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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"|VersionIssue Date!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 DateNotes|-| 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|14243|2021/07/20}}| 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|-!| 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|16322|2022/03/16}}| 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:white#000000"|NotesDESK-MX6UL-L 3.0.0 release
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<section end="History" /><section begin="Body" />
==Peripheral CAN ==
{{ImportantMessage|text=The CAN peripheral is not available on [[AXEL_ULite_SOM/AXEL_ULite_Evaluation_Kit | AXEL ULite EVK]]. This peripheral is available on the i.MX6UL standard product [[SBC_Lynx_SBC | SBCLynx]]}}
=== Device tree configuration ===
Here below an example of device tree configuration used on standard DAVE's kit for the [[AXEL ULite SOM]]:
From <code>imx6ul-lynx-som0013-cb00XXcb002f.dts</code>:
<pre>
...
...
[ 23.717142047454] flexcan 2090000can: controller area network core[ 3.flexcan057221] can: 2090000raw protocol[ 3.flexcan supply xceiver not found, using dummy regulator069417] can: broadcast manager protocol[ 23.728107073846] flexcan 2090000.flexcancan: device registered (reg_base=a099c000, irqnetlink gateway - max_hops=24)1
...
...
</pre>
====Enable the interface and check status====
<pre class="workstation-terminal">
root@desk-mx6ul-axelulitelynx:~# ip link set can0 type can bitrate 500000root@desk-mx6ul-axelulitelynx:~# ifconfig can0 uproot@desk-mx6ul-axelulitelynx:~# ifconfig can0can0 Link encap:UNSPEC flags=193<UP,RUNNING,NOARP> HWaddr mtu 16 unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 UP RUNNING NOARP MTU:16 txqueuelen 10 Metric:1(UNSPEC) RX packets:0 errors: bytes 0 dropped:(0 overruns:0 frame:.0B) TX packets:0 RX errors:0 dropped:0 overruns:0 carrier: frame 0 collisions: TX packets 0 txqueuelen:10 RX bytes:0 (0.0 B) TX errors 0 TX bytes:dropped 0 overruns 0 ( carrier 0. collisions 0 B) Interrupt:24 root@desk-mx6ul-axelulite:~# device interrupt 33
</pre>
==== Usage with [https://github.com/linux-can/can-utils can-utils] ====
<pre class="workstation-terminal">
root@desk-mx6ul-axelulitelynx:~# ip link set can0 type can bitrate 500000 triple-sampling on loopback onroot@desk-mx6ul-axelulitelynx:~# ifconfig can0 uproot@desk-mx6ul-axelulitelynx:~# cansend candump can0 &[1] 291interface = can0 128#1122334455667788, family = 29, type = 3, proto = 1root@desk-mx6ul-axelulitelynx:~# candump cansend can0-i 0x7ff 00 01 02 03 04 05 06 07 interface = can0 128 , family = 29, type = 3, proto = 1<0x7ff> [8] 11 22 33 44 55 66 77 8800 01 02 03 04 05 06 07 root@desk-mx6ul-axelulite:~# <0x7ff> [8] 00 01 02 03 04 05 06 07
</pre>
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.txtrst''<section end="Body" />
----
[[Category:AXEL ULite]]
