ip: either "dev" is duplicate, or "type" is garbage

Driver installation

• Nothing has to be done for the APF51Dev, the APF28Dev and the APF6Dev.
• For the APF27DevFull:

 $ make linux-menuconfig

Networking support  --->
    <M>   CAN bus subsystem support --->
        --- CAN bus subsystem support
        <M>   Raw CAN Protocol (raw access with CAN-ID filtering)
        <M>   Broadcast Manager CAN Protocol (with content filtering)
              CAN Device Drivers  --->
                  <M> Virtual Local CAN Interface (vcan)
                  <M> Platform CAN drivers with Netlink support
                  [*]   CAN bit-timing calculation
                  <M> Microchip 251x series SPI CAN Controller

 $ make linux
 $ make

• Reflash kernel and rootfs

Usage

• Load all the needed drivers:

# modprobe can
# modprobe can-dev
# modprobe can-raw

APF27 & APF51	APF6
# modprobe mcp251x	# modprobe flexcan

• Set the bitrate before all operations

Example: Set the bitrate of the can0 interface to 125kbps:

# ip link set can0 up type can bitrate 125000

Note: An error occurs when you try to set the bitrate with an old Linux kernel.

• If the following error occurs when you do the last instruction :

ip: either "dev" is duplicate, or "type" is garbage

check that this command:

# which ip

return this message:

/sbin/ip

and not this one :

/bin/ip

If the binary is installed in /bin instead of /sbin, the executable file is a link to busybox and the command to set the bitrate doesn't work on busybox, so try the following instructions:

$ make busybox-clean
$ make busybox-dirclean
$ make menuconfig

Package Selection for the target  --->
    Networking applications  --->
        [*] iproute2

$ make

Then, reflash your rootfs.

Quick test

• Once the driver is installed and the bitrate is set, the CAN interface has to be started like a standard net interface:

 # ifconfig can0 up

• and can be stopped like that:

 # ifconfig can0 down

• The socketCAN version can be retrieved this way:

 # cat /proc/net/can/version

• The socketCAN statistics can be retrieved this way:

 # cat /proc/net/can/stats

Userspace tools

Several tools are provided by socketCAN:

• candump: dump traffic on a CAN network

The following command shows the received message from the CAN bus

candump can0

• cansend: simple command line tool to send CAN-frames via CAN_RAW sockets

exemple : The following command sends 3 bytes on the bus (0x1E, 0x10, 0x10) with the identifier 500.

cansend can0 500#1E.10.10

You can send a remote request message

cansend can0 500#R

The information with the identifier 500 will be available on the bus when the device receive the remote request message

• cangen: CAN frames generator for testing purpose
• canplayer: send CAN frames from a file to a CAN interface

These tools can be compiled and installed on the target by means of the Buildroot menuconfig:

$ make menuconfig

Package Selection for the target  --->
    Networking  --->
        [*]   Socket CAN

$ make

then, reflash your rootfs.