{"id":484,"date":"2021-08-31T12:29:42","date_gmt":"2021-08-31T03:29:42","guid":{"rendered":"https:\/\/www.wacogiken.co.jp\/topics\/?p=484"},"modified":"2023-11-15T14:34:03","modified_gmt":"2023-11-15T05:34:03","slug":"abh3-can%e3%81%a7%e5%8b%95%e3%81%8b%e3%81%9d%e3%81%86%ef%bc%81%e2%91%a1","status":"publish","type":"post","link":"https:\/\/www.wacogiken.co.jp\/topics\/2021\/08\/484\/","title":{"rendered":"ABH3\u3092CAN\u3067\u52d5\u304b\u305d\u3046\uff01\u2461"},"content":{"rendered":"

Linux\u306b\u3088\u308bABH3\u3068\u306eCAN\u901a\u4fe1\u306b\u3064\u3044\u3066<\/strong><\/h1>\n

Linux\u7cfb\u306eOS\u306b\u3088\u308bCAN\u901a\u4fe1\u3067\u306f\u3001\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u30fb\u30e1\u30fc\u30ab\u304c\u72ec\u81ea\u306b\u958b\u767a\u3057\u3066\u3044\u308b\u30c9\u30e9\u30a4\u30d0\u30bd\u30d5\u30c8\u3068\u3001Volkswagen Research\u793e\u304cLinux\u30ab\u30fc\u30cd\u30eb\u306b\u63d0\u4f9b\u3057\u3066\u3044\u308b\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u306eCAN\u30c9\u30e9\u30a4\u30d0\u3068\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u30b9\u30bf\u30c3\u30af\u306e\u30bb\u30c3\u30c8\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u672c\u7a3f\u3067\u306f\u5f8c\u8005\u306e\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3067\u3042\u308bSocketCAN\u306b\u3088\u308b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u624b\u9806\u306b\u3064\u3044\u3066\u89e3\u8aac\u3057\u307e\u3059\u3002<\/p>\n

SocketCAN\u3067\u306f\u3001\u8907\u6570\u306e\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u304c1\u3064\u306eCAN\u30c7\u30d0\u30a4\u30b9\u306b\u540c\u6642\u306b\u30a2\u30af\u30bb\u30b9\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u3001\u307e\u305f\u30011\u3064\u306e\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u304c\u8907\u6570\u306eCAN\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306b\u4e26\u884c\u3057\u3066\u30a2\u30af\u30bb\u30b9\u3059\u308b\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059\u3002SocketCAN\u306e\u30b3\u30f3\u30bb\u30d7\u30c8\u306f\u3001Linux\u7cfbOS\u306b\u3042\u308b\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u30fb\u30d7\u30ed\u30c8\u30b3\u30eb\u3078\u306e\u30a2\u30af\u30bb\u30b9\u7528API\u3067\u3042\u308b\u306e\u30d0\u30fc\u30af\u30ec\u30fc\u30fb\u30bd\u30b1\u30c3\u30c8API\u3092\u62e1\u5f35\u3057\u305f\u3082\u306e\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002\u305d\u306e\u305f\u3081\u3001CAN\u30d0\u30b9\u3068\u306e\u901a\u4fe1\u306f\u3001\u30bd\u30b1\u30c3\u30c8\u3092\u7528\u3044\u3001\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u30fb\u30d7\u30ed\u30c8\u30b3\u30eb\u306e\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u3068\u540c\u69d8\u306b\u884c\u3044\u307e\u3059\u3002<\/p>\n

CAN\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u304c\u6b63\u5e38\u306b\u8a8d\u8b58\u3055\u308c\u308b\u3068\u3001ifconfig\u547d\u4ee4\u3084ip\u547d\u4ee4\u306b\u3088\u308a\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u30a4\u30fc\u30b5\u30cd\u30c3\u30c8\u30dd\u30fc\u30c8\u3068\u540c\u69d8\u306b\u78ba\u8a8d\u3092\u884c\u3046\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n

 <\/p>\n

 <\/p>\n

ifconfig\u306e\u4f8b\uff08can0\u304cCAN\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\uff09<\/strong><\/h2>\n
\u2758\u3000\u3000can0: flags=193<UP,RUNNING,NOARP>\u00a0 mtu 16<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00\u00a0 txqueuelen 10\u00a0 (\u4e0d\u660e\u306a\u30cd\u30c3\u30c8)<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000RX packets 0\u00a0 bytes 0 (0.0 B)<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000RX errors 0\u00a0 dropped 0\u00a0 overruns 0\u00a0 frame 0<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000TX packets 0\u00a0 bytes 0 (0.0 B)<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000TX errors 0\u00a0 dropped 0 overruns 0\u00a0 carrier 0\u00a0 collisions 0<\/h5>\n
\u2758\u3000\u3000eno1: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>\u00a0 mtu 1500<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000inet 192.168.xx.xxx\u00a0 netmask 255.255.255.0\u00a0 broadcast 192.168.xx.xxx<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000inet6 xxxx::xxxx:xxxx:xxxx:xxxx\u00a0 prefixlen 64\u00a0 scopeid 0x20<link><\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000ether xx:xx:xx:xx:xx:xx\u00a0 txqueuelen 1000\u00a0 (\u30a4\u30fc\u30b5\u30cd\u30c3\u30c8)<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000RX packets 11397\u00a0 bytes 13943551 (13.9 MB)<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000RX errors 0\u00a0 dropped 5\u00a0 overruns 0\u00a0 frame 0<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000TX packets 6351\u00a0 bytes 517830 (517.8 KB)<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000TX errors 0\u00a0 dropped 0 overruns 0\u00a0 carrier 0\u00a0 collisions 0<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000device interrupt 20\u00a0 memory 0xf7c00000-f7c20000<\/h5>\n
\u2758\u3000\u3000lo: flags=73<UP,LOOPBACK,RUNNING>\u00a0 mtu 65536<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000inet 127.0.0.1\u00a0 netmask 255.0.0.0<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000inet6 ::1\u00a0 prefixlen 128\u00a0 scopeid 0x10<host><\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000loop\u00a0 txqueuelen 1000\u00a0 (\u30ed\u30fc\u30ab\u30eb\u30eb\u30fc\u30d7\u30d0\u30c3\u30af)<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000RX packets 410\u00a0 bytes 39194 (39.1 KB)<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000RX errors 0\u00a0 dropped 0\u00a0 overruns 0\u00a0 frame 0<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000TX packets 410\u00a0 bytes 39194 (39.1 KB)<\/h5>\n
\u2758\u3000\u3000\u3000\u3000\u3000TX errors 0\u00a0 dropped 0 overruns 0\u00a0 carrier 0\u00a0 collisions 0<\/h5>\n

 <\/p>\n

\u203b\u3000SocketCAN\u306e\u5bfe\u5fdc\u306b\u3064\u3044\u3066\u306f\u3001\u5404\u30e1\u30fc\u30ab\u306eCAN\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u4ed5\u69d8\u3092\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<\/strong><\/p>\n

 <\/p>\n

 <\/p>\n

SocketCAN\u30c9\u30e9\u30a4\u30d0\u3092\u4f7f\u7528\u3057\u3001CAN-Bus\u901a\u4fe1\u306b\u5bfe\u3057\u9001\u4fe1\u30fb\u53d7\u4fe1\u7b49\u306e\u52d5\u4f5c\u78ba\u8a8d\u3092\u884c\u3046\u305f\u3081\u306e\u4fbf\u5229\u306a\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u306e\u30e6\u30fc\u30c6\u30a3\u30ea\u30c6\u30a3\u30fb\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3068\u3057\u3066can-utils\u304c\u3042\u308a\u307e\u3059\u3002\u3053\u306e\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u306f\u4ee5\u4e0b\u306eGitHub\u3088\u308a\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\uff08\u3042\u308b\u3044\u306f\u30af\u30ed\u30fc\u30f3\uff09\u3057\u3001\u30b3\u30f3\u30d1\u30a4\u30eb\u3059\u308b\u3053\u3068\u3067\u4f7f\u7528\u3067\u304d\u307e\u3059\u3002<\/p>\n

https:\/\/github.com\/linux-can\/can-utils<\/a><\/p>\n

https:\/\/github.com\/linux-can\/can-utils.git<\/p>\n

 <\/p>\n

\u5f0a\u793e\u3067\u306f\u3001ABH3\u3068\u306eCAN\u901a\u4fe1\u7528\u30b5\u30f3\u30d7\u30eb\u30bd\u30d5\u30c8\u3092\u7528\u610f\u3057\u3066\u3044\u307e\u3059\u304c\u3001\u4e0a\u8a18SocketCAN\u30c9\u30e9\u30a4\u30d0\u3092\u4f7f\u7528\u3057\u305f\u3082\u306e\u306b\u306a\u3063\u3066\u304a\u308a\u3001can-utils\u306e\u4e00\u90e8\u30bd\u30fc\u30b9\u3092\u4f7f\u7528\u3057\u3066\u3044\u307e\u3059\u3002\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u306f\u5f0a\u793e\u30db\u30fc\u30e0\u30da\u30fc\u30b8\u3001\u3042\u308b\u3044\u306f\u4ee5\u4e0b\u306eGitHub\u3088\u308a\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u307e\u3059\u3002<\/p>\n

https:\/\/github.com\/wacogiken\/abh3_CAN-Bus_Linux<\/a><\/p>\n

https:\/\/github.com\/wacogiken\/abh3_CAN-Bus_Linux.git<\/p>\n

 <\/p>\n

 <\/p>\n

 <\/p>\n

\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u305f\u30d5\u30a9\u30eb\u30c0\u306b\u3001can-utils\u304b\u3089\u4ee5\u4e0b\u306e2\u500b\u306e\u30d5\u30a1\u30a4\u30eb\u30681\u500b\u306e\u30d5\u30a9\u30eb\u30c0\u3092\u30b3\u30d4\u30fc\u3057\u3066\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n

lib.c\u3000\uff0f\u3000lib.h\u3000\uff0f\u3000include(\u30d5\u30a9\u30eb\u30c0\u4ee5\u4e0b\u5168\u3066)<\/p>\n

 <\/p>\n

 <\/p>\n

\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u4f8b\uff08\u592a\u5b57\u306f\u30b3\u30de\u30f3\u30c9\uff09<\/strong><\/h2>\n
\u2758\u3000\u3000$ git clone https:\/\/github.com\/linux-can\/can-utils.git<\/strong><\/h5>\n
\u2758\u3000\u3000Cloning into ‘can-utils’…<\/h5>\n
\u2758\u3000\u3000remote: Enumerating objects: 2768, done.<\/h5>\n
\u2758\u3000\u3000remote: Counting objects: 100% (121\/121), done.<\/h5>\n
\u2758\u3000\u3000remote: Compressing objects: 100% (79\/79), done.<\/h5>\n
\u2758\u3000\u3000remote: Total 2768 (delta 56), reused 83 (delta 40), pack-reused 2647<\/h5>\n
\u2758\u3000\u3000Receiving objects: 100% (2768\/2768), 864.64 KiB | 5.73 MiB\/s, done.<\/h5>\n
\u2758\u3000\u3000Resolving deltas: 100% (1774\/1774), done.<\/h5>\n
\u2758\u3000\u3000$ cd can-utils\/<\/strong><\/h5>\n
\u2758\u3000\u3000$ make<\/strong><\/h5>\n
\u2758\u3000\u3000cc -O2 -Wall -Wno-parentheses -Iinclude -DAF_CAN=PF_CAN -DPF_CAN=29 -DSO_RXQ_OVFL=40 -DSCM_TIMESTAMPING_OPT_STATS=54 -D_FILE_OFFSET_BITS=64 -D_GNU_SOURCE\u00a0\u00a0 cangw.c\u00a0\u00a0 -o cangw<\/h5>\n
\u2758<\/h5>\n
\u2758\u3000\u3000\uff08\u4e2d\u7565\uff09<\/h5>\n
\u2758<\/h5>\n
\u2758\u3000\u3000$ sudo make install<\/strong><\/h5>\n
\u2758\u3000\u3000[sudo] xxx \u306e\u30d1\u30b9\u30ef\u30fc\u30c9:<\/h5>\n
\u2758\u3000\u3000mkdir -p \/usr\/local\/bin<\/h5>\n
\u2758\u3000\u3000cp -f cangw isotpdump isotpperf isotprecv isotpsend isotpserver isotpsniffer isotptun j1939acd j1939cat j1939spy j1939sr testj1939 slcan_attach slcand asc2log bcmserver can-calc-bit-timing canbusload candump canfdtest cangen cansequence canlogserver canplayer cansend cansniffer log2asc log2long mcp251xfd-dump slcanpty \/usr\/local\/bin<\/h5>\n
\u2758\u3000\u3000$ cd ..<\/strong><\/h5>\n
\u2758<\/h5>\n
\u2758\u3000\u3000\uff08\u4e2d\u7565\uff09<\/h5>\n
\u2758<\/h5>\n
\u2758\u3000\u3000$ git clone https:\/\/github.com\/wacogiken\/abh3_CAN-Bus_Linux.git<\/strong><\/h5>\n
\u2758\u3000\u3000Cloning into ‘abh3_CAN-Bus_Linux’…<\/h5>\n
\u2758\u3000\u3000remote: Enumerating objects: 58, done.<\/h5>\n
\u2758\u3000\u3000remote: Counting objects: 100% (58\/58), done.<\/h5>\n
\u2758\u3000\u3000remote: Compressing objects: 100% (41\/41), done.<\/h5>\n
\u2758\u3000\u3000remote: Total 58 (delta 24), reused 48 (delta 16), pack-reused 0<\/h5>\n
\u2758\u3000\u3000Unpacking objects: 100% (58\/58), 4.85 MiB | 5.66 MiB\/s, done.<\/h5>\n
\u2758\u3000\u3000$ cd abh3_CAN-Bus_Linux\/<\/strong><\/h5>\n
\u2758\u3000\u3000$ cp ..\/can-utils\/lib.* .<\/strong><\/h5>\n
\u2758\u3000\u3000$ cp -R ..\/can-utils\/include .<\/strong><\/h5>\n
\u2758\u3000\u3000$ make<\/strong><\/h5>\n
\u2758\u3000\u3000cc -Wl,–no-as-needed -Iinclude -Wno-psabi\u00a0\u00a0 -c -o canABH3.o canABH3.c<\/h5>\n
\u2758\u3000\u3000cc -Wl,–no-as-needed -Iinclude -Wno-psabi\u00a0 -lm\u00a0 single_canABH3.c canABH3.o lib.o\u00a0\u00a0 -o single_canABH3<\/h5>\n
\u2758\u3000\u3000cc -Wl,–no-as-needed -Iinclude -Wno-psabi\u00a0 -lm\u00a0 bcast_canABH3.c canABH3.o lib.o\u00a0\u00a0 -o bcast_canABH3<\/h5>\n
\u2758\u3000\u3000g++\u00a0\u00a0\u00a0 -c -o canABH3++.o canABH3++.cpp<\/h5>\n
\u2758\u3000\u3000g++\u00a0\u00a0 -lm\u00a0 single_canABH3++.cpp canABH3++.o canABH3.o lib.o\u00a0\u00a0 -o single_canABH3++<\/h5>\n
\u2758\u3000\u3000g++\u00a0\u00a0 -lm\u00a0 bcast_canABH3++.cpp canABH3++.o canABH3.o lib.o\u00a0\u00a0 -o bcast_canABH3++<\/h5>\n

 <\/p>\n

 <\/p>\n

\u4ee5\u4e0a\u3067\u3001can-utils\u3068\u30b5\u30f3\u30d7\u30eb\u30bd\u30d5\u30c8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306f\u7d42\u308f\u308a\u3067\u3059\u3002<\/p>\n

\u30b5\u30f3\u30d7\u30eb\u30bd\u30d5\u30c8\u3067\u306f\u30e9\u30ba\u30d9\u30ea\u30fc\u30d1\u30a4\u8ca1\u56e3\u306eRaspberryPi\u3001\u304a\u3088\u3073\u3001\u30a8\u30cc\u30d3\u30c7\u30a3\u30a2\u793e\u306eJetson Xavier NX\u3067\u5b9f\u884c\u78ba\u8a8d\u3057\u3066\u3044\u307e\u3059\u304c\u3001\u524d\u8ff0\u3057\u305fSocketCAN\u30c9\u30e9\u30a4\u30d0\u304a\u3088\u3073can-utils\u304c\u30b3\u30f3\u30d1\u30a4\u30eb\u53ef\u80fd\u3067\u3042\u308c\u3070\u540c\u69d8\u306b\u63a5\u7d9a\u3067\u304d\u308b\u3068\u8003\u3048\u307e\u3059\u3002<\/p>\n

 <\/p>\n

\"\"<\/p>\n

 <\/p>\n

\"\"<\/p>\n

 <\/p>\n

 <\/p>\n

 <\/p>\n

\u4eca\u56de\u306f\u3053\u3053\u307e\u3067<\/h4>\n

\u6b21\u56de\u3001ABH3\u3092CAN\u3067\u52d5\u304b\u305d\u3046\uff01\u2462<\/a><\/p>\n

\u3000\u300ePC\u3001\u30e9\u30ba\u30d1\u30a4\u3068Wireshark\u306b\u3088\u308bCAN\u901a\u4fe1\u306e\u30d1\u30b1\u30c3\u30c8\u89e3\u6790\u300f<\/p>\n","protected":false},"excerpt":{"rendered":"

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