我有一个 USB 设备，可能是 CAN 总线，我正在尝试与它交互。我想知道是否有人可以提供一些建议来探测和发现可用的服务。我想一个好的开始是检查它是否真的是 CAN 总线。不过，我不确定如何做到这一点。
具体来说，我插入了 DJI Phantom 四轴飞行器的 USB 接口。这是一架小型自主无人机。
以下是我目前所掌握的信息：
如果我打电话的lsusb时候无人机插上电源并通电，
Bus 003 Device 003: ID fff0:0008
是新的。 lsusb -vvv提供进一步的详细信息：
Bus 003 Device 003: ID fff0:0008
Device Descriptor:
bLength 18
bDescriptorType 1
bcdUSB 2.00
bDeviceClass 2 Communications
bDeviceSubClass 0
bDeviceProtocol 0
bMaxPacketSize0 64
idVendor 0xfff0
idProduct 0x0008
bcdDevice 1.00
iManufacturer 1 DJI CONFIF
iProduct 2 DJI CONTROLLER
iSerial 3 0001A0000000
bNumConfigurations 1
Configuration Descriptor:
bLength 9
bDescriptorType 2
wTotalLength 75
bNumInterfaces 2
bConfigurationValue 1
iConfiguration 0
bmAttributes 0x80
(Bus Powered)
MaxPower 100mA
Interface Association:
bLength 8
bDescriptorType 11
bFirstInterface 0
bInterfaceCount 2
bFunctionClass 2 Communications
bFunctionSubClass 2 Abstract (modem)
bFunctionProtocol 0 None
iFunction 4 VCOM
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 0
bAlternateSetting 0
bNumEndpoints 1
bInterfaceClass 2 Communications
bInterfaceSubClass 2 Abstract (modem)
bInterfaceProtocol 0 None
iInterface 4 VCOM
CDC Header:
bcdCDC 1.10
CDC Call Management:
bmCapabilities 0x01
call management
bDataInterface 1
CDC ACM:
bmCapabilities 0x02
line coding and serial state
CDC Union:
bMasterInterface 0
bSlaveInterface 1
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x81 EP 1 IN
bmAttributes 3
Transfer Type Interrupt
Synch Type None
Usage Type Data
wMaxPacketSize 0x0010 1x 16 bytes
bInterval 2
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 1
bAlternateSetting 0
bNumEndpoints 2
bInterfaceClass 10 CDC Data
bInterfaceSubClass 0 Unused
bInterfaceProtocol 0
iInterface 4 VCOM
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x02 EP 2 OUT
bmAttributes 2
Transfer Type Bulk
Synch Type None
Usage Type Data
wMaxPacketSize 0x0040 1x 64 bytes
bInterval 0
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x82 EP 2 IN
bmAttributes 2
Transfer Type Bulk
Synch Type None
Usage Type Data
wMaxPacketSize 0x0040 1x 64 bytes
bInterval 0
Device Status: 0x0000
(Bus Powered)
如果我打电话udevadm并移除四轴飞行器的 USB 电缆，我会得到：
UDEV [41256.502177] remove /devices/pci0000:00/0000:00:14.0/usb3/3-2/3-2:1.0/tty/ttyACM0 (tty)
UDEV [41256.502247] remove /devices/pci0000:00/0000:00:14.0/usb3/3-2/3-2:1.1 (usb)
UDEV [41256.502286] remove /devices/pci0000:00/0000:00:14.0/usb3/3-2/3-2:1.0 (usb)
UDEV [41256.502346] remove /devices/pci0000:00/0000:00:14.0/usb3/3-2 (usb)`
and when I plug it in...
`UDEV [41261.068689] add /devices/pci0000:00/0000:00:14.0/usb3/3-2 (usb)
UDEV [41261.070265] add /devices/pci0000:00/0000:00:14.0/usb3/3-2/3-2:1.0 (usb)
UDEV [41261.071507] add /devices/pci0000:00/0000:00:14.0/usb3/3-2/3-2:1.1 (usb)
UDEV [41261.072843] add /devices/pci0000:00/0000:00:14.0/usb3/3-2/3-2:1.0/tty/ttyACM0 (tty)
所以我尝试将其视为 CAN 总线接口。使用以下命令似乎没问题：
sudo slcand -o -s6 -t hw -S 1000000 /dev/ttyACM0
即没有错误消息，并且
sudo ip link set up slcan0
创建网络接口slcan0并ifconfig显示：
slcan0 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)
从这里，有人能判断出我所交互的是否真的是 CAN 总线吗？还是我走错了路？