> ## Documentation Index
> Fetch the complete documentation index at: https://dragonwingdocs.qualcomm.com/llms.txt
> Use this file to discover all available pages before exploring further.

# RTSS 测试命令 

使用 RTSS 测试命令来测试驱动程序。默认情况下，RTSS 软件通过 UART 终端支持 CLI 测试命令。运行测试命令以生成日志。

## **前提条件**

* 设置调试 UART。
* 进入 UART 终端。
* 要在 UART 终端上启用日志记录，请执行以下操作：
  > 1. 在 UART Shell 中按 <kbd>Enter</kbd> 以进入 `sail_proc@home$`。
  >    以下示例输出显示了验证已进入 `sail_proc@home$` 的日志。
  >    ```python theme={null}
  >    c0[  34.609865s] Running in APPL_SAIL_Shell_start 0
  >    c0[  34.609912s]CPU 0 -:
  >    c0[  34.609995s]Please use help or exit command....
  >    c0[  34.610084s]sail_proc@home$
  >    ```
  > 2. 在 UART 终端上运行 `setlog <Level > <Privilege>`，以根据级别和权限设置允许的日志记录。
  >    参数：
  >    > * `<Level>`：info、err、warn 或 dbg
  >    > * `<Privilege>`：el1 或 el2
  >    >
  >    > 例如，
  >    >
  >    > ```undefined theme={null}
  >    > setlog info el1
  >    > ```
  >    >
  >    > 以下示例输出显示了日志级别设置为 LOG\_INFO 时的日志：
  >    >
  >    > c0\[  208.449904s]CPU 0 -: setlog info el1<br />c0\[  208.450087s]>>>>>> EL1 UART loglevel set to LOG\_INFO Success \<\<\<\<\<\<\<<br />c0\[  208.450153s]Please use help or exit command….<br />c0\[  208.450190s]sail\_proc\@home\$

## **步骤**

运行以下命令并核查日志，以验证命令是否成功执行：

* `help`
* `i2cel1`
* `spi`
* `gpt`

### **help**

在 UART 终端上运行 `help`，以了解支持的命令列表及其用法。

例如，

> ```python theme={null}
> help
> ```

以下示例日志显示了用法参考和命令参考：

```text theme={null}
c0[  1954.278799s]Please use help or exit command….
c0[  1954.278837s]sail_proc@home$
c0[  1955.755765s]=====    SAIL Command Usage   =====
c0[  1955.755802s]1)  getsailversion
usage -: getsailversion ( No param for this cmd)
c0[  1955.755954s]2)  i2cel1
usage -: i2cel1
c0[  1955.756032s]3)  spi
usage -: spi
c0[  1955.756075s]4)  gpt
usage -: gpt start < value >
gpt stop
gpt stats
c0[  1955.756161s]5)  setlog
usage -: setlog info el1
usage -: setlog err el1
usage -: setlog warn el1
usage -: setlog dbg el1
usage -: setlog info el2
usage -: setlog err el2
usage -: setlog warn el2
usage -: setlog dbg el2
c0[  1955.756272s]Please use help or exit command….
c0[  1955.756350s]sail_proc@home$
```

### **i2cel1**

在 UART 终端上运行 `i2cel1`，以进行 I<sup>2</sup>C 功能测试。

> <Note>
>   注意
>
>   `i2cel1` 测试命令仅适用于 i2c0。对于 i2c1，您必须更新测试应用程序。
> </Note>
>
> <Note>
>   注意
>
>   PMIC 连接到 I<sup>2</sup>C。
> </Note>

参数：无

例如，

> ```undefined theme={null}
> i2cel1
> ```

以下示例日志显示了 `i2cel1` 命令验证成功：

> ```text theme={null}
> c0[    57.020413s]>>>>>>  I2C El1 Test Cases Started   <<<<<<<
> c0[    57.020481s][TC_I2C_EL1_01] I2C El1 Initialization test
> c0[    57.021221s][TC_I2C_EL1_01] I2C0 Init Success.
> c0[    57.021967s][TC_I2C_EL1_01] I2C1 Init Success.
> c0[    57.022033s][TC_I2C_EL1_01] I2C El1 DMA Initialization test Passed
> c0[    57.022095s][TC_I2C_EL1_02] I2C El1 Get Slave Address test
> c0[    57.022208s][TC_I2C_EL1_02] xI2c_EL1_GetSlaveAddress Success for PAGE_ID_0 Slave address= 0x28.
> c0[    57.022288s][TC_I2C_EL1_02] xI2c_EL1_GetSlaveAddress Success for PAGE_ID_1 Slave address= 0x29.
> c0[    57.022474s][TC_I2C_EL1_02] xI2c_EL1_GetSlaveAddress Success for PAGE_ID_4 Slave address= 0x12.
> c0[    57.022562s][TC_I2C_EL1_02] xI2c_EL1_GetSlaveAddress Success for i2cSE3_CHANNEL_ID_0 Slave address= 0x2.
> c0[    57.022741s][TC_I2C_EL1_02] xI2c_EL1_GetSlaveAddress FAIL for ChannelID 10 .
> c0[    57.022869s][TC_I2C_EL1_02] I2C El1 Get Slave Address test Passed
> c0[    57.022948s][TC_I2C_EL1_06] I2C El1 xI2c_EL1_PingStatusFromSlave Positive test for PSAIL Slaves
> c0[    57.023540s][TC_I2C_EL1_06] I2C El1 Negative test for Invalid HW ID
> c0[    57.023611s][TC_I2C_EL1_06] I2C El1 DMA xI2c_EL1_PingStatusFromSlave test Passed
> c0[    57.024396s]PSAIL WRITE: 0x48
> c0[    57.026393s]PSAIL READ: 0x48
> c0[    57.027408s]PSAIL WRITE: 0x48
> c0[    57.029485s]PSAIL READ: 0x48
> c0[    57.030395s]PSAIL WRITE: 0x48
> c0[    57.032406s]PSAIL READ: 0x48
> c0[    57.033408s]PSAIL WRITE: 0x48
> c0[    57.035393s]PSAIL READ: 0x48
> c0[    57.035466s][TC_I2C_EL1_07] I2C El1 DMA mode READ-WRITE test for Kobra PMIC slave Passed
> c0[    57.035594s][TC_I2C_EL1_08] I2C El1 DeInit test with Invalid HWID
> c0[    57.035674s][TC_I2C_EL1_08] I2C0 DeInit with Invalid HWID Success.
> c0[    57.035789s][TC_I2C_EL1_08] I2C El1 DeInit-ReInit-DeInit test
> c0[    57.036216s][TC_I2C_EL1_08] I2C0 DeInit Success.
> c0[    57.036873s][TC_I2C_EL1_08] I2C0 Init Success.
> c0[    57.037387s][TC_I2C_EL1_08] I2C1 DeInit Success.
> c0[    57.038127s][TC_I2C_EL1_08] I2C1 Init Success.
> c0[    57.038658s][TC_I2C_EL1_08] I2C DeInit Success.
> c0[    57.039164s][TC_I2C_EL1_08] I2C DeInit Success.
> c0[    57.039229s][TC_I2C_EL1_08] I2C El1 DeInit-ReInit-DeInit test Passed
> c0[    57.039291s]I2C EL1 Unit test validation Passed!!!
> ```

<Note>
  注意

  要获取所有 I2C 测试结果日志，请运行以下命令启用 INFO 日志级别：

  ```undefined theme={null}
  setlog info el1
  ```
</Note>

### **spi**

在 UART 终端上运行 `spi`，以进行 SPI 功能测试。

参数：无

例如，

> ```undefined theme={null}
> spi
> ```

以下示例日志显示了 `spi` 命令验证成功：

> ```text theme={null}
> c1[     8.411406s][TC_SPI_001]: Test Synchronous transmission in Loopback mode - Passed
> c1[     8.411434s]Spi_SetupEB : 369 END
> c1[     8.411515s][TC_SPI_002]: Test Read TCAN0 Device ID using synchronous transfer - Failed
> c1[     8.411541s]Spi_SetupEB : 369 END
> c1[     8.411585s][TC_SPI_003]: Test Read TCAN1 Device ID using synchronous transfer - Failed
> c1[     8.411612s]Spi_SetupEB : 369 END
> c1[     8.411678s]Spi_SetupEB : 369 END
> c1[     8.411743s][TC_SPI_005]: Test - Write/Read TCAN0 Scratch register - Failed
> c1[     8.411769s][TC_SPI_008]: Test Spi_GetJobResult API for a Job ID in sync mode - Passed
> c1[     8.411796s][TC_SPI_009]: Test Spi_GetSequenceResult API for a Sequence ID in sync mode - Passed
> c1[     8.411824s][TC_SPI_010]: Test Spi_GetStatus API for Spi Handler driver - Passed
>
> ```

<Note>
  注意

  由于没有设备 ID 和 scratch 寄存器，`TC_SPI_002`/`TC_SPI_003`/`TC_SPI_005` 预期会失败。这些测试用例将在未来版本中移除。
</Note>

<Note>
  注意

  ```text theme={null}
  To enable the SPI loopback, add the following code changes in Spi_PBcfg.c:

  --- a/SAIL.SI.1.2/sail_proc/BSP/spi/src/Spi_PBcfg.c
  +++ b/SAIL.SI.1.2/sail_proc/BSP/spi/src/Spi_PBcfg.c
  @@ -212,7 +212,7 @@ SPI_RO static const Spi_JobConfigType Spi_JobConfig[] =
            .SpiJobId                               = 0,
            .SpiChannelAssignment   = SpiJob_0_ChannelList,
            .SpiChannelsPerJob      = 1,
  -         .SpiInternalLoopBack    = FALSE,
  +         .SpiInternalLoopBack    = TRUE,  /* Change from FALSE to TRUE for loopback test */
            .SpiJobEndNotification  = NULL_PTR,
            .SpiJobPriority                 = 0,
            .SpiHwUnit                      = CSIB1,
  ```
</Note>

### **gpt**

在 UART 终端上运行 `gpt <subcommand> <value>`，以进行 GPT 功能测试。

参数：

> * `<subcommand>`：start、stop 或 stats
> * `<value>`：值可以是任意数字。

以下是各种 gpt 命令：

> * `gpt start <value>`
>   例如，
>   ```powershell theme={null}
>   gpt start 1000
>   ```
>   以下示例日志显示了定时器测试的初始化：<br />
>   ```text theme={null}
>   c0[   114.798681s]Timer test start>>>>
>   c0[   114.798747s]>>>> GPt Test Done
>   c0[   114.798913s]xTestsTimerTaskInit created
>   c0[   114.798948s]Please use help or exit command….
>   c0[   114.799026s]sail_proc@home$
>   c0[   114.816617s]xTestGptChannelNotification called 1 channel
>   c0[   114.816659s]xTestGptChannelNotification called 3 channel
>   c0[   114.816738s]xTestGptChannelNotification called 4 channel
>   c0[   114.816782s]xTestGptChannelNotification called 5 channel
>   c0[   114.816826s]xTestGptChannelNotification called 7 channel
>   c0[   114.816870s]xTestGptChannelNotification called 8 channel
>   c0[   114.816914s]xTestGptChannelNotification called 9 channel
>   c0[   114.816958s]xTestGptChannelNotification called 10 channel
>   c0[   114.970449s]xTestGptChannelNotification called 2 channel
>   c0[   115.142163s]xTestGptChannelNotification called 0 channel
>   c0[   115.142206s]xTestGptChannelNotification called 6 channel
>   c0[   115.557613s]Please use help or exit command….
>   ```
> * `gpt stop`
>   例如，
>   ```css theme={null}
>   gpt stop
>   ```
>   以下示例日志显示了定时器测试的终止：
>   > ```text theme={null}
>   > c0[   127.895966s]sail_proc@home$
>   > c0[   128.045926s]Please use help or exit command….
>   > c0[   128.045967s]sail_proc@home$
>   > c0[   131.697776s]>>>>> Stopped Timer Test Task
>   > c0[   131.697812s]Please use help or exit command….
>   > c0[   131.697951s]sail_proc@home$
>   > c0[   131.932761s]Please use help or exit command….
>   > c0[   131.932798s]sail_proc@home$
>   > ```
> * `gpt stats`
>   例如，
>   ```undefined theme={null}
>   gpt stats
>   ```
>   以下示例日志显示了各个 GPT 通道的统计信息：
>   > ```text theme={null}
>   > c0[  1535.304438s]sail_proc@home$
>   > c0[  1537.554277s]<<<<Timer 0 Stats Start>>>>
>   > c0[  1537.554322s]High: 0
>   > c0[  1537.554470s]Low: 0
>   > c0[  1537.554510s]Avg is : 0
>   > c0[  1537.554543s]iters: 0
>   > c0[  1537.554619s]<<<<Timer 0 Stats Start>>>>
>   >
>   > c0[  1537.554670s]<<<<Timer 1 Stats Start>>>>
>   > c0[  1537.554720s]High: 0
>   > c0[  1537.554754s]Low: 0
>   > c0[  1537.554829s]Avg is : 0
>   > c0[  1537.554862s]iters: 0
>   > c0[  1537.554938s]<<<<Timer 1 Stats Start>>>>
>   >
>   > c0[  1537.554988s]<<<<Timer 2 Stats Start>>>>
>   > c0[  1537.555038s]High: 0
>   > c0[  1537.555070s]Low: 0
>   > c0[  1537.555145s]Avg is : 0
>   > c0[  1537.555178s]iters: 0
>   > c0[  1537.555269s]<<<<Timer 2 Stats Start>>>>
>   >
>   > c0[  1537.555320s]<<<<Timer 3 Stats Start>>>>
>   > c0[  1537.555369s]High: 0
>   > c0[  1537.555401s]Low: 0
>   > c0[  1537.555478s]Avg is : 0
>   > c0[  1537.555510s]iters: 0
>   > c0[  1537.555586s]<<<<Timer 3 Stats Start>>>>
>   >
>   > c0[  1537.555635s]<<<<Timer 4 Stats Start>>>>
>   > c0[  1537.555685s]High: 0
>   > c0[  1537.555718s]Low: 0
>   > c0[  1537.555794s]Avg is : 0
>   > c0[  1537.555827s]iters: 0
>   > c0[  1537.555902s]<<<<Timer 4 Stats Start>>>>
>   >
>   > c0[  1537.555953s]<<<<Timer 5 Stats Start>>>>
>   > c0[  1537.556004s]High: 0
>   > c0[  1537.556036s]Low: 0
>   > c0[  1537.556111s]Avg is : 0
>   > c0[  1537.556144s]iters: 0
>   > c0[  1537.556219s]<<<<Timer 5 Stats Start>>>>
>   >
>   > c0[  1537.556285s]<<<<Timer 6 Stats Start>>>>
>   > c0[  1537.556336s]High: 0
>   > c0[  1537.556368s]Low: 0
>   > c0[  1537.556444s]Avg is : 0
>   > c0[  1537.556476s]iters: 0
>   > c0[  1537.556553s]<<<<Timer 6 Stats Start>>>>
>   >
>   > c0[  1537.556604s]<<<<Timer 7 Stats Start>>>>
>   > c0[  1537.556654s]High: 0
>   > c0[  1537.556686s]Low: 0
>   > c0[  1537.556761s]Avg is : 0
>   > c0[  1537.556794s]iters: 0
>   > c0[  1537.556869s]<<<<Timer 7 Stats Start>>>>
>   >
>   > c0[  1537.556919s]<<<<Timer 8 Stats Start>>>>
>   > c0[  1537.556969s]High: 0
>   > c0[  1537.557002s]Low: 0
>   > c0[  1537.557076s]Avg is : 0
>   > c0[  1537.557108s]iters: 0
>   > c0[  1537.557184s]<<<<Timer 8 Stats Start>>>>
>   >
>   > c0[  1537.557233s]<<<<Timer 9 Stats Start>>>>
>   > c0[  1537.557289s]High: 0
>   > c0[  1537.557326s]Low: 0
>   > c0[  1537.557371s]Avg is : 0
>   > c0[  1537.557404s]iters: 0
>   > c0[  1537.557479s]<<<<Timer 9 Stats Start>>>>
>   >
>   > c0[  1537.557531s]<<<<Timer 10 Stats Start>>>>
>   > c0[  1537.557581s]High: 0
>   > c0[  1537.557614s]Low: 0
>   > c0[  1537.557690s]Avg is : 0
>   > c0[  1537.557723s]iters: 0
>   > c0[  1537.557798s]<<<<Timer 10 Stats Start>>>>
>   >
>   > c0[  1537.557848s]<<<<Timer 11 Stats Start>>>>
>   > c0[  1537.557900s]High: 0
>   > c0[  1537.557933s]Low: 0
>   > c0[  1537.558008s]Avg is : 0
>   > c0[  1537.558041s]iters: 0
>   > c0[  1537.558116s]<<<<Timer 11 Stats Start>>>>
>   >
>   > c0[  1537.558167s]Please use help or exit command….
>   > c0[  1537.558217s]sail_proc@home$
>   > ```

### **CAN**

在 UART 终端上运行以下 `can` 命令，以进行 CAN 功能测试：

* `can init`
* `can TX`
* `can RX`

#### **运行 CAN 测试命令**

* `can init`
  语法：
  ```undefined theme={null}
  can -t 0 -config 1
  ```
  `can -t 0 -config 1` 的示例日志：
  ```text theme={null}
  c0[   736.054477s][ UART-CAN ] Queue send for core 1 pass
  c1[   736.054535s]vSAILAPPLShelltask_core1: Rx Seq Q SUCCESS -:can -t 0 -config 1
  c1[   736.054562s]can_mcal_test : 422 Entered string : can -t 0 -config 1
  c1[   736.054594s]Invoked CanTC_Init
  c0[   736.054562s]Please use help or exit command….
  c1[   736.054706s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[0] = 0
  c1[   736.054741s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[1] = 1
  c1[   736.054777s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[2] = 2
  c1[   736.054812s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[3] = 3
  c1[   736.054848s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[4] = 4
  c1[   736.054884s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[5] = 5
  c1[   736.054919s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[6] = 6
  c1[   736.054955s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[7] = 7
  c1[   736.054990s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[8] = 8
  c1[   736.055026s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[9] = 9
  c1[   736.055061s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[10] = 10
  c1[   736.055098s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[11] = 11
  c1[   736.055134s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[12] = 12
  c1[   736.055171s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[13] = 13
  c1[   736.055207s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[14] = 14
  c1[   736.055244s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[15] = 15
  c1[   736.055280s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[16] = 16
  c1[   736.055317s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[17] = 17
  c1[   736.055354s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[18] = 18
  c1[   736.055390s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[19] = 19
  c1[   736.055427s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[20] = 20
  c1[   736.055463s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[21] = 21
  c1[   736.055559s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[22] = 22
  c1[   736.055596s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[23] = 23
  c1[   736.055632s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[24] = 24
  c1[   736.055669s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[25] = 25
  c1[   736.055706s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[26] = 26
  c1[   736.055742s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[27] = 27
  c1[   736.055779s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[28] = 28
  c1[   736.055815s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[29] = 29
  c1[   736.055852s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[30] = 30
  c1[   736.055889s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[31] = 31
  c1[   736.055925s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[32] = 32
  c1[   736.055962s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[33] = 33
  c1[   736.055998s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[34] = 34
  c1[   736.056035s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[35] = 35
  c1[   736.056071s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[36] = 36
  c1[   736.056107s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[37] = 37
  c1[   736.056144s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[38] = 38
  c1[   736.056181s]xCanSrv_Add_Client_Ctxt: set xCanClient[2].ClientInfo.HwObjId[39] = 39
  c1[   736.056217s]xCanSrv_Add_Client_Ctxt: ClientHandle[0xffff0004] Status:0
  c1[   736.056247s] CanTest_Register ClientHandle 0xffff0004 invoked with status: 0
  c1[   736.056281s] CanTest_Register client No.1 is redisted
  c0[   736.056482s]sail_proc@home$
  c1[   736.056554s]Can Test Callback Registration Done
  c1[   736.056576s]Exiting Can Testapp with return : 0
  ```
* `can TX - standard ID`
  语法：

  ```css theme={null}
  can -t 3 -c x
  ```

  参数：`x` = CAN 控制器 ID：0 到 7
  `can -t 3 -c x` 的示例日志

  ```text theme={null}
  c0[  1690.439764s]CPU 0 -: can -t 3 -c 0
  c0[  1690.439931s][ UART-CAN ] Queue send for core 1 pass
  c1[  1690.439951s]vSAIL
  c1[  1690.439973s]can_mcal_test : 422 Entered string : can -t 3 -c 0
  c1[  1690.439995s]**************************************************************
  c1[  1690.440018s]Entering Can Testapp
  c1[  1690.440030s]**************************************************************
  c1[  1690.440059s]Invoked CanTC_Write
  ```

  CAN TX 数据会显示在 PCAN-View 应用程序中。

> <Frame>
>   <img src="https://mintlify.s3.us-west-1.amazonaws.com/qualcomm-prod/zh/System/FreeRTOS/media/image1.png" alt="image1.png" />
> </Frame>

<br />

`can TX - FD ID`

语法：

```css theme={null}
can -t 5 -c x
```

参数：`x` = CAN 控制器 ID：0 到 7

`can -t 5 -c x` 的示例日志

```text theme={null}
c0[  1691.299867s]sail_proc@home$
c0[  1695.237474s] Running in APPL_SAIL_Shell_start  0
c0[  1695.237514s]CPU 0 -: can -t 5 -c 0
c0[  1695.237680s][ UART-CAN ] Queue send for core 1 pass
c1[  1695.237701s]vSAIL
c1[  1695.237723s]can_mcal_test : 422 Entered string : can -t 5 -c 0
c1[  1695.237745s]**************************************************************
c1[  1695.237770s]Entering Can Testapp
c1[  1695.237782s]**************************************************************

c1[  1695.237811s]Invoked CanTC_Write
```

CAN TX FD 数据会显示在 PCAN-View 应用程序中。

<Frame>
  <img src="https://mintlify.s3.us-west-1.amazonaws.com/qualcomm-prod/zh/System/FreeRTOS/media/image2.png" alt="image2.png" />
</Frame>

`CAN RX`

要运行 CAN RX 命令，请执行以下操作：

1. 选择 <kbd>Transmit</kbd> > <kbd>New Message ...</kbd>。

<Frame>
  <img src="https://mintlify.s3.us-west-1.amazonaws.com/qualcomm-prod/zh/System/FreeRTOS/media/image3.png" alt="image3.png" />
</Frame>

b. 在 New Transmit Message 窗口中，进行以下配置：

<Frame>
  <img src="https://mintlify.s3.us-west-1.amazonaws.com/qualcomm-prod/zh/System/FreeRTOS/media/image4.png" alt="image4.png" />
</Frame>

* ID：输入 CAN ID（例如 123）。
* Length：设置数据字节数（8、12、32、64）。
* Data：输入数据字节（例如 11 22 33 44 55 66 77 88）。
* cycle time：1000 ms
* 在 Message Type 下，如果是 CAN FD 帧，请确保勾选 **CAN FD** 复选框。

c. 单击 <kbd>ok</kbd>。

d. 在 Transmit 窗口中，勾选 **cycle time** 复选框以开始发送消息。

<Frame>
  <img src="https://mintlify.s3.us-west-1.amazonaws.com/qualcomm-prod/zh/System/FreeRTOS/media/image5.png" alt="image5.png" />
</Frame>

<Note>
  注意

  要停止发送消息，请取消勾选 **cycle time**。
</Note>

下图显示了已发送的消息和接收到的日志：

<Frame>
  <img src="https://mintlify.s3.us-west-1.amazonaws.com/qualcomm-prod/zh/System/FreeRTOS/media/image6.png" alt="image6.png" />
</Frame>

标准 CAN 的示例日志：

```text theme={null}
c1[  1677.177295s]CanTest_RxIndication is invoked with:
c1[  1677.177310s]Mailbox-> CanId:0x45
c1[  1677.177323s]Mailbox-> Hoh:3
c1[  1677.177334s]Mailbox-> ControllerId:0
c1[  1677.177347s]timeStamp.sec:1667 timeStamp.ns:162740000
c1[  1677.177365s]DataLength:8
c1[  1677.177375s]0x11
c1[  1677.177384s]0x22
c1[  1677.177393s]0x33
c1[  1677.177402s]0x44
c1[  1677.177410s]0x55
c1[  1677.177419s]0x66
c1[  1677.177428s]0x77
c1[  1677.177437s]0x88
```