Difference between revisions of "DESK-MX6UL-L/Peripherals/CAN"

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! colspan="4" style="width:100%; text-align:left" ; border-bottom:solid 2px #ededed" |History
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! style="border-left:solid 2px #73B2C7; border-right:solid 2px #73B2C7;border-top:solid 2px #73B2C7; border-bottom:solid 2px #73B2C7; background-color:#73B2C7; padding:5px; color:white" |Issue Date
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!style="border-left:solid 2px #73B2C7; border-right:solid 2px #73B2C7;border-top:solid 2px #73B2C7; border-bottom:solid 2px #73B2C7; background-color:#73B2C7; padding:5px; color:white"|Version
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!style="border-left:solid 2px #73B2C7; border-right:solid 2px #73B2C7;border-top:solid 2px #73B2C7; border-bottom:solid 2px #73B2C7; background-color:#73B2C7; padding:5px; color:white"|Issue Date
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!style="border-left:solid 2px #73B2C7; border-right:solid 2px #73B2C7;border-top:solid 2px #73B2C7; border-bottom:solid 2px #73B2C7; background-color:#73B2C7; padding:5px; color:white"|Notes
 
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|style="border-left:solid 2px #73B2C7; border-right:solid 2px #73B2C7;border-top:solid 2px #73B2C7; border-bottom:solid 2px #73B2C7; background-color:#edf8fb; padding:5px; color:#000000"|1.0.0
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| style="border-left:solid 2px #73B2C7; border-right:solid 2px #73B2C7;border-top:solid 2px #73B2C7; border-bottom:solid 2px #73B2C7; background-color:#edf8fb; padding:5px; color:#000000" |First DESK-MX6UL-L release
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|style="border-left:solid 2px #73B2C7; border-right:solid 2px #73B2C7;border-top:solid 2px #73B2C7; border-bottom:solid 2px #73B2C7; background-color:#edf8fb; padding:5px; color:#000000"|Apr 2021
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<section begin="Body" />
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<section begin=Body/>
  
 
==Peripheral CAN ==
 
==Peripheral CAN ==
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...
 
...
 
...
 
...
−
[    3.047454] can: controller area network core
+
[    2.722873] flexcan 2090000.flexcan: 2090000.flexcan supply xceiver not found, using dummy regulator
−
[    3.057221] can: raw protocol
+
[    2.734031] flexcan 2090000.flexcan: device registered (reg_base=a099c000, irq=24)
−
[    3.069417] can: broadcast manager protocol
 
−
[    3.073846] can: netlink gateway - max_hops=1
 
 
...
 
...
 
...
 
...
 +
[    5.067979] can: controller area network core (rev 20170425 abi 9)
 +
[    5.079006] can: raw protocol (rev 20170425)
 +
[    5.083391] can: broadcast manager protocol (rev 20170425 t)
 +
[    5.089108] can: netlink gateway (rev 20170425) max_hops=1
 
</pre>
 
</pre>
  
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root@desk-mx6ul-lynx:~# ifconfig can0 up
 
root@desk-mx6ul-lynx:~# ifconfig can0 up
 
root@desk-mx6ul-lynx:~# ifconfig can0
 
root@desk-mx6ul-lynx:~# ifconfig can0
−
can0: flags=193<UP,RUNNING,NOARP> mtu 16
+
can0     Link encap:UNSPEC HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
−
        unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  txqueuelen 10 (UNSPEC)
+
          UP NOARP MTU:16 Metric:1
−
        RX packets 0 bytes 0 (0.0 B)
+
          RX packets:2 errors:0 dropped:0 overruns:0 frame:0
−
        RX errors 0 dropped 0 overruns 0 frame 0
+
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
−
        TX packets 0  bytes 0 (0.0 B)
+
          collisions:0 txqueuelen:10
−
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
+
          RX bytes:16 (16.0 B) TX bytes:0 (0.0 B)
−
        device interrupt 33
+
          Interrupt:24
 +
 
 +
root@desk-mx6ul-lynx:~#
 
</pre>
 
</pre>
  
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<pre class="workstation-terminal">
 
<pre class="workstation-terminal">
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root@desk-mx6ul-lynx:~# ip link set can0 type can bitrate 500000 triple-sampling on loopback on
+
root@desk-mx6ul-lynx:~# ip link set can0 type can bitrate 500000 triple-sampling on
 
root@desk-mx6ul-lynx:~# ifconfig can0 up
 
root@desk-mx6ul-lynx:~# ifconfig can0 up
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root@desk-mx6ul-lynx:~# candump can0 &
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root@desk-mx6ul-lynx:~# cansend can0 128#1122334455667788
−
[1] 291
 
 
interface = can0, family = 29, type = 3, proto = 1
 
interface = can0, family = 29, type = 3, proto = 1
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root@desk-mx6ul-lynx:~# cansend can0 -i 0x7ff 00 01 02 03 04 05 06 07
+
root@desk-mx6ul-lynx:~# candump can0
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interface = can0, family = 29, type = 3, proto = 1
+
  can0 128  [8] 11 22 33 44 55 66 77 88
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<0x7ff> [8] 00 01 02 03 04 05 06 07
+
root@desk-mx6ul-lynx:~#
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<0x7ff> [8] 00 01 02 03 04 05 06 07
 
 
</pre>
 
</pre>
  
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Each CAN port appears like a networking interface in the form <code>canX</code> where <b><i>X</i></b> is the port number.  
 
Each CAN port appears like a networking interface in the form <code>canX</code> where <b><i>X</i></b> is the port number.  
  
−
Information about programming the CAN socket interface is given in the kernel tree under ''Documentation/networking/can.rst''
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Information about programming the CAN socket interface is given in the kernel tree under ''Documentation/networking/can.txt''
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<section end="Body" />
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<section end=Body/>
 +
 
 
----
 
----
  
 
[[Category:AXEL ULite]]
 
[[Category:AXEL ULite]]

Revision as of 10:09, 16 July 2021

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History
Version Issue Date Notes
1.0.0 Apr 2021 First DESK release


Peripheral CAN[edit | edit source]

200px-Emblem-important.svg.png

The CAN peripheral is not available on AXEL ULite EVK. This peripheral is available on the i.MX6UL standard product SBCLynx

Device tree configuration[edit | edit source]

Here below an example of device tree configuration used on standard DAVE's kit for the AXEL ULite SOM:

From imx6ul-lynx-som0013-cb002f.dts: 

&can1 {
    pinctrl-names = "default";
    pinctrl-0 = <&pinctrl_flexcan1>;
    status = "okay";
};

From imx6ul-lynx-som0013.dtsi: 

&iomuxc {
        pinctrl-names = "default";
        pinctrl-0 = <&pinctrl_hog_gpios>;

        imx6ul-lynx {
...
...
            pinctrl_flexcan1: flexcan1grp{
                    fsl,pins = <
                            MX6UL_PAD_LCD_DATA09__FLEXCAN1_RX       0x1b020
                            MX6UL_PAD_LCD_DATA08__FLEXCAN1_TX       0x1b020
                    >;
            };
};

Accessing the peripheral[edit | edit source]

Linux messages at boot time[edit | edit source]

...
...
[    2.722873] flexcan 2090000.flexcan: 2090000.flexcan supply xceiver not found, using dummy regulator
[    2.734031] flexcan 2090000.flexcan: device registered (reg_base=a099c000, irq=24)
...
...
[    5.067979] can: controller area network core (rev 20170425 abi 9)
[    5.079006] can: raw protocol (rev 20170425)
[    5.083391] can: broadcast manager protocol (rev 20170425 t)
[    5.089108] can: netlink gateway (rev 20170425) max_hops=1

Enable the interface and check status[edit | edit source]

root@desk-mx6ul-lynx:~# ip link set can0 type can bitrate 500000
root@desk-mx6ul-lynx:~# ifconfig can0 up
root@desk-mx6ul-lynx:~# ifconfig can0
can0      Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
          UP NOARP  MTU:16  Metric:1
          RX packets:2 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:16 (16.0 B)  TX bytes:0 (0.0 B)
          Interrupt:24

root@desk-mx6ul-lynx:~#

Usage with can-utils[edit | edit source]

root@desk-mx6ul-lynx:~# ip link set can0 type can bitrate 500000 triple-sampling on
root@desk-mx6ul-lynx:~# ifconfig can0 up
root@desk-mx6ul-lynx:~# cansend can0 128#1122334455667788
interface = can0, family = 29, type = 3, proto = 1
root@desk-mx6ul-lynx:~# candump can0
  can0  128   [8]  11 22 33 44 55 66 77 88
root@desk-mx6ul-lynx:~#

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.txt


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