Difference between revisions of "DESK-MX6-L/Pheripherals/CAN"

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<section begin="History" />
 
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!colspan="4" style="width:100%; text-align:left"; border-bottom:solid 2px #ededed"|History
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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"|ID#
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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:#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"|{{oldid|14105|14105}}
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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" |{{oldid|14105|2021/07/16}}
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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"|16/07/2021
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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-MX6-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"|First DESK 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" |{{oldid|16995|2022/03/03}}
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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:#ededed; padding:5px; color:#000000" |03/03/2022
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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" |DESK-MX6-L 3.0.0 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:#ededed; padding:5px; color:#000000" |DESK 3.0.0 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:#ededed; padding:5px; color:#000000" |DESK-MX6-L 4.0.0 release
 
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...
 
...
 
...
 
...
−
[    5.119440] can: controller area network core
+
[    4.455222] can: controller area network core
−
[    5.128422] can: raw protocol
+
[    4.464472] can: raw protocol
−
[    5.131399] can: broadcast manager protocol
+
[    4.467614] can: broadcast manager protocol
−
[    5.135663] can: netlink gateway - max_hops=1
+
[    4.471816] can: netlink gateway - max_hops=1
 
...
 
...
 
...
 
...
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root@desk-mx6:~# ip link set can0 type can bitrate 500000
 
root@desk-mx6:~# ip link set can0 type can bitrate 500000
 
root@desk-mx6:~# ifconfig can0 up
 
root@desk-mx6:~# ifconfig can0 up
−
[ 4184.530382] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready
+
[ 839.886499] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready
 
root@desk-mx6:~# ifconfig can0
 
root@desk-mx6:~# ifconfig can0
 
can0: flags=193<UP,RUNNING,NOARP>  mtu 16
 
can0: flags=193<UP,RUNNING,NOARP>  mtu 16
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[1] 321
 
[1] 321
 
interface = can0, family = 29, type = 3, proto = 1
 
interface = can0, family = 29, type = 3, proto = 1
−
root@desk-mx6:~# cansend can0 -i 0x7ff 00 01 02 03 04 05 06 07                                                                                                                                         
+
root@desk-mx6:~# cansend can0 7ff#0001020304050607
−
interface = can0, family = 29, type = 3, proto = 1
+
  can0 7FF  [8] 00 01 02 03 04 05 06 07
−
<0x7ff> [8] 00 01 02 03 04 05 06 07  
+
  can0  7FF  [8] 00 01 02 03 04 05 06 07
−
<0x7ff> [8] 00 01 02 03 04 05 06 07
 
 
</pre>
 
</pre>
  

Latest revision as of 17:00, 8 January 2024

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History
Issue Date Notes

2021/07/16

First DESK-MX6-L release

2022/03/03

DESK-MX6-L 3.0.0 release
2023/04/11 DESK-MX6-L 4.0.0 release


Peripheral CAN[edit | edit source]

Device tree configuration[edit | edit source]

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

From imx6qdl-sbcx-revb-common.dtsi : 

&can1 {
    pinctrl-names = "default";
    pinctrl-0 = <&pinctrl_flexcan1_axel>;
    status = "okay";
};

From imx6qdl-axelcommon.dtsi: 

    can1 {
        pinctrl_flexcan1_axel: flexcan1axelgrp-1 {
            fsl,pins = <
                MX6QDL_PAD_GPIO_7__FLEXCAN1_TX 0x80000000
                MX6QDL_PAD_GPIO_8__FLEXCAN1_RX 0x80000000
            >;
        };
    };

Accessing the peripheral[edit | edit source]

Linux messages at boot time[edit | edit source]

...
...
[    4.455222] can: controller area network core
[    4.464472] can: raw protocol
[    4.467614] can: broadcast manager protocol
[    4.471816] can: netlink gateway - max_hops=1
...
...

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

root@desk-mx6:~# ip link set can0 type can bitrate 500000
root@desk-mx6:~# ifconfig can0 up
[  839.886499] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready
root@desk-mx6:~# 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 39

Usage with can-utils[edit | edit source]

root@desk-mx6:~# ip link set can0 type can bitrate 500000 triple-sampling on loopback on                                                                                                                           
root@desk-mx6:~# ifconfig can0 up                                                                                                                                                                          
root@desk-mx6:~# candump can0 &                                                                                                                                                                          
[1] 321
interface = can0, family = 29, type = 3, proto = 1
root@desk-mx6:~# cansend can0 7ff#0001020304050607
  can0  7FF   [8]  00 01 02 03 04 05 06 07
  can0  7FF   [8]  00 01 02 03 04 05 06 07

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

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