EMAC CAN Interface
The CAN interface is a vehicle bus standard that allows communication between a controller and various sensors. EMAC produces several boards capable of communicating on a CAN bus. For more information about which products support the CAN bus, see the hardware page.
Contents
Background
CAN (controller area network) is a multi-master serial bus for communicating between "nodes" over a two-wire interface. The wires are generally a 120 ohm twisted pair. Each CAN node has the ability to communicate with every other node, one at a time.
EMAC CAN Interface
The CAN bus is able to be accessed from the command line, or using a C API on EMAC products (with CAN support).
CAN Bus Setup
Before using the CAN interface on an EMAC device, two commands must be run. These commands could be scripted to be run at startup.
| NOTE |
| The settings in the first command may need to be changed according to the application in question. |
root@ipac9x25:~# ip link set can0 type can bitrate 125000 triple-sampling on
root@ipac9x25:~# ip link set can0 up Command Line CAN
The command line tools included with EMAC OE 5 are part of the canutils package. The tools included in this package are:
canconfigcandumpcanechocansendcansequence
Of these five, the most used are cansend and candump.
