CAN

All Pigeon computers have one CAN port. Pigeon uses the Microchip MCP2515 controller and high-speed CAN transceiver.

Features:

CAN v2.0B,
transceiver fully compatible with the ISO 11898-2 Standard,
high-speed communication (up to 1 Mbit/s),
bus pins protected against transients,
connection via screw terminal.

By default CAN interface is configured after boot. Below command set the bitrate of the can0 interface to 500 Kbps:

/sbin/ip link set can0 up type can bitrate 500000

you can edit this command in /etc/rc.local file.

Useful commands

Check state of CAN interface:

ifconfig can0
can0 Link encap:UNSPEC HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
UP RUNNING NOARP MTU:16 Metric:1
RX packets:20 errors:0 dropped:0 overruns:0 frame:0
TX packets:20 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:10
RX bytes:160 (160.0 B) TX bytes:160 (160.0 B)

Bring down the device
```
ip link set can0 down
```
Bring up the device
```
ip link set can0 up
```
Show state
```
ip -d -s link show can0
```
Statistics
```
cat /proc/net/can/stats
```

Set bitrate

ip link set can0 down
ip link set can0 type can bitrate 500000

Test mode - loopback mode

ip link set can0 down type can
ip link set can0 type can loopback on

Test mode - silent mode

ip link set can0 down
ip link set can0 type can listen-only on

can-utils

Can-utils is installed by default.

Transmit 8 bytes, id number is 0x100 (dots are optional):
```
cansend can0 100#31.32.33.34.35.36.37.38
```

Receive packets

candump -cae can0,0:0,#FFFFFFFF
can0 100 [8] 31 32 33 34 35 36 37 38 '12345678'

Candump also has the ability to dump data with a specific ID, here is an example for 0x100:
```
candump -cae can0,100:7ff
```
Save all the received packets into a logged file:
```
candump -l can0,0:0,#FFFFFFFF
```
Cansniffer group the messages by ID's (identifiers):
```
cansniffer can0
```

CAN

CAN

Useful commands

can-utils

Links