Linux环境下配置can0设备为开机自启动systemd服务
- 2026-08-18 23:10:35
Linux环境下配置can0设备为开机自启动systemd服务
本文是前两篇CAN主题的后续，感兴趣的可以查看之前的文章： 1、Jetson Orin NX 外设CAN总线使用教程 2、Jetson Orin NX 外设CAN总线数据收发测试 创建自启服务文件 文件内容 重启系统验证 系统开机成功后验证是否已自动开启 可以看到设备状态已经变为UP
sudo nano /etc/systemd/system/can0.service[Unit]Description=CAN0 Interface Auto StartAfter=network.target[Service]Type=oneshotExecStart=/usr/sbin/ip link set can0 type can bitrate 500000ExecStartPost=/usr/sbin/ip link set can0 upRemainAfterExit=yes[Install]WantedBy=multi-user.target
加载开机启动
sudo systemctl daemon-reloadsudo systemctl enable can0.servicesudo systemctl start can0.service# 查看运行状态systemctl status can0.service
设备启动状态如下
● can0.service - CAN0 Interface Auto StartLoaded: loaded (/etc/systemd/system/can0.service; enabled; vendor preset: enabled)Active: active (exited) since Mon 2026-07-13 10:12:41 CST; 12min agoProcess: 1175 ExecStart=/usr/sbin/ip link set can0 type can bitrate 500000 (code=exited, status=0/SUCCESS)Process: 1228 ExecStartPost=/usr/sbin/ip link set can0 up (code=exited, status=0/SUCCESS)Main PID: 1175 (code=exited, status=0/SUCCESS)CPU: 6msJul 13 10:12:41 ros-nx systemd[1]: Starting CAN0 Interface Auto Start...Jul 13 10:12:41 ros-nx systemd[1]: Finished CAN0 Interface Auto Start.
配套调试工具
sudo apt update && sudo apt install can-utils# 监听can0所有报文candump can0# 发送测试帧验证硬件cansend can0 123#1122334455667788
sudo rebootifconfigcan0: flags=193<UP,RUNNING,NOARP> mtu 16unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)RX packets 0 bytes 0 (0.0 B)RX errors 0 dropped 0 overruns 0 frame 0TX packets 0 bytes 0 (0.0 B)TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0device interrupt 200
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