| $ modprobe vcan modprobe: ERROR: could not insert 'vcan': Operation not permitted $ sudo modprobe vcan $ sudo ip link add dev vcan0 type vcan $ ifconfig br-638c83b169eb: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500 inet 172.18.0.1 netmask 255.255.0.0 broadcast 172.18.255.255 ether 02:42:d5:e6:f1:21 txqueuelen 0 (Ethernet) 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 docker0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500 inet 172.17.0.1 netmask 255.255.0.0 broadcast 172.17.255.255 ether 02:42:40:63:97:cb txqueuelen 0 (Ethernet) 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 enxf8e43b9b776b: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 inet 192.168.220.108 netmask 255.255.0.0 broadcast 192.168.255.255 inet6 fe80::81f4:65ad:f7cc:2f2c prefixlen 64 scopeid 0x20<link> ether f8:e4:3b:9b:77:6b txqueuelen 1000 (Ethernet) RX packets 3619726 bytes 2156366501 (2.1 GB) RX errors 0 dropped 106170 overruns 0 frame 0 TX packets 1452518 bytes 317915291 (317.9 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536 inet 127.0.0.1 netmask 255.0.0.0 inet6 ::1 prefixlen 128 scopeid 0x10<host> loop txqueuelen 1000 (Local Loopback) RX packets 160829 bytes 14028478 (14.0 MB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 160829 bytes 14028478 (14.0 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 wlo1: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 inet 192.168.220.107 netmask 255.255.0.0 broadcast 192.168.255.255 inet6 fe80::104b:d69c:878f:cfaa prefixlen 64 scopeid 0x20<link> ether 8c:55:4a:28:25:bc txqueuelen 1000 (Ethernet) RX packets 809871 bytes 90255020 (90.2 MB) RX errors 0 dropped 99865 overruns 0 frame 0 TX packets 53067 bytes 6125665 (6.1 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 $ ifconfig -a br-638c83b169eb: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500 inet 172.18.0.1 netmask 255.255.0.0 broadcast 172.18.255.255 ether 02:42:d5:e6:f1:21 txqueuelen 0 (Ethernet) 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 docker0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500 inet 172.17.0.1 netmask 255.255.0.0 broadcast 172.17.255.255 ether 02:42:40:63:97:cb txqueuelen 0 (Ethernet) 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 enxf8e43b9b776b: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 inet 192.168.220.108 netmask 255.255.0.0 broadcast 192.168.255.255 inet6 fe80::81f4:65ad:f7cc:2f2c prefixlen 64 scopeid 0x20<link> ether f8:e4:3b:9b:77:6b txqueuelen 1000 (Ethernet) RX packets 3620125 bytes 2156544266 (2.1 GB) RX errors 0 dropped 106183 overruns 0 frame 0 TX packets 1452676 bytes 317938700 (317.9 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536 inet 127.0.0.1 netmask 255.0.0.0 inet6 ::1 prefixlen 128 scopeid 0x10<host> loop txqueuelen 1000 (Local Loopback) RX packets 160841 bytes 14030154 (14.0 MB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 160841 bytes 14030154 (14.0 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 vcan0: flags=128<NOARP> mtu 72 unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 1000 (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 wlo1: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 inet 192.168.220.107 netmask 255.255.0.0 broadcast 192.168.255.255 inet6 fe80::104b:d69c:878f:cfaa prefixlen 64 scopeid 0x20<link> ether 8c:55:4a:28:25:bc txqueuelen 1000 (Ethernet) RX packets 809990 bytes 90270371 (90.2 MB) RX errors 0 dropped 99877 overruns 0 frame 0 TX packets 53074 bytes 6126348 (6.1 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 $ sudo ifconfig vcan0 up $ ifconfig br-638c83b169eb: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500 inet 172.18.0.1 netmask 255.255.0.0 broadcast 172.18.255.255 ether 02:42:d5:e6:f1:21 txqueuelen 0 (Ethernet) 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 docker0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500 inet 172.17.0.1 netmask 255.255.0.0 broadcast 172.17.255.255 ether 02:42:40:63:97:cb txqueuelen 0 (Ethernet) 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 enxf8e43b9b776b: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 inet 192.168.220.108 netmask 255.255.0.0 broadcast 192.168.255.255 inet6 fe80::81f4:65ad:f7cc:2f2c prefixlen 64 scopeid 0x20<link> ether f8:e4:3b:9b:77:6b txqueuelen 1000 (Ethernet) RX packets 3620430 bytes 2156573250 (2.1 GB) RX errors 0 dropped 106197 overruns 0 frame 0 TX packets 1452764 bytes 317953427 (317.9 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536 inet 127.0.0.1 netmask 255.0.0.0 inet6 ::1 prefixlen 128 scopeid 0x10<host> loop txqueuelen 1000 (Local Loopback) RX packets 160841 bytes 14030154 (14.0 MB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 160841 bytes 14030154 (14.0 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 vcan0: flags=193<UP,RUNNING,NOARP> mtu 72 unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 1000 (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 wlo1: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 inet 192.168.220.107 netmask 255.255.0.0 broadcast 192.168.255.255 inet6 fe80::104b:d69c:878f:cfaa prefixlen 64 scopeid 0x20<link> ether 8c:55:4a:28:25:bc txqueuelen 1000 (Ethernet) RX packets 810099 bytes 90278671 (90.2 MB) RX errors 0 dropped 99889 overruns 0 frame 0 TX packets 53074 bytes 6126348 (6.1 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 |
[링크 : https://ola-page.tistory.com/66]
| $ candump candump - dump CAN bus traffic. Usage: candump [options] <CAN interface>+ (use CTRL-C to terminate candump) Options: -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date) -H (read hardware timestamps instead of system timestamps) -c (increment color mode level) -i (binary output - may exceed 80 chars/line) -a (enable additional ASCII output) -S (swap byte order in printed CAN data[] - marked with '`' ) -s <level> (silent mode - 0: off (default) 1: animation 2: silent) -l (log CAN-frames into file. Sets '-s 2' by default) -L (use log file format on stdout) -n <count> (terminate after reception of <count> CAN frames) -r <size> (set socket receive buffer to <size>) -D (Don't exit if a "detected" can device goes down. -d (monitor dropped CAN frames) -e (dump CAN error frames in human-readable format) -x (print extra message infos, rx/tx brs esi) -T <msecs> (terminate after <msecs> without any reception) Up to 16 CAN interfaces with optional filter sets can be specified on the commandline in the form: <ifname>[,filter]* Filters: Comma separated filters can be specified for each given CAN interface: <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask) <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask) #<error_mask> (set error frame filter, see include/linux/can/error.h) [j|J] (join the given CAN filters - logical AND semantic) CAN IDs, masks and data content are given and expected in hexadecimal values. When the can_id is 8 digits long the CAN_EFF_FLAG is set for 29 bit EFF format. Without any given filter all data frames are received ('0:0' default filter). Use interface name 'any' to receive from all CAN interfaces. Examples: candump -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8 candump -l any,0~0,#FFFFFFFF (log only error frames but no(!) data frames) candump -l any,0:0,#FFFFFFFF (log error frames and also all data frames) candump vcan2,12345678:DFFFFFFF (match only for extended CAN ID 12345678) candump vcan2,123:7FF (matches CAN ID 123 - including EFF and RTR frames) candump vcan2,123:C00007FF (matches CAN ID 123 - only SFF and non-RTR frames) |
| $ cansend vcan0 cansend - send CAN-frames via CAN_RAW sockets. Usage: cansend <device> <can_frame>. <can_frame>: <can_id>#{data} for 'classic' CAN 2.0 data frames <can_id>#R{len} for 'classic' CAN 2.0 data frames <can_id>##<flags>{data} for CAN FD frames <can_id>: 3 (SFF) or 8 (EFF) hex chars {data}: 0..8 (0..64 CAN FD) ASCII hex-values (optionally separated by '.') {len}: an optional 0..8 value as RTR frames can contain a valid dlc field <flags>: a single ASCII Hex value (0 .. F) which defines canfd_frame.flags Examples: 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / 123##1 / 213##311223344 / 1F334455#1122334455667788 / 123#R / 00000123#R3 |
아래는 데이터 출력 포맷 확인용
인터페이스 / CAN id / 길이 / 데이터(페이로드 길이)
| receive | send |
| $ candump vcan0 vcan0 111 [5] 01 02 03 04 05 |
$ cansend vcan0 111#010203.04.05 |
| vcan0 112 [5] 01 02 03 04 05 | $ cansend vcan0 112#010203.04.05 |
| vcan0 112 [0] | $ cansend vcan0 112# |
| vcan0 112 [00] | $ cansend vcan0 112##1 |
| vcan0 112 [01] 23 | $ cansend vcan0 112##123 |
| vcan0 112 [0] remote request | $ cansend vcan0 112#R |
| vcan0 112 [3] remote request | $ cansend vcan0 112#R3 |
받는 쪽에서 CAN id 제한할 경우, 112를 받도록 설정했기에 113은 무시된다.
| $ candump vcan0,112:FF | $ cansend vcan0 111#R3 |
| vcan0 112 [3] remote request | $ cansend vcan0 112#R3 |
| $ cansend vcan0 113#R3 | |
| vcan0 112 [5] 01 02 03 04 05 | $ cansend vcan0 112#010203.04.05 |
| vcan0 112 [6] 01 02 03 04 05 06 | $ cansend vcan0 112#010203.04.0506 |
| vcan0 112 [7] 01 02 03 04 05 06 07 | $ cansend vcan0 112#010203.04.0506.07 |
| vcan0 112 [0] remote request | $ cansend vcan0 112#R $ cansend vcan0 112#R10 $ cansend vcan0 112#R100 |
| vcan0 112 [1] remote request | $ cansend vcan0 112#R1 |
| vcan0 112 [2] remote request | $ cansend vcan0 112#R2 |
| vcan0 112 [8] remote request | $ cansend vcan0 112#R8 |
그나저나 mask 라는데 이해가 안되네..
123 = 0x7B & 0x7F0 하면 0x7B가 되어야 하니 16개에 대해서 받아들여야 할 거 같은데 왜 119에서 130 까지 12개 받아들여 질까?
| $ candump vcan0,123:7F0 vcan0 120 [0] remote request vcan0 121 [0] remote request vcan0 122 [0] remote request vcan0 123 [0] remote request vcan0 124 [0] remote request vcan0 125 [0] remote request vcan0 126 [0] remote request vcan0 127 [0] remote request vcan0 128 [0] remote request vcan0 129 [0] remote request |
$ cansend vcan0 119#R $ cansend vcan0 120#R $ cansend vcan0 121#R $ cansend vcan0 122#R $ cansend vcan0 123#R $ cansend vcan0 124#R $ cansend vcan0 125#R $ cansend vcan0 126#R $ cansend vcan0 127#R $ cansend vcan0 128#R $ cansend vcan0 129#R $ cansend vcan0 130#R |
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