raspberrypi

80-can.link

# /etc/systemd/network/80-can.link

[Match]
Type=can

[Link]
TransmitQueueLength=10000

80-can.network

# /etc/systemd/network/80-can.network
# sudo systemctl enable systemd-networkd
# https://www.freedesktop.org/software/systemd/man/latest/systemd.network.html

[Match]
Name=can*

[CAN]
# ip -d link show can0
BitRate=500K

80-can.rules

# /etc/udev/rules.d/80-can.rules
ACTION=="add", SUBSYSTEM=="net", KERNEL=="can0", ATTR{tx_queue_len}="65536"
ACTION=="add", SUBSYSTEM=="net", KERNEL=="can1", ATTR{tx_queue_len}="65536"

can-up.sh

sudo ip link set can0 up type can bitrate 1000000
sudo ip link set can1 up type can bitrate 1000000
sudo ifconfig can0 txqueuelen 65536
sudo ifconfig can1 txqueuelen 65536

config.txt

# https://www.waveshare.com/wiki/2-CH_CAN_HAT+
dtparam=spi=on
dtoverlay=i2c0
dtoverlay=spi1-3cs
dtoverlay=mcp2515,spi1-2,oscillator=16000000,interrupt=13
dtoverlay=mcp2515,spi1-1,oscillator=16000000,interrupt=22

# ### Accessing the AMA0 serial port on Raspberry Pi 5
# 
# Connect TX, RX and GND to pins 8, 10 and 12 on the 40-pin header. Do not
# forget to cross RX and TX. The pins run at TTL 3V3 levels with no level
# shifting.
# 
# Configure the pins using `sudo raspi-config` and navigate to Interface
# Options, Serial Port. Say "yes" to enabling the serial port hardware.
# Say "yes" or "no" to the login shell. The configurator adds the
# following to the `/boot/firmware/config.txt` file.
# 
# ```
# dtparam=uart0=on
# ```
# 
# After reboot, the UART appears at `/dev/ttyAMA0`. Connect using
# `minicom -D /dev/ttyAMA0 -b 115200` or similarly using other tools.

scratch-can.sh

# full load test with polling, 10ms timeout
# -g <ms> for gap in milliseconds
# -p <ms> for polling timeout in milliseconds
# -x to disable local loopback
cangen can0 -g 0 -p 10 -x

# -r for redraw
# -t for current time
# -b for bar graph
# -c for colour
canbusload can0@500000 can1@500000 -r -t -b -c