/********************************************************************* *                 I.MX6 Android CAN 命令行测试 * 说明： *     这里使用can-utils测试一下CAN驱动。 * *                                    2016-8-9 深圳 南山平山村 曾剑锋 ********************************************************************/一、shell 命令流程：    1. netcfg can0 down    2. ip link set can0 type can bitrate 1000000 triple-sampling on(或者：ip link set can0 up type can bitrate 1000000)    3. ip -details -statistic link show can0    4. netcfg can0 up    5. ./cansend can0 111#1122334455667788    6. ip -details -statistic link show can0    7. ./canfdtest -vv can0    8. ip -details -statistic link show can0二、运行流程：    root@android:/ # netcfg can0 down    root@android:/ # ip link set can0 type can bitrate 1000000 triple-sampling on    root@android:/ # ip -details -statistic link show can0    2: can0: 
     
       mtu 16 qdisc noop state DOWN qlen 10        link/can         can 
      
        state STOPPED (berr-counter tx 0 rx 0) restart-ms 0         bitrate 1000000 sample-point 0.733         tq 66 prop-seg 5 phase-seg1 5 phase-seg2 4 sjw 1        flexcan: tseg1 4..16 tseg2 2..8 sjw 1..4 brp 1..256 brp-inc 1        clock 30000000        re-started bus-errors arbit-lost error-warn error-pass bus-off        0          0          0          0          0          0                 RX: bytes  packets  errors  dropped overrun mcast           0          0        0       0       0       0              TX: bytes  packets  errors  dropped carrier collsns         0          0        0       0       0       0          root@android:/ # netcfg can0 up    flexcan imx6q-flexcan.0: writing ctrl=0x01232084    127|root@android:/ # cd /data/local    root@android:/data/local # ./cansend can0 111#1122334455667788                     root@android:/data/local # ip -details -statistic link show can0    2: can0: 
       
         mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10        link/can         can 
        
          state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0         bitrate 1000000 sample-point 0.733         tq 66 prop-seg 5 phase-seg1 5 phase-seg2 4 sjw 1        flexcan: tseg1 4..16 tseg2 2..8 sjw 1..4 brp 1..256 brp-inc 1        clock 30000000        re-started bus-errors arbit-lost error-warn error-pass bus-off        0          0          0          0          0          0                 RX: bytes  packets  errors  dropped overrun mcast           0          0        0       0       0       0              TX: bytes  packets  errors  dropped carrier collsns         8          1        0       0       0       0          root@android:/data/local # ip -details -statistic link show can0                   2: can0: 
         
           mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10        link/can         can 
          
            state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0 bitrate 1000000 sample-point 0.733 tq 66 prop-seg 5 phase-seg1 5 phase-seg2 4 sjw 1 flexcan: tseg1 4..16 tseg2 2..8 sjw 1..4 brp 1..256 brp-inc 1 clock 30000000 re-started bus-errors arbit-lost error-warn error-pass bus-off 0 0 0 0 0 0 RX: bytes packets errors dropped overrun mcast 8 1 0 0 0 0 TX: bytes packets errors dropped carrier collsns 8 1 0 0 0 0 root@android:/data/local # ./canfdtest -vv can0 interface = can0, family = 29, type = 3, proto = 1 0037: [8] 37 37 37 37 37 70 c9 00 0037: [8] 37 37 37 37 37 70 c9 00 0037: [8] 37 37 37 37 37 70 c9 00 0037: [8] 37 37 37 37 37 70 c9 00 ^Crecv failed: Bad file number Exiting... 255|root@android:/data/local # ip -details -statistic link show can0 2: can0: 
           
             mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10 link/can can 
            
              state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0 bitrate 1000000 sample-point 0.733 tq 66 prop-seg 5 phase-seg1 5 phase-seg2 4 sjw 1 flexcan: tseg1 4..16 tseg2 2..8 sjw 1..4 brp 1..256 brp-inc 1 clock 30000000 re-started bus-errors arbit-lost error-warn error-pass bus-off 0 0 0 0 0 0 RX: bytes packets errors dropped overrun mcast 40 5 0 0 0 0 TX: bytes packets errors dropped carrier collsns 40 5 0 0 0 0 root@android:/data/local #