testa can með l4.4

src/CAN_FRAME_TEST.c

@@ -0,0 +1,47 @@
+#include <zephyr/device.h>
+#include <zephyr/devicetree.h>
+#include <zephyr/drivers/can.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
+
+/* Devicetree node selected by zephyr,canbus in the overlay */
+#define CANBUS_NODE DT_CHOSEN(zephyr_canbus)
+
+int main(void)
+{
+    const struct device *dev = DEVICE_DT_GET(CANBUS_NODE);
+
+    if (!device_is_ready(dev)) {
+        printk("CAN device not ready\n");
+        return 0;
+    }
+
+    int err = can_set_bitrate(dev, 125000);
+    if (err != 0) {
+        printk("Error setting CAN bitrate (err %d)\n", err);
+        return 0;
+    }
+
+    err = can_start(dev);
+    if (err != 0) {
+        printk("Error starting CAN controller (err %d)\n", err);
+        return 0;
+    }
+
+    struct can_frame frame = {
+        .flags = 0,
+        .id = 0x123,
+        .dlc = 8,
+        .data = {1, 2, 3, 4, 5, 6, 7, 8},
+    };
+
+    while (1) {
+        k_msleep(500);
+
+        err = can_send(dev, &frame, K_MSEC(100), NULL, NULL);
+        if (err != 0) {
+            printk("Sending failed (err %d)\n", err);
+            return 0;
+        }
+    }
+}

src/can_send_test.c

@@ -10,7 +10,7 @@
 // Change these to see the difference in candump.
 #define TEST_CAN_ID   0x123   // 11-bit standard id (0x000 - 0x7FF)
 #define TEST_CAN_DLC  8       // Number of data bytes (0 - 8)
-#define CAN_BITRATE   250000  // Must match the bitrate of can0 on the Pi
+#define CAN_BITRATE   125000  // Must match the bitrate of can0 on the Pi
 
 static const struct device *const can_dev = DEVICE_DT_GET(DT_NODELABEL(can1));