DESK-RZ-L/Peripherals/CAN
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| 2025/12/16 | DESK-RZ-L-1.x.x release | ||
Contents
Peripheral CAN[edit | edit source]
The two CAN buses have a transceiver that is enabled or disabled via a dedicated pin.
This pin is controlled by the GPIO expander exp_1 and managed as a regulator, so no preliminary operations are required before using the CAN interfaces.
Configuration[edit | edit source]
These peripheral(s) can only be used with the following ConfigID(s) (see the associated BOM):
| ConfigID | Note |
|---|---|
| 2002 | - |
| 2003 | - |
Device tree configuration[edit | edit source]
Below is an example of a device tree configuration used on ZERO Evaluation Kit.
From rzt2h-dsab.dts:
/ {
...
stb_can_0: reg_stb_can_0 {
compatible = "regulator-fixed";
regulator-name = "reg_stb_can_0";
regulator-min-microvolt = <1800000>;
regulator-max-microvolt = <1800000>;
gpio = <&exp_1 14 GPIO_ACTIVE_LOW>;
regulator-boot-on;
regulator-always-on;
};
stb_can_1: reg_stb_can_1 {
compatible = "regulator-fixed";
regulator-name = "reg_stb_can_1";
regulator-min-microvolt = <1800000>;
regulator-max-microvolt = <1800000>;
gpio = <&exp_1 15 GPIO_ACTIVE_LOW>;
regulator-boot-on;
regulator-always-on;
};
...
};
...
&canfd {
pinctrl-0 = <&can0_pins &can1_pins>;
pinctrl-names = "default";
status = "okay";
renesas,no-can-fd;
canstb0-supply = <&stb_can_0>;
canstb1-supply = <&stb_can_1>;
channel0 {
status = "okay";
};
channel1 {
status = "okay";
};
};
...
&pinctrl {
...
can0_pins: can0 {
pinmux = <RZT2H_PORT_PINMUX(24, 3, 0x19)>, /* P24_3 CANRX0 | B_AB17 B20 */
<RZT2H_PORT_PINMUX(24, 4, 0x19)>; /* P24_4 CANTX0 | B_AC17 G22 */
};
can1_pins: can1 {
pinmux = <RZT2H_PORT_PINMUX(22, 5, 0x19)>, /* P22_5 CANRX1 | B_AB19 E21 */
<RZT2H_PORT_PINMUX(22, 6, 0x19)>; /* P22_6 CANTX1 | B_AC19 C22 */
};
...
};
Accessing the peripheral[edit | edit source]
Linux[edit | edit source]
... [ 61.906321] rcar_canfd 80040000.can: can_clk rate is 125000000 [ 61.912864] rcar_canfd 80040000.can: device registered (channel 0) [ 61.919132] rcar_canfd 80040000.can: can_clk rate is 125000000 [ 61.925643] rcar_canfd 80040000.can: device registered (channel 1) [ 61.931884] rcar_canfd 80040000.can: global operational state (clk 0, fdmode 0) [ 62.656269] can: controller area network core [ 62.665208] can: raw protocol [ 62.668219] can: broadcast manager protocol [ 62.672459] can: netlink gateway - max_hops=1 ...
root@desk-t2h-usd-devel:~# ip link set can0 type can bitrate 200000
root@desk-t2h-usd-devel:~# ip link set can0 up
root@desk-t2h-usd-devel:~# ifconfig can0
can0: flags=193<UP,RUNNING,NOARP> mtu 16 metric 1
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
root@desk-t2h-usd-devel:~# ifconfig can1
can1: flags=128<NOARP> mtu 16 metric 1
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
root@desk-t2h-usd-devel:~# ip link set can0 type can bitrate 200000 root@desk-t2h-usd-devel:~# ifconfig can0 up root@desk-t2h-usd-devel:~# candump can0 can0 123 [8] 01 01 02 03 04 05 06 07
