') 
{len}: an optional 0..8 value as RTR frames can contain a valid dlc field 
{dlc}: an optional 9..F data length code value when payload length is 8 
: a single ASCII Hex value (0 .. F) 
CANFD_BRS 0x01 - bit rate switch (second bitrate for payload data) 
CANFD_ESI 0x02 - bit error state indicator of the transmitting node 
CANFD_FDF 0x04 - bit mark CAN FD for dual use of struct canfd_frame
  • Receive packets: 
$ candump -cae can0,0:0,#FFFFFFFF can0 100 [8] 31 32 33 34 35 36 37 38 '12345678'
  • Dump data with a specific ID (e.g., 0x100):
$ candump -cae can0,100:7ff
  • Save all received packets to a log file:
$ candump -l can0,0:0,#FFFFFFFF
  • Use cansniffer to group messages by ID: 
$ cansniffer can0