UM0851 datasheet(110/245 Pages) STMICROELECTRONICS

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Communication device drivers

UM0851

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Doc ID 16604 Rev 2

4.9.6

Netlink interface for the CAN driver

The CAN network device driver interface provides a generic interface to setup, configure

and monitor CAN network devices, via the netlink interface using the program "ip" from the

"IPROUTE2" utility suite.

The supported netlink message types are defined and briefly described in

`include/linux/can/netlink.h` for CAN network device drivers. The following section of this

document describes briefly how to use this with a CAN interface can0:

Set/Get devices properties using Netlink interface

●

To set CAN device properties:

ip link set can0 type can

●

To display CAN device details and statistics:

ip -details -statistics link show can0

●

To set the CAN bit-timing:

CAN bit-timing parameters can always be defined in a hardware independent format as

proposed in the CAN 2.0 specification specifying the arguments `tq`, `prop_seg`,

`phase_seg1`, `phase_seg2` and `sjw`:

ip link set can0 type can tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1

●

To set the CAN device bit-rate:

ip link set can0 type can bitrate 125000

Starting and stopping a device using Netlink interface

●

To start a CAN network device:

ip link set can0 up

ifconfig can0 up

●

To stop a CAN network device:

ip link set can0 down

ifconfig can0 down

4.9.7

Kernel configuration options

The following table contains the options that can be enabled in the kernel to support CAN in

the SPEAr LSP.

Table 35.

CAN menuconfig kernel options

Configuration option

Comment

CONFIG_CAN_CCAN

Bosch C_CAN device

CONFIG_CAN_SPEAR

SPEAr CAN device driver

CONFIG_CAN

CAN support in linux kernel

CONFIG_CAN_RAW

Raw CAN Protocol (raw access with CAN-ID filtering)

CONFIG_CAN_BCM

Broadcast Manager CAN Protocol (with content filtering)

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