I need to set up sample-points for CANFD bus.  The following help command shows how to set up sample-points for can, but my can configuration is not showing any sample points argument.

ip link set can0 type can help
Usage: ip link set DEVICE type can
        [ bitrate BITRATE [ sample-point SAMPLE-POINT] ] |
        [ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1
          phase-seg2 PHASE-SEG2 [ sjw SJW ] ]

        [ dbitrate BITRATE [ dsample-point SAMPLE-POINT] ] |
        [ dtq TQ dprop-seg PROP_SEG dphase-seg1 PHASE-SEG1
          dphase-seg2 PHASE-SEG2 [ dsjw SJW ] ]
        [ tdcv TDCV tdco TDCO tdcf TDCF ]

        [ loopback { on | off } ]
        [ listen-only { on | off } ]
        [ triple-sampling { on | off } ]
        [ one-shot { on | off } ]
        [ berr-reporting { on | off } ]
        [ fd { on | off } ]
        [ fd-non-iso { on | off } ]
        [ presume-ack { on | off } ]
        [ cc-len8-dlc { on | off } ]
        [ tdc-mode { auto | manual | off } ]

        [ restart-ms TIME-MS ]
        [ restart ]

        [ termination { 0..65535 } ]

        Where: BITRATE  := { NUMBER in bps }
                  SAMPLE-POINT  := { 0.000..0.999 }
                  TQ            := { NUMBER in ns }
                  PROP-SEG      := { NUMBER in tq }
                  PHASE-SEG1    := { NUMBER in tq }
                  PHASE-SEG2    := { NUMBER in tq }
                  SJW           := { NUMBER in tq }
                  TDCV          := { NUMBER in tc }
                  TDCO          := { NUMBER in tc }
                  TDCF          := { NUMBER in tc }
                  RESTART-MS    := { 0 | NUMBER in ms }

I suspect this is set to 0 by default, which matches the can.txt resources.  This document mentions calculation of bit-timing manipulation is enabled in the kernel (CONFIG_CAN_CALC_BITTIMING). But I am having trouble at which location this (CONFIG_CAN_CALC_BITTIMING) enabling should happen in kernel file.  I would really appreciate help on this.

I've got this marvelous pi hat RS232-RS485-CAN-Board With this config: enable_uart=1 kernel=u-boot.bin [all] device_tree=bcm2711-rpi-4-b.dtb dtparam=spi=on dtoverlay=i2c0 dtoverlay=spi1-3cs dtoverlay=sc16is752-spi1,int_pin=25 dtoverlay=mcp2515,spi0-0,oscillator=16000000,interrupt=23 dtoverlay=mcp251xfd,spi0-1,interrupt=24 And both can interfaces won't show at the same time, not sure why When I comment out one of them the other show's up in the ifconfig Additionally, the mcp2515 works but the mcp251xfd fails with this: [ 52.157476] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready [ 52.167715] NOHZ tick-stop error: Non-RCU local softirq work is pending, handler #08!!! [ 53.040857] mcp251xfd spi0.1 can0: bus-off, scheduling restart in 100 ms [ 53.047739] NOHZ tick-stop error: Non-RCU local softirq work is pending, handler #08!!! [ 53.167475] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready [ 54.038527] mcp251xfd spi0.1 can0: bus-off, scheduling restart in 100 ms [ 54.045380] NOHZ tick-stop error: Non-RCU local softirq work is pending, handler #08!!! [ 54.164644] NOHZ tick-stop error: Non-RCU local softirq work is pending, handler #08!!! [ 54.177464] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready [ 55.038128] mcp251xfd spi0.1 can0: bus-off, scheduling restart in 100 ms [ 55.187477] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready [ 56.040062] mcp251xfd spi0.1 can0: bus-off, scheduling restart in 100 ms [ 56.197468] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready It's on Venus OS for RPI I'm lost and have no idea how to solves those 2 issues Thanks in advance!

I have configured a SocketCAN interface, can0 (confirmed working using can-utils). I have the below .network config file, so that systemd-networkd brings up the interface on boot.

#/etc/systemd/network/80-can.network
[Match]
Name=can0

[CAN]
BitRate=250K
RestartSec=100ms

[Link]
Unmanaged=no
RequiredForOnline=yes

After a bootup, I can see that the interface is up (note UP flag set) with either

$ ip link show can0
5: can0:  mtu 16 qdisc pfifo_fast state UP mode DEFAULT group default qlen 65536
    link/can

or

$ ifconfig can0
can0: flags=193  mtu 16
        unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  txqueuelen 65536  (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

I want to run a oneshot service after systemd-networkd brings the network up. Some searching indicates that I should modify the systemd-networkd-wait-online service to pass the flag -i [interface], which I've done as

$ sudo systemctl edit systemd-networkd-wait-online
#/etc/systemd/system/systemd-networkd-wait-online.service.d/override.conf
[Service]
ExecStart=
ExecStart=/lib/systemd/systemd-networkd-wait-online -i can0 --timeout=5

In my custom service I use

[Unit]
...
After=systemd-networkd-wait-online.service
Requires=systemd-networkd-wait-online.service

However, the systemd-networkd-wait-online fails on boot, and when I run the command in isolation it fails after timing out:

$ /lib/systemd/systemd-networkd-wait-online -i can0 --timeout=5
Event loop failed: Connection timed out

For comparison, it succeeds "instantly" when passing -i eth0. So, question(s): 1. Does systemd-networkd-wait-online even work with a SocketCAN interface? 2. If it does, what am I doing wrong? or 3. If it doesn't, what would be a functional way to trigger a service at some point after systemd-networkd has brought the interface up?

Waveshare makes a great CAN HAT for the Raspberry Pi (see here ), but the instructions only work for Raspberry Pi OS, not for Armbian. The Banana Pi BPI-M2 Zero has the same pin header layout as the Raspberry Pi, but runs Armbian. How do you setup the Waveshare CAN HAT using Armbian's overlay system?

I want to verify the CAN interfaces on my embedded system. It has two can ports: can0 and can1. I bring them both up with the following sequence: # ip link set can0 type can bitrate 1000000 dbitrate 2000000 fd on # ip link set can0 up # ip link set can1 type can bitrate 1000000 dbitrate 2000000 fd on # ip link set can1 up I hooked them up to each other (CANHCANH, CANLCANL & GNDGND) with termination resistors on each side after the trabnsceivers. Now when I want to send traffic out on can0 and dump rthe incoming traffic on can1. I started candump -c -a any while I invoke:

# cansend can0 01a#11223344AABBCCDD

But after this, I get a bunch of kernel errors that look like: [ 1506.337694] rcar_canfd 10050000.can can0: ch erfl 401 txerr 128 rxerr 0 [ 1506.337702] rcar_canfd 10050000.can can0: Bus error [ 1506.337707] rcar_canfd 10050000.can can0: ACK Error Appears like 128 stands for CAN_ERROR_PASSIVE_THRESHOLD which indicates that about which I read: > **Error Passive**: In this state, the CAN node is still able to transmit data, but it now raises 'Passive Error Flags' when detecting > errors. Further, the CAN node now has to wait for an extra 8 bits (aka > Suspend Transmission Time) in addition to the 3 bit intermission time > before it can resume data transmission (to allow other CAN nodes to > take control of the bus) source: https://www.csselectronics.com/pages/can-bus-errors-intro-tutorial#:~:text=A%20CAN%20node%20enters%20the,if%20the%20TEC%20exceeds%20255 There's nothing showing with candump, though. The above messages show up in dmesg. But I still can see data on the CAN lines (with a scope). What do the errors mean, how can I address them and how can I actually see data with candump?

I seem to be missing a couple of kernel modules. Specifically, can and can_dev. The modules don't load when I run modprobe can or modprobe can-dev. The reason for this I believe is because the modules are not in the directory

-shellsession
[/lib/modules/4.19.94-ti-r42/kernel/drivers/net/can]$ ls
slcan.ko.xz  spi  usb  vcan.ko.xz

The only loaded CAN module is can_raw, which seems to work fine with SocketCAN. My problem is that I am trying to use [ValueCAN](https://intrepidcs.com/socketcan-vcan4/) which depends on the 2 modules. I tried downloading the kernel and when I ran menuconfig, I don't see the CAN modules. I have no idea how to proceed. The following is menuconfig selections.

--- CAN bus subsystem support   

        Raw CAN Protocol (raw access with CAN-ID filtering) 
         Broadcast Manager CAN Protocol (with content filtering)
         CAN Gateway/Router (with netlink configuration)      
            CAN Device Drivers  --->
    
       Virtual Local CAN Interface (vcan)                        
       Virtual CAN Tunnel (vxcan)                             
       Serial / USB serial CAN Adaptors (slcan)               
       Platform CAN drivers with Netlink support              
      [*]   CAN bit-timing calculation (NEW)                     
         Support for Freescale FLEXCAN based chips (NEW)      
         Aeroflex Gaisler GRCAN and GRHCAN CAN devices (NEW)  
         TI High End CAN Controller (NEW)                     
         Bosch C_CAN/D_CAN devices (NEW)  ----                
         Bosch CC770 and Intel AN82527 devices (NEW)  ----
         IFI CAN_FD IP (NEW)                                  
         Bosch M_CAN devices (NEW)                            
         Renesas R-Car CAN controller (NEW)                   
         Renesas R-Car CAN FD controller (NEW)                
         Philips/NXP SJA1000 devices (NEW)  ----              
         Softing Gmbh CAN generic support (NEW)               
            CAN SPI interfaces  --->                             
            CAN USB interfaces  --->                             
            [ ] CAN devices debugging messages (NEW)

I have a PEAK canbus adapter (USB) connected to my Linux box, access from Qt C++ program. While all works well, when I receive frames they are all SFF (11-bit) ID's. candumps are all 11-bit ID's. Even if I send EFF (29-bit) frames, it only shows incoming frames in SFF. The same happens if I use candump, all frames show SFF ID's. However, after I switched my laptop to Windows and ran PEAK viewer, and then back to Linux, suddenly my frames were all showing in EFF in candump. Is there something I need to set (in Linux/ip command/qt c++) to force the adapter to use EFF mode?

I have multiple similar USB network devices, in this case CAN (can0 and can1) connections to different networks but I figure it is a similar problem with multiple other networks (eg WiFi, Ethernet etc). These currently show as can0 and can1 and I may connect more. I am trying to maintain some sort of persistency in the locations for access to each. For non-network devices using udev allows custom symlinks to be referenced to the idVendor, idProduct, and serial numbers so I can ensure the correct code accesses the correct device. How can à similar persistency be achieved for divices under ifconfig? I have the IDs and serial details for each ready to reference I don't want device x to always be can0 and device y to always be can1. As there might only be one device which I think would need to be can0. But if they are plugged in differently or started in a different order then I want to check that can0 is device x or y and run the correct code, or if not run the alternative. I figured this is the better approach than the udev logic but can't seem to find out the methodology Hoping for some pointers on this one. TIA

I have a USB/CAN adapter, from lsusb: > OpenMoko, Inc. Geschwister Schneider CAN adapter it provides a socket interface, from ip addr: 5: can0: mtu 16 qdisc pfifo_fast state UP group default qlen 10 link/can On the bus there are other devices that sends data continuously. If I reboot my PC, I cannot send/receive data anymore, because I get the following error: > No buffer space available I guess that while the device is "disconnected" from the PC (because it's rebooting, but still powered) the internal buffers fill up. Is there a command I can issue to clear the buffers?

Does anyone have experience using SocketCAN within Virtualbox? I'm using Xubuntu. I started by modprobing can, can_raw, can_dev and the relevant driver for the particular can module I'm using. In addition, I directed Virtualbox to pass through the CAN-USB device that I wanted to interface with. When I ran the command sudo ip link set can0 type can bitrate [bitrate], I got: Cannot find device 'can0'. I checked /dev, and I didn't find anything CAN related. I ran sudo dmesg | grep 'usb', and it looks like it is registered as a usb device, but not a CAN device. Does anyone have any experience with SocketCAN? Is there some way to direct Linux to use a certain USB as a CAN socket?

To automatically bring up the interface on boot, I edited the /etc/network/interfaces file as follows: debian@beaglebone:~$ sudo nano /etc/network/interfaces And added the following at the end of the file:

auto can1
iface can1 inet manual
    pre-up /sbin/ip link set can1 type can bitrate 250000 #triple-sampling on restart-ms 100
    up /sbin/ifconfig can1 up
    down /sbin/ifconfig can1 down

But when I reboot, I still need to do $ sudo /sbin/ip link set can1 up type can bitrate 250000 in order for the $ candump can1 to work. What should I do? [UPDATE] In case it makes a difference, here is my whole /etc/network/interfaces/`

# This file describes the network interfaces available on your system
# and how to activate them. For more information, see interfaces(5).

# The loopback network interface
auto lo
iface lo inet loopback

# The primary network interface
#auto eth0
#iface eth0 inet dhcp
# Example to keep MAC address between reboots
#hwaddress ether DE:AD:BE:EF:CA:FE

##connman: ethX static config
#connmanctl services
#Using the appropriate ethernet service, tell connman to setup a static IP address for that service:
#sudo connmanctl config  --ipv4 manual    --nameservers 

##connman: WiFi
#
#connmanctl
#connmanctl> tether wifi off
#connmanctl> enable wifi
#connmanctl> scan wifi
#connmanctl> services
#connmanctl> agent on
#connmanctl> connect wifi_*_managed_psk
#connmanctl> quit

console


auto can1
iface can1 inet manual
    pre-up /sbin/ip link set can1 type can bitrate 250000
    up /sbin/ifconfig can1 up
    down /sbin/ifconfig can1 down

[UPDATE] My /boot/uEnv.txt

#Docs: http://elinux.org/Beagleboard:U-boot_partitioning_layout_2.0 

uname_r=4.14.108-ti-r131
#uuid=
#dtb=am335x-boneblack-emmc-overlay.dtb

###U-Boot Overlays###
###Documentation: http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#U-Boot_Overlays 
###Master Enable
enable_uboot_overlays=1
###
###Overide capes with eeprom
#uboot_overlay_addr0=/lib/firmware/BB-UART1-00A0.dtbo
uboot_overlay_addr1=/lib/firmware/BB-UART2-00A0.dtbo
#uboot_overlay_addr2=/lib/firmware/BB-UART4-RS485-00A0.dtbo
#uboot_overlay_addr3=/lib/firmware/BB-UART5-00A0.dtbo
###
###Custom Cape
#dtb_overlay=/lib/firmware/.dtbo
###
###Disable auto loading of virtual capes (emmc/video/wireless/adc)
disable_uboot_overlay_emmc=1
disable_uboot_overlay_video=1
disable_uboot_overlay_audio=1
disable_uboot_overlay_wireless=1
disable_uboot_overlay_adc=1
###
###PRUSS OPTIONS
###pru_rproc (4.14.x-ti kernel)
uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-14-TI-00A0.dtbo
###pru_rproc (4.19.x-ti kernel)
#uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-19-TI-00A0.dtbo
###pru_uio (4.14.x-ti, 4.19.x-ti & mainline/bone kernel)
#uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo
###
###Cape Universal Enable
enable_uboot_cape_universal=1
###
###Debug: disable uboot autoload of Cape
#disable_uboot_overlay_addr0=1
#disable_uboot_overlay_addr1=1
#disable_uboot_overlay_addr2=1
#disable_uboot_overlay_addr3=1
###
###U-Boot fdt tweaks... (60000 = 384KB)
#uboot_fdt_buffer=0x60000
###U-Boot Overlays###

cmdline=coherent_pool=1M net.ifnames=0 lpj=1990656 rng_core.default_quality=100 quiet

#In the event of edid real failures, uncomment this next line:
#cmdline=coherent_pool=1M net.ifnames=0 lpj=1990656 rng_core.default_quality=100 quiet video=HDMI-A-1:1024x768@60e

##enable Generic eMMC Flasher:
##make sure, these tools are installed: dosfstools rsync
#cmdline=init=/opt/scripts/tools/eMMC/init-eMMC-flasher-v3.sh

If a device with two CAN ports have the same CAN-id, will this cause trouble? The networks are separated for some reason, but the "master" should be the same for both networks. Edit: Below the network topology.

("master")   CAN-BUS 0     +----------+
+----------+       |------->| CAN-ID 2 |
|          || CAN-ID 3 |
              CAN-BUS 1     +----------+

As what I now understand is that the CAN-id is set in software. If I play around with ifconfig you can not set the CAN-id. Instead, this is set when I want to generate CAN traffic through cangen:

CANID=1
ip link set can0 type can bitrate 125000
ip link set up can0
cangen can0 -I $CANID -L 8 -v

I'm trying to install the mcp251x driver on a Linux system with kernel 4.9.253-tegra and I used the command: # modprobe mcp251x I checked with the command # dmesg | grep mcp251x but it doesn't show anything. The driver exists in the folder, `` /lib/modules/4.9.253-tegra/kernel/drivers/net/can/spi/mcp251x.ko `` and even then it doesn't load. How to install this driver correctly in this kernel version? To edit: 1. I use jetson kernel 4.9.253-tegra 2. I insert mcp251x with modprobe. lsmod output show vcan 3597 0 can 46600 0 mcp251x 13742 0 can_dev 13592 1 mcp251x fuse 104554 3 xt_conntrack 3609 1 ipt_MASQUERADE 2346 1 nf_nat_masquerade_ipv4 3111 1 ipt_MASQUERADE nf_conntrack_netlink 29413 0 nfnetlink 7959 2 nf_conntrack_netlink xt_addrtype 3670 2 iptable_filter 2481 1 iptable_nat 2882 1 nf_conntrack_ipv4 11992 2 nf_defrag_ipv4 1836 1 nf_conntrack_ipv4 nf_nat_ipv4 6712 1 iptable_nat nf_nat 20406 2 nf_nat_masquerade_ipv4,nf_nat_ipv4 nf_conntrack 106659 6 nf_conntrack_ipv4,nf_conntrack_netlink,nf_nat_masquerade_ipv4,xt_conntrack,nf_nat_ipv4,nf_nat br_netfilter 16216 0 zram 25920 4 overlay 48718 0 userspace_alert 5828 0 nvgpu 1589200 13 ip_tables 19441 2 iptable_filter,iptable_nat x_tables 28951 5 ip_tables,iptable_filter,ipt_MASQUERADE,xt_addrtype,xt_conntrack 3. the command dmesg | grep -i mcp dont show nothing.

I am using a Lawicel CAN adapter to connect to a sensor, and would like to setup a udev rule to avoid the manual can setup. The manual can setup:

sudo slcand -o -c -f -s6 /dev/ttyUSB0 slcan0
sudo ifconfig slcan0 up

Running candump slcan0 shows, by printing data, that the connection works. I am thus following a guide to setting up the udev rule from [link](http://pascal-walter.blogspot.com/2015/08/installing-lawicel-canusb-on-linux.html) . But this doesn't work. The udev rule is

# Lawicel CANUSB module
ACTION=="add", ENV{ID_MODEL}=="CANUSB", ENV{SUBSYSTEM}=="tty", RUN+="/usr/bin/logger [udev] Lawicel CANUSB detected - running slcan_add.sh!", RUN+="/usr/local/bin/slcan_add.sh $kernel"
ACTION=="remove", ENV{ID_MODEL}=="CANUSB", ENV{SUBSYSTEM}=="usb", RUN+="/usr/bin/logger [udev] Lawicel CANUSB removed - running slcan_remove.sh!", RUN+="/usr/local/bin/slcan_remove.sh"

and the slcan_add.sh script is

#!/bin/sh
# Bind the USBCAN device
slcand -o -c -f -s6 /dev/$1 slcan0
sleep 2
ifconfig slcan0 up

then I reload the rules and restart udev, and tail -f /var/log/syslog returns the following

morten@thinkpad:~$ tail -f /var/log/syslog
Oct  7 10:56:21 thinkpad kernel: [ 1580.917239] usb 1-1: Detected FT232RL
Oct  7 10:56:21 thinkpad kernel: [ 1580.918002] usb 1-1: FTDI USB Serial Device converter now attached to ttyUSB0
Oct  7 10:56:21 thinkpad mtp-probe: checking bus 1, device 10: "/sys/devices/pci0000:00/0000:00:14.0/usb1/1-1"
Oct  7 10:56:21 thinkpad mtp-probe: bus: 1, device: 10 was not an MTP device
Oct  7 10:56:21 thinkpad root: [udev] Lawicel CANUSB detected - running slcan_add.sh!
Oct  7 10:56:21 thinkpad slcand: starting on TTY device /dev/ttyUSB0
Oct  7 10:56:21 thinkpad slcand: attached TTY /dev/ttyUSB0 to netdevice slcan0
Oct  7 10:56:21 thinkpad slcand: netdevice slcan0 renamed to slcan0
Oct  7 10:56:21 thinkpad NetworkManager:   [1633596981.6497] manager: (slcan0): new Generic device (/org/freedesktop/NetworkManager/Devices/8)
Oct  7 10:56:21 thinkpad systemd-udevd: ethtool: autonegotiation is unset or enabled, the speed and duplex are not writable.
Oct  7 10:56:23 thinkpad snapd: hotplug.go:199: hotplug device add event ignored, enable experimental.hotplug
Oct  7 10:56:23 thinkpad mtp-probe: checking bus 1, device 10: "/sys/devices/pci0000:00/0000:00:14.0/usb1/1-1"
Oct  7 10:56:23 thinkpad mtp-probe: bus: 1, device: 10 was not an MTP device
Oct  7 10:56:26 thinkpad ModemManager:   [base-manager] couldn't check support for device '/sys/devices/pci0000:00/0000:00:14.0/usb1/1-1': not supported by any plugin
Oct  7 10:56:27 thinkpad gnome-shell: Removing a network device that was not added
Oct  7 10:56:27 thinkpad gnome-shell: Removing a network device that was not added

and candump slcan0 returns SIOCGIFINDEX: No such device. How should I fix this? **NOTE**: Using ubuntu 20.04. **EDIT**: The udev rule properly recognizes the device and runs the script, so the udev rule should work I figure. If I manually set the usb port and run the shell script with sudo ./sclan_add.sh then it also works, displaying the following in tail -f /var/log/syslog

Oct  7 12:53:26 agrirobot slcand: starting on TTY device /dev/ttyUSB0
Oct  7 12:53:26 agrirobot slcand: attached TTY /dev/ttyUSB0 to netdevice slcan0
Oct  7 12:53:26 agrirobot slcand: netdevice slcan0 renamed to slcan0
Oct  7 12:53:26 agrirobot NetworkManager:   [1633604006.8360] manager: (slcan0): new Generic device (/org/freedesktop/NetworkManager/Devices/22)
Oct  7 12:53:26 agrirobot systemd-udevd: ethtool: autonegotiation is unset or enabled, the speed and duplex are not writable.

I can't really see what the problem is with the udev rule calling the shell script, but for some reason this makes the difference.