CAN bus

Kernel Module Configuration

1. Append the following configuration at the end of the /boot/firmware/config.txt file:

   # CAN bus
   dtparam=spi=on
   dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=25

2. and restart the Raspberry Pi to apply the configuration.

Getting the can0 Interface

At the boot, the CAN bus interface is not active. The hardware_launch.py will make sure the CAN interface is up (see here).

To get the interface manually you can run:

sudo ip link set can0 up type can bitrate 500000 restart-ms 100 sjw 3
sudo ip link set can0 txqueuelen 100

Debugging

There is a very useful tool can-utils for debugging a CAN communication:

sudo apt install can-utils

Use candump can0 to receive CAN messages and for example cansend can0 00006C00#01 to send a CAN message.