can的移植使用过程如下：
芯片：am335x
linux: Linux 3.2.0+ #16 Wed Jan 6 17:51:54 CST 2016 armv7l GNU/Linux
1.参考 配置内核 AM335X DCAN Driver Guide - Texas Instruments Wiki.htm
2.板级文件添加如下：
（1）
static struct evm_dev_cfg gen_purp_evm_dev_cfg[] = {
{dcan_init, DEV_ON_BASEBOARD, PROFILE_ALL},
}
（2）
static void dcan_init(int evm_id, int profile)
{
(void)evm_id;
(void)profile;
setup_pin_mux(d_can_dvt0_pin_mux);
am33xx_d_can_init(0);
setup_pin_mux(d_can_dvt1_pin_mux);
am33xx_d_can_init(1);
}
（3）
static struct pinmux_config d_can_dvt0_pin_mux[] = {
{"uart1_ctsn.d_can0_tx", OMAP_MUX_MODE2 | AM33XX_PULL_ENBL},
{"uart1_rtsn.d_can0_rx", OMAP_MUX_MODE2 | AM33XX_PIN_INPUT_PULLUP},
{NULL, 0},
};
static struct pinmux_config d_can_dvt1_pin_mux[] = {
{"uart1_rxd.d_can1_tx", OMAP_MUX_MODE2 | AM33XX_PULL_ENBL},
{"uart1_txd.d_can1_rx", OMAP_MUX_MODE2 | AM33XX_PIN_INPUT_PULLUP},
{NULL, 0},
};
3. 把对应的uart1 与 i2c2 注释掉！避免跟can管教冲突！
4. 交叉编译
libsocketcan-0.0.10
canutils4.0.6
5. 测试：
root@hi-target:/mnt/platform/can# ifconfig -a
can0 Link encap:UNSPEC HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
UP RUNNING NOARP MTU:16 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:10
RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)
Interrupt:52
can1 Link encap:UNSPEC HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
NOARP MTU:16 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:10
RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)
Interrupt:55
6.错误情况：
root@hi-target:/mnt/platform/can# ./canconfig can0 bitrate 100000 ctrlmode loop
back on
can0 bitrate: 100000, sample-point: 0.875
can0 ctrlmode: loopback[ON], listen-only[OFF], tripple-sampling[OFF],one-shot[OFF], berr-reporting[OFF]
root@hi-target:/mnt/platform/can# ./canconfig can0 start
can0 state: ERROR-ACTIVE
root@hi-target:/mnt/platform/can# ./cansend can0 --identifier=0x123 0x12
interface = can0, family = 29, type = 3, proto = 1
bind: Invalid argument
root@hi-target:/mnt/platform/can# ./candump can0
interface = can0, family = 29, type = 3, proto = 1
bind: Invalid argument
=================================================
为什么 会出现bind: Invalid argument 》？？？？？ 另外can0 state: ERROR-ACTIVE 是不是表示启动不成功can？？？？
这个是回环测试，用两个am335x的can连起来，使用 tripple-sampling 模式，也是这样的情况，希望TI工程师看看是啥情况？
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1.现在的dcan已经能正常运行了！
现在想把j1939的can协议补丁上去，请问TI工程师，
insmod can-j1939.ko
之后，DCAN跟这个 can-j1939.ko 冲突么？
另外有相关支持j1939的资料么？
