DESK-MX9-L/Peripherals/CAN
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Contents
Peripheral CAN[edit | edit source]
Device tree configuration[edit | edit source]
Here below is an example of device tree configuration used on standard DAVE's kit for the AURA SOM:
From imx93-aura.dtsi:
...
&flexcan2 {
pinctrl-names = "default";
pinctrl-0 = <&pinctrl_flexcan2>;
status = "okay";
};
...
&iomuxc {
...
pinctrl_flexcan2: flexcan2grp {
fsl,pins = <
MX93_PAD_GPIO_IO25__CAN2_TX 0x139e
MX93_PAD_GPIO_IO27__CAN2_RX 0x139e
>;
};
...
};
Accessing the peripheral[edit | edit source]
Linux messages at boot time[edit | edit source]
... [ 1.527184] can: controller area network core [ 1.536411] can: raw protocol [ 1.539420] can: broadcast manager protocol [ 1.543646] can: netlink gateway - max_hops=1 ...
Enable the interface and check status[edit | edit source]
root@desk-mx93-rev1:~# ip link set can0 type can bitrate 500000
root@desk-mx93-rev1:~# ifconfig can0 up
root@desk-mx93-rev1:~# ifconfig can0
can0: flags=193<UP,RUNNING,NOARP> mtu 16
unspec 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 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 22
Usage with can-utils[edit | edit source]
root@desk-mx93-rev1:~# ifconfig can0 down root@desk-mx93-rev1:~# ip link set can0 type can bitrate 500000 triple-sampling on loopback on root@desk-mx93-rev1:~# ifconfig can0 up root@desk-mx93-rev1:~# candump can0 & [1] 312 interface = can0, family = 29, type = 3, proto = 1 root@desk-mx93-rev1:~# cansend can0 -i 0x7ff 00 01 02 03 04 05 06 07 <0x7ff> [8] 00 01 02 03 04 05 06 07 <0x000> [8] ff fe fd fc fb fa f9 f8
Additional information[edit | edit source]
Each CAN port appears like a networking interface in the form canX where X is the port number.
Information about programming the CAN socket interface is given in the kernel tree under Documentation/networking/can.rst
