'모종의 음모/CAN' 카테고리의 글 목록

'모종의 음모/CAN'에 해당되는 글 11건

MCP2515 on rpi .. 2번째

벌써 3년전에 가볍게(?) 해봤었네..

또 까먹다니 이 기억력 어쩔.. ㅠㅠ

그때와 다른건.. 작년 부터 /boot/config.txt의 경로가 달라졌다는 정도?

$ uname -a
Linux raspberrypi 6.12.25+rpt-rpi-v7 #1 SMP Raspbian 1:6.12.25-1+rpt1 (2025-04-30) armv7l GNU/Linux

$ cat /boot/config.txt
DO NOT EDIT THIS FILE

The file you are looking for has moved to /boot/firmware/config.txt

$ cat /boot/firmware/config.txt
[all]
dtoverlay=mcp2515-can0,oscillator=8000000,interrupt=12
dtoverlay=spi-bcm2835-overlay

$ sudo ip link set can0 up type can bitrate 125000
$ ifconfig can0
can0: flags=193<UP,RUNNING,NOARP>  mtu 16
        unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  txqueuelen 10  (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

$ dmesg | grep -i can
[   12.948060] CAN device driver interface
[   13.070005] mcp251x spi0.0 can0: MCP2515 successfully initialized.

$ lsmod |grep can
can_dev                40960  1 mcp251x

loopback 설정. ifconfig 상으로는 별다른 티가 안난다

$ sudo ip link set can0 up type can bitrate 125000 loopback on
$ sudo ifconfig can0
can0: flags=193<UP,RUNNING,NOARP>  mtu 16
        unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  txqueuelen 10  (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

[링크 : https://forums.raspberrypi.com/viewtopic.php?t=7027&start=225]

아무튼 loopback을 활성화 하고 ssh 로 창 두개 열어서 한쪽은 candump 실행해두고

다른 한쪽에서 cansend로 보내면 보내진다.

$ cansend can0 5A1#11.2233.44556677.88

$ candump can0
can0 5A1 [8] 11 22 33 44 55 66 77 88
can0 5A1 [8] 11 22 33 44 55 66 77 88

$ demsg | tail
[  965.109222] can: controller area network core
[  965.109370] NET: Registered PF_CAN protocol family
[  965.136117] can: raw protocol
[ 1028.671698] mcp251x spi0.0 can0: bus-off

[링크 : https://whiteknight3672.tistory.com/346]

[링크 : https://blog.naver.com/mts90/221644429413]

[링크 : https://wp.mytv.kr/2019/10/31/raspberry-pi-에서-can-통신-사용하기/] 결선도

2023.10.31 - [모종의 음모/CAN] - MCP2515 on rpi

2025.02.19 - [모종의 음모/CAN] - candump, cansend와 vcan

+

MCP2515 / TJA1050

D0695323C 라고 써있어서

이게 8 MHz 인지 16 MHz 인질 모르겠다. 검색해도 안나온다.

일단 두대를 보니 서로 다른게 써있어서 그냥 시리얼 번호라고 생각하는 중.

일단은 3.3V했는데 이러면 외부로 신호는 발생시키지 못할 듯.

예전에도 본건 데 전원이 잘못되었다고 개조를 해야 한다고 하는데

지금 다시 읽어보니 라즈베리 파이 gpio 가 3.3V 라서 아두이노와는 다르게 5V로 주면 라즈베리가 데미지 입게된다.

Because MCP2515 must be powered from 3,3V, because MCP2515 is directly connected to Pi GPIO and GPIO only accept 3,3V

[링크 : https://forums.raspberrypi.com/viewtopic.php?t=141052]

데이터 시트를 찾아보면

MCP2515는 2.7 V~5.5 V 면 되지만 SPI 도 Vdd 전압 따라가게 되면 흐음..

[링크 : https://ww1.microchip.com/downloads/en/DeviceDoc/MCP2515-Stand-Alone-CAN-Controller-with-SPI-20001801J.pdf]

CAN tranceiver칩은 4.75~5.25V 사이에 전압을 공급해야 한다.

[링크 : https://www.nxp.com/docs/en/data-sheet/TJA1050.pdf]

걍 속편하게 SPI 쪽만 레벨 시프터 쓸까? 개조가 나을까..

저작자표시 (새창열림)

'모종의 음모 > CAN' 카테고리의 다른 글

obd can (0)	2026.07.23
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candump, cansend와 vcan (0)	2025.02.19
linux can 테스트(가상 CAN IF) (0)	2025.02.18
can-utils(cansend, candump) (0)	2025.02.18

Posted by 구차니

obd can

can 찾아보게 된 이유가 OBD 통신에 쓴다고 해서 봤던거니 다시 기록!

[링크 : https://clemencyking.tistory.com/m/26]

7.29

https://www.instructables.com/Raspberry-Pi-Based-CAN-BUS-Reader/

저작자표시 (새창열림)

'모종의 음모 > CAN' 카테고리의 다른 글

MCP2515 on rpi .. 2번째 (0)	2026.07.24
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candump, cansend와 vcan (0)	2025.02.19
linux can 테스트(가상 CAN IF) (0)	2025.02.18
can-utils(cansend, candump) (0)	2025.02.18

Posted by 구차니

DeviceNet CAN

이거 머 보다가 나온거지 -ㅁ-?

FC-SAN 쪽에서 CIP로 시작한 것 같은데 기억이...

The Common Industrial Protocol (CIP) is an industrial protocol for industrial automation applications. It is supported by ODVA.
Previously known as Control and Information Protocol,[1] CIP encompasses a comprehensive suite of messages and services for the collection of manufacturing automation applications – control, safety, synchronization, motion, configuration and information. It allows users to integrate these manufacturing applications with enterprise-level Ethernet networks and the Internet. It is supported by hundreds of vendors around the world,[2] and is media-independent. CIP provides a unified communication architecture throughout the manufacturing enterprise. It is used in EtherNet/IP, DeviceNet, CompoNet and ControlNet.
ODVA is the organization that supports network technologies built on the Common Industrial Protocol (CIP). These also currently include application extensions to CIP: CIP Safety, CIP Motion and CIP Sync.

[링크 : https://en.m.wikipedia.org/wiki/Common_Industrial_Protocol]

DeviceNet is a network protocol used in the automation industry to interconnect control devices for data exchange. It utilizes the Common Industrial Protocol over a Controller Area Network media layer and defines an application layer to cover a range of device profiles. Typical applications include information exchange, safety devices, and large I/O control networks.[1]

[링크 : https://en.m.wikipedia.org/wiki/DeviceNet]

저작자표시 (새창열림)

'모종의 음모 > CAN' 카테고리의 다른 글

MCP2515 on rpi .. 2번째 (0)	2026.07.24
obd can (0)	2026.07.23
candump, cansend와 vcan (0)	2025.02.19
linux can 테스트(가상 CAN IF) (0)	2025.02.18
can-utils(cansend, candump) (0)	2025.02.18

Posted by 구차니

candump, cansend와 vcan

$ 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

저작자표시 (새창열림)

'모종의 음모 > CAN' 카테고리의 다른 글

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DeviceNet CAN (0)	2025.04.01
linux can 테스트(가상 CAN IF) (0)	2025.02.18
can-utils(cansend, candump) (0)	2025.02.18
can invader (0)	2024.01.09

Posted by 구차니

linux can 테스트(가상 CAN IF)

실 장비가 있으면 좋겠지만 없어도

가상 can(virtual can) 장치를 추가해서 테스트 할 수 있다.

$ sudo ip link add dev vcan0 type vcan
$ sudo ifconfig vcan0 up

[링크 : https://ola-page.tistory.com/66] socket can

[링크 : https://hn-log.tistory.com/168] CANable

저작자표시 (새창열림)

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can-utils(cansend, candump)

cansend는 보내고

candump는 받는 녀석이다.

$ cansend can0 canid#userdata

로 하면 특정 canid로 보낼 수 있고

$ cansend --help
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

candump 에서는 아래와 같이 하면 특정 id로만 확인할 수 있다.

$ candump can0,canid

$ candump --help
candump: invalid option -- '-'
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)

저작자표시 (새창열림)

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can invader

렉서스랑 토요타 차량 두가지 종류가 타이어 옆으로 해서 헤드라이트의 커넥터에 접근이 가능하도록

물리보안적인 측면에서 허술하게 만들어져 발생한 사건으로 보인다.

can이라서 접근성이 좋지 않아 이정도인데

현재~근미래에 can에서 ethernet으로 전환하게 되면 너무 손쉽게 뚫리지 않을까 걱정된다.

기본적으로 통신은 보안채널로 하게 되려나?

렉서스 차량 99대와 토요타 랜드크루저 92대가 도난

[링크 : https://v.daum.net/v/1OAq5WD7kL]

+

BroadR-Reach

BroadR-Reach technology is an Ethernet physical layer standard designed for automotive connectivity applications

[링크 : https://en.wikipedia.org/wiki/BroadR-Reach]

[링크 : https://m.blog.naver.com/lecroykorea/221105708892]

[링크 : https://m.blog.naver.com/lecroykorea/221065291291]

[링크 : https://m.blog.naver.com/lecroykorea/221069260339]

저작자표시 (새창열림)

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Posted by 구차니

CAN(controller area network)

TJA1050 입력 전압을 보는데 dominant / recessive란게 나와서 보니

[링크 : https://www.nxp.com/docs/en/data-sheet/TJA1050.pdf]

CAN은 H 와 L 라인의 전위차로 0과 1을 구분한다고 한다.

0이 dominant 라는데 어째 0과 1이 반대인 느낌이다?

아무튼 3.3V면 bus state가 recessive로 잡힌다는건가?

[링크 : https://m.blog.naver.com/lagrange0115/221941482740]

[링크 : https://ww1.microchip.com/downloads/en/DeviceDoc/MCP2515-Stand-Alone-CAN-Controller-with-SPI-20001801J.pdf]

저작자표시 (새창열림)

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Posted by 구차니

MCP2515 on rpi

MCP2515를 라즈베리에서 쓰려면 개조가 필요하다는데

아두이노가 5V IO 레벨이고 라즈베리가 3.3V 레벨이라 그런가? 왜 저렇게 복잡하게 개조하는건진 찾아봐야겠고

집에 16MHz OSC가 있나도 찾아봐야겠다.(12MHz 24MHz는 있는데 16MHz 만 없네 -_-)

[링크 : https://blog.naver.com/mts90/221644429413]

반대로 SPI 를 위한 레벨시프터가 있으면 해결되려나?

[링크 : https://www.devicemart.co.kr/goods/view?no=1384307] 2채널 3.3V<->5V 레벨 시프터 / 1000원

구매시 16MHz 인지 확인하는것도 방법이려나

[링크 : https://m.blog.naver.com/kimhj9/221790064284]

트랜시버의 전압을 바꾸어 주는거라면 라즈베리 끼리 테스트 할때 그냥 3.3V 넣어서

양쪽다 동일 전압레벨로 맞추면 통신이 안되려나?

설정 내용을 보니 spi를 통해서 can 통신 장치 추가 까지 문제 없어 보인다.

$ vi /boot/config.txt
dtoverlay=mcp2515-can0,oscillator=8000000,interrupt=12
dtoverlay=spi-bcm2835-overlay

$ sudo apt-get install can-utils

$ ls /sys/bus/spi/devices/spi0.0/net
can0

$ ls /sys/bus/spi/devices/spi0.0
driver  modalias  net  of_node  subsystem  uevent

$ ls /sys/bus/spi/devices/spi0.0/net/
can0

$ ls /sys/bus/spi/devices/spi0.0/net/can0/
addr_assign_type  carrier_changes  duplex             iflink            operstate       speed         uevent
address           device           flags              link_mode         phys_port_id    statistics
addr_len          dev_id           gro_flush_timeout  mtu               phys_port_name  subsystem
broadcast         dev_port         ifalias            name_assign_type  phys_switch_id  tx_queue_len
carrier           dormant          ifindex            netdev_group      queues          type

// 5. Setup CAN interface, I use 125k baudrate.
$ sudo ip link set can0 up type can bitrate 125000
$ sudo ifconfig
can0      Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
          UP RUNNING NOARP  MTU:16  Metric:1
          RX packets:0 errors:0 dropped:0 overruns:0 frame:0
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:10
          RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)

[링크 : https://forums.raspberrypi.com/viewtopic.php?t=141052]

TJA1050 - High speed CAN tranceiver

[링크 : https://www.nxp.com/docs/en/data-sheet/TJA1050.pdf]

저작자표시 (새창열림)

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Posted by 구차니

mcp2515 can

아두이노나 라즈베리 CAN HAT 은 3~4만원은 해서 구매하기 부담스러웠는데

MCP2515 라는 녀석은 CAN to SPI 라고 해야하나?

CAN 통신을 독립적으로 수행해주는 원칩 솔루션이 있으니 다음에 사봐야겠다.

[링크 : http://itempage3.auction.co.kr/DetailView.aspx?itemno=B509249430] 3700

[링크 : http://itempage3.auction.co.kr/DetailView.aspx?itemno=C297097222] 2700

차량에 OBD 연결하기도 한다는데 의외로 2.54mm 핀 헤더와 잘 맞는듯?

[링크 : https://clemencyking.tistory.com/26]

보드가 8MHz와 16Mhz가 있다는데

크리스탈은 4 / 8 / 20 MHz 권장인가?

HS SPI의 경우 10Mbps 라는데 아무래도 클럭 멀티플라이어가 없다면

20MHz를 넣어줘야 HS SPI 로 작동하게 될 것 같긴하네.

[링크 : https://ww1.microchip.com/downloads/en/DeviceDoc/MCP2515-Stand-Alone-CAN-Controller-with-SPI-20001801J.pdf]

저작자표시 (새창열림)

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구차니의 잡동사니 모음

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