Jetson SPI轉(zhuǎn)CAN 控制器FD

參考資料：
【Linux應(yīng)用】CAN總線編程

NVIDAI Jetson僅包含有CAN控制器:
Xavier：2xCAN
NX : 1xCAN
TX2 : 2xCAN
Nano： 無CAN

NVIDIA Jetson 自帶CAN孔子去需增加CAN收發(fā)器（市面上非常多型號）如:
Microchip - MCP2557FD/2558FD
TI - SN65HVD231DG4
NXP - TJA1043

Xavier MTTCAN控制器，相關(guān)詳細(xì)的應(yīng)用可參考：
https://elinux.org/Jetson/AGX_Xavier_CAN
CSDN NVIDIA Xavier CAN

NX MTTCAN控制器，相關(guān)詳細(xì)的應(yīng)用可參考：
How to using CAN In nx devkit

然而在很多場景下，Jetson 自帶的CAN控制器是不夠用的，此時就需要額外擴(kuò)展CAN接口，常見的CAN擴(kuò)展方式包括：PCIe\Ethernet\USB\SPI\UART等等

下面介紹的是SPI轉(zhuǎn)CAN，型號包括：
Microchip MCP2515
Microchip MCP2518FD (2xCS信號，擴(kuò)展2xCAN 接口)

首先是Seeed 的樹莓派的CAN BUS FD Shield(MCP2518FD)在Jetson Nano、NX、Xavier上的應(yīng)用，其中官方已經(jīng)提供了Nano上的參考軟件、硬件接口等
https://wiki.seeedstudio.com/2-Channel-CAN-BUS-FD-Shield-for-Raspberry-Pi/

Seeedstudio CAN Nano.png

Jetson Nano (官方驗證）
步驟1、
git clone https://github.com/Seeed-Studio/seeed-linux-dtoverlays
步驟2、編譯dtbo 和 driver
cd seeed-linux-dtoverlays
export CUSTOM_MOD_LIST="CAN-HAT"; make all_jetsonnano
步驟3、安裝驅(qū)動
sudo -E make install_jetsonnano
步驟4、安裝dtbo
sudo cp overlays/jetsonnano/2xMCP2518FD-spi0.dtbo /boot
sudo /opt/nvidia/jetson-io/config-by-hardware.py -n "Seeed 2xMCP2518FD"
步驟5、重啟機(jī)器，查看can 設(shè)備及通訊驗證

nano@jetson-nano:~$ dmesg | grep spi
[   10.867712] mcp25xxfd spi0.0 can0: MCP2518FD rev0.0 (-RX_INT -MAB_NO_WARN +CRC_REG +CRC_RX +CRC_TX +ECC -HD m:20.00MHz r:18.50MHz e:0.00MHz) successfully initialized.
[   10.879487] mcp25xxfd spi0.1 can1: MCP2518FD rev0.0 (-RX_INT -MAB_NO_WARN +CRC_REG +CRC_RX +CRC_TX +ECC -HD m:20.00MHz r:18.50MHz e:0.00MHz) successfully initialized.
 
nano@jetson-nano:~$ ifconfig -a
can0: flags=128<NOARP>  mtu 16
        unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  txqueuelen 10  (UNSPEC)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 112
 
can1: flags=128<NOARP>  mtu 16
        unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  txqueuelen 10  (UNSPEC)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 114

#短接CAN0-L和CAN1-L， CAN0-H和CAN1-H
#通過can0發(fā)送數(shù)據(jù)
cangen can0 -mv 

#通過can1接收數(shù)據(jù)
candump can1

Jetson NX
步驟1、
git clone https://github.com/Seeed-Studio/seeed-linux-dtoverlays
步驟2、修改dts、driver并編譯dtbo 和 driver
cd seeed-linux-dtoverlays
export CUSTOM_MOD_LIST="CAN-HAT"; make all_jetsonnx
步驟3、安裝驅(qū)動
sudo -E make install_jetsonnx
步驟4、安裝dtbo
sudo cp overlays/jetsonnX/2xMCP2518FD-spi0.dtbo /boot
sudo /opt/nvidia/jetson-io/config-by-hardware.py -n "Seeed 2xMCP2518FD"

Jetson Xavier
步驟1、
git clone https://github.com/Seeed-Studio/seeed-linux-dtoverlays
步驟2、修改dts、driver并編譯dtbo 和 driver
cd seeed-linux-dtoverlays
export CUSTOM_MOD_LIST="CAN-HAT"; make all_jetsonxavier
步驟3、安裝驅(qū)動
sudo -E make install_all_jetsonxavier
步驟4、安裝dtbo
sudo cp overlays/jetsonxavier/2xMCP2518FD-spi0.dtbo /boot
sudo /opt/nvidia/jetson-io/config-by-hardware.py -n "Seeed 2xMCP2518FD"
步驟5、重啟機(jī)器，查看can 設(shè)備及通訊驗證

nvidia@xavier:~$ dmesg | grep 'spi'
[    0.794158] iommu: Adding device 3210000.spi to group 11
[ 4589.923309] mcp25xxfd spi0.0 can0: mcp25xxfd_register_done: 0 
[ 4589.923329] mcp25xxfd spi0.0 can0: MCP2518FD rev0.0 (-RX_INT -MAB_NO_WARN +CRC_REG +CRC_RX +CRC_TX +ECC -HD c:40.00MHz m:20.00MHz r:18.50MHz e:0.00MHz) successfully initialized.
[ 4589.936317] mcp25xxfd spi0.1 can1: mcp25xxfd_register_done: 0 
[ 4589.936333] mcp25xxfd spi0.1 can1: MCP2518FD rev0.0 (-RX_INT -MAB_NO_WARN +CRC_REG +CRC_RX +CRC_TX +ECC -HD c:40.00MHz m:20.00MHz r:18.50MHz e:0.00MHz) successfully initialized.
xavier.png
candum vs. cansend .png

Socket CAN 編程

報文發(fā)送（僅發(fā)送，不接收）
nvidia@xavier:~/$ vi socket_can0_send.c 
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>

int main()
{
    int s, nbytes;
    struct sockaddr_can addr;
    struct ifreq ifr;
    struct can_frame frame[2] = {{0}};

    s = socket(PF_CAN, SOCK_RAW, CAN_RAW);//創(chuàng)建套接字
    strcpy(ifr.ifr_name, "can0" );
    ioctl(s, SIOCGIFINDEX, &ifr); //指定 can0 設(shè)備
    addr.can_family = AF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;
    
    bind(s, (struct sockaddr *)&addr, sizeof(addr));//將套接字與 can0 綁定
    //禁用過濾規(guī)則，本進(jìn)程不接收報文，只負(fù)責(zé)發(fā)送
    setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
    //生成兩個報文
    frame[0].can_id = 0x11;
    frame[0].can_dlc = 1;
    frame[0].data[0] = 'Y';
    frame[1].can_id = 0x22;
    frame[1].can_dlc = 1;
    frame[1].data[0] = 'N';
    //循環(huán)發(fā)送兩個報文
    while(1)
    {
        nbytes = write(s, &frame[0], sizeof(frame[0])); //發(fā)送 frame[0]
        if(nbytes != sizeof(frame[0]))
        {
            printf("Send Error frame[0]\n!");
            break; //發(fā)送錯誤，退出
        }
        sleep(1);
        nbytes = write(s, &frame[1], sizeof(frame[1])); //發(fā)送 frame[1]
        if(nbytes != sizeof(frame[0]))
        {
            printf("Send Error frame[1]\n!");
            break;
        }
        sleep(1);
    }
    close(s);
    return 0;
}


報文接收（僅接收，不發(fā)送）
nvidia@xavier:~/$ vi socket_can0_recv.c 
#include <stdio.h> 
#include <stdlib.h> 
#include <string.h> 
#include <unistd.h> 
#include <net/if.h> 
#include <sys/ioctl.h> 
#include <sys/socket.h> 
#include <linux/can.h> 
#include <linux/can/raw.h> 

int main() 
{ 
    int s, nbytes; 
    struct sockaddr_can addr; 
    struct ifreq ifr; 
    struct can_frame frame; 
    struct can_filter rfilter[1];

    s = socket(PF_CAN, SOCK_RAW, CAN_RAW); //創(chuàng)建套接字 
    strcpy(ifr.ifr_name, "can3" ); 
    ioctl(s, SIOCGIFINDEX, &ifr); //指定 can3 設(shè)備 
    addr.can_family = AF_CAN; 
    addr.can_ifindex = ifr.ifr_ifindex; 
    bind(s, (struct sockaddr *)&addr, sizeof(addr)); //將套接字與 can3 綁定 

    rfilter[0].can_id = 0x11;   //定義接收規(guī)則，只接收表示符等于 0x11 的報文 
    rfilter[0].can_mask = CAN_SFF_MASK; 

    setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter)); //設(shè)置過濾規(guī)則 
    while(1)
    { 
        nbytes = read(s, &frame, sizeof(frame)); //接收報文 

        if(nbytes > 0) //顯示報文 
        {
            printf("ID=0x%X DLC=%d data[0]=0x%X\n",frame.can_id,frame.can_dlc,frame.data[0]); 
        } 
    } 
    close(s); 
    return 0; 
}

運行：
nvidia@xavier:~/t$ ./socket_can0_send &

nvidia@xavier:~/t$ ./socket_can0_recv  
ID=0x11 DLC=1 data[0]=0x59
ID=0x11 DLC=1 data[0]=0x59
...
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