CAN

All Pigeon computers are equipped with one CAN port. Pigeon utilizes the Microchip MCP2515 controller and a 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, the CAN interface is configured after boot. The following command sets 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 the /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