Controller Area Network (CAN)

Bring up CAN interface

• The bitrate would be dependent on the hardware capabilities of the USB to CAN converter. The example below is setting up bitrate of 500Kbit/s

$ sudo ip link set can0 up type can bitrate 500000

Bring down CAN interface

• If you would like to bring down the interface

$ sudo ip link set can0 down

Check whether CAN interface is enabled

$ ifconfig

• You would see similar things like below:

can0: flags=193<UP,RUNNING,NOARP>  mtu 16

Send CAN frame

• To send can frame of id 123 and data of AA, BB, CC, DD, EE, FF

$ cansend can0 123#AABBCCDDEEFF

Receive CAN frame

• If you open another terminal and type the following you can see the dumping of can frame

$ candump can0

• From the previous sending command, you should be able to see something like below:

can0 123 [7] AA BB CC DD EE FF

CAN filter mask

• If you would like to filter certain CAN frame, you can do so by using filter mask.

• Since the filter mask would be 29 bits in total, to filter exact CAN Id for example 0x123, it will be like following:

$ candump can0,123:1fffffff

• If you would like to filter CAN Id for 0x12x, it would be like following:

$ candump can0,123:1ffffff0