ubuntu使用虚拟can
1. sudo modprobe vcan //加载虚拟can模块
2. sudo ip link add dev can0 type vcan //添加can0网卡
3. ifconfig -a //查看can0
4. sudo ip link set dev can0 up //开启can0
5. sudo ip link set dev can0 down //关闭can0
6. sudo ip link del dev can0 //删除can0

ubuntu调试can

安装调试工具
sudo apt install can-utils
candump --version

CAN启动
ip link set can0 down //关闭CAN
ip link set can0 type can bitrate 500000 //设置⽐特率500KHz
ip -details -statistics link show can0 //打印can0信息
ip link set can0 up //启动CAN

CAN发送
cansend can0 123#DEADBEEF //发送（标准帧,数据帧,ID:123,date:DEADBEEF）
cansend can0 123#R //发送（标准帧,远程帧,ID:123）
cansend can0 00000123#12345678 //发送（扩展帧,数据帧,ID:00000123,date:DEADBEEF）
cansend can0 00000123#R //发送（扩展帧,远程帧,ID:00000123）

CAN接收
candump can0

using SocketCANSharp;
using SocketCANSharp.Network;
using System.Text;

namespace CanCore
{
    internal class Program
    {
        public static string ToHexString(byte[] bytes)
        { 
            string hexString = string.Empty;
            if (bytes != null)
            {
                StringBuilder strB = new StringBuilder();

                for (int i = 0; i < bytes.Length; i++)
                {
                    strB.Append(bytes[i].ToString("X2") + " ");
                }
                hexString = strB.ToString();
            } 
            return hexString.Trim();
        }

        static void Main(string[] args)
        {
            CanNetworkInterface vcan0 = CanNetworkInterface.GetAllInterfaces(true).First(iface => iface.Name.Equals("can0"));

            using (var senderSocket = new RawCanSocket())
            using (var receiverSocket = new RawCanSocket())
            {
                senderSocket.Bind(vcan0);
                receiverSocket.Bind(vcan0);

                int bytesWritten = senderSocket.Write(new CanFrame(0x123, new byte[] { 0x45, 0x67, 0x89, 0xab, 0xcd, 0xef }));
               
                while (true)
                {
                    int bytesRead = receiverSocket.Read(out CanFrame frame);

                    if (bytesRead > 0)
                    {
                        Console.WriteLine($"bytesRead:{bytesRead},CanId:{frame.CanId},Data:{ ToHexString(frame.Data) }");
                    }
                    Thread.Sleep(1000);
                }
            }

            Console.ReadLine();
        }
    }
}