CAN
The DuraCOR 312 supports up to two (2) CAN bus interfaces. Supported bitrates for the TX2 CAN
module mttcan include 125000, 250000, 500000, and 1000000. 500000-bps is recommended.
Testing CAN bus. Open a terminal window and type the following commands to install required CAN
modules:
modprobe can
modprobe can_raw
modprobe mttcan
Then set the CAN bus interface settings correctly for your application:
ip link set can0 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on
ip link set up can0
ip link set can1 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on
ip link set up can1
If desired check to see that the CAN modules were installed correctly:
ifconfig
Open a 2nd terminal window to show received test data for port can0, in that terminal type:
candump can0
Open a 3rd terminal window to show received test data for port can1, in that terminal type:
candump can1
Return to the 1
st
terminal window. Use cansend <can_interface> <can_frame> to send a CAN data
packet:
cansend can0 123#deadbeef (see responses in 2
nd
and 3
rd
terminals)
cansend can1 123#ba5eba11 (see responses in 2
nd
and 3
rd
terminals)
To check CAN bus statistics, you can use:
ip -details -statistics link show can0
ip -details -statistics link show can1
GPIO
Information and instructions regarding the implementation and use of the GPIO functionality are being
finalized. This manual will be updated as the information becomes available. In the meantime, feel
free to contact technical support at:
T: +1.801.433.6322
slp_tsupport@curtisswright.com
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