socketCAN-Fd framework setup

Here summarized what I, after some lengthily investigation, found using Beaglebone Black and Vbox Virtual machine, which passes through host (my host is pass-through VT-d capable).

VBox VM and BBB HW are connected via private IP network, NOT influencing host PC at all.

I created two vcan0 interfaces on both ends, and using user space app Cannelloni: https://github.com/mguentner/cannelloni as binding application, I use CAN tunneling via ETH phys.

I, actually use socketCAN-Fd framework from the Linux 4.17.2 LTS kernel, playing with user space can-utils app.

Here is the condensed Beaglebone Black local.conf for such kind of setup:

  CONF_VERSION = "1"
  PATCHRESOLVE = "noop"
  SSTATE_DIR ?= "${TOPDIR}/sstate-cache"
  DL_DIR ?= "${TOPDIR}/downloads"
  TMPDIR ?= "${TOPDIR}/tmp"
  PACKAGE_CLASSES ?= "package_rpm package_deb"
  # mask for non-mender builds
  BBMASK = "meta-bbb/recipes-mender"
  BBMASK += "meta-openembedded/meta-oe/recipes-extended/socketcan/canutils"
  EXTRA_IMAGE_FEATURES = "debug-tweaks"
  CORE_IMAGE_EXTRA_INSTALL_append = "openssh cmake libsocketcan nfs-utils rt-tests strace procps packagegroup-core-buildessential "
  DISTRO_FEATURES_append = " nfs"
  IMAGE_FSTYPES_append = " cpio.xz"
  MACHINE ??= "beaglebone"
  DISTRO ??= "poky"
  BBMULTICONFIG ?= ""

And, the setup (on both sides) is shown here: https://stackoverflow.com/questions/36568167/can-fd-support-for-virtual-can-vcan-on-socketcan/51376306#51376306 (signed as nobody, aka me).

It works as a charm. Please, do note that commands are generic.

Beaglebone kernel 4.17.2 CAN framework .config setup for CAN-Fd setup to work is given here:

  CONFIG_CAN=m
  CONFIG_CAN_RAW=m
  CONFIG_CAN_BCM=m
  CONFIG_CAN_GW=m
  # CAN Device Drivers
  CONFIG_CAN_VCAN=m
  CONFIG_CAN_VXCAN=m
  CONFIG_CAN_SLCAN=m
  CONFIG_CAN_DEV=m
  CONFIG_CAN_CALC_BITTIMING=y
  # CONFIG_CAN_LEDS is not set
  # CONFIG_CAN_FLEXCAN is not set
  # CONFIG_CAN_GRCAN is not set
  CONFIG_CAN_TI_HECC=m
  CONFIG_CAN_C_CAN=m
  CONFIG_CAN_C_CAN_PLATFORM=m
  # CONFIG_CAN_CC770 is not set
  # CONFIG_CAN_IFI_CANFD is not set
  # CONFIG_CAN_M_CAN is not set
  # CONFIG_CAN_RCAR is not set
  # CONFIG_CAN_RCAR_CANFD is not set
  # CONFIG_CAN_SJA1000 is not set
  CONFIG_CAN_SOFTING=m
  # CAN SPI interfaces
  # CONFIG_CAN_HI311X is not set
  CONFIG_CAN_MCP251X=m
  # CAN USB interfaces
  CONFIG_CAN_EMS_USB=m
  CONFIG_CAN_ESD_USB2=m
  CONFIG_CAN_GS_USB=m
  CONFIG_CAN_KVASER_USB=m
  CONFIG_CAN_PEAK_USB=m
  CONFIG_CAN_8DEV_USB=m
  # CONFIG_CAN_MCBA_USB is not set
  CONFIG_CAN_DEBUG_DEVICES=y
  # CONFIG_SCSI_SCAN_ASYNC is not set

The complete defconfig (the config of the Beaglebone 4.17.2 kernel) file is given here: https://github.com/ZoranStojsavljevic/cip-rt-misc/blob/master/configs/bbb/YOCTO/SocketCAN/kernel-config/defconfig

To set socketCAN-Fd framework beneath Linux kernel (example given: 4.17.2), please, do as root:

  lsmod | grep can
  modprobe can
  modprobe can_raw
  modprobe can-bcm
  modprobe can-dev
  modprobe can-gw
  modprobe vcan
  lsmod | grep can

To set the socketCAN-Fd framework, the following should be done (also as root):

  ip link add dev vcan0 type vcan
  ip link set vcan0 mtu 72
  ip link set dev vcan0 up
  ifconfig

The can-utils package is required to test the socketCAN-Fd framework. Also, the following is required: https://github.com/mguentner/cannelloni

  (short description of the cannelloni application command)
  cannelloni -I vcan0 -R <remote IP address> -r 20000 -l 20000

  cannelloni will now listen on port 20000 and has <remote IP address> configured as its remote.

And, everything works like a Swatch!

On the xmit side:

  cangen -f vcan0 -v vcan0
  cangen -g 0.01 -f vcan0 -v vcan0
  or:
  cangen -g 0 -f vcan0
    g - 200ms default, (g 0 assumes back-to-back)
    f - generate CAN Fd frames

  2C3##0.25.5A.FF.1E.DC.BD.CB.42.25.5A.FF.1E.DC.BD.CB.42.25.5A.FF.1E.DC.
  BD.CB.42.25.5A.FF.1E.DC.BD.CB.42.25.5A.FF.1E.DC.BD.CB.42.25.5A.FF.1E.
  DC.BD.CB.42.25.5A.FF.1E.DC.BD.CB.42.25.5A.FF.1E.DC.BD.CB.42

On the receiving side:

  candump vcan0
  or
  candump -s2 vcan0
    s2 - 2: silent mode (default 0 - OFF)

  vcan0 2C3 [64] 25 5A FF 1E DC BD CB 42 25 5A FF 1E DC BD CB 42 25 5A
  FF 1E DC BD CB 42 25 5A FF 1E DC BD CB 42 25 5A FF 1E DC BD CB 42 25
  5A FF 1E DC BD CB 42 25 5A FF 1E DC BD CB 42 25 5A FF 1E DC BD CB 42

True socketCAN-Fd framework.