Difference between revisions of "DESK-MX6UL-L/Peripherals/CAN"
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<section begin=History/> | <section begin=History/> | ||
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==Peripheral CAN == | ==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 === | === Device tree configuration === | ||
Here below an example of device tree configuration used on standard DAVE's kit for the [[AXEL ULite SOM]]: | Here below an example of device tree configuration used on standard DAVE's kit for the [[AXEL ULite SOM]]: | ||
| − | From <code>imx6ul-lynx-som0013- | + | From <code>imx6ul-lynx-som0013-cb002f.dts</code>: |
<pre> | <pre> | ||
| Line 57: | Line 56: | ||
... | ... | ||
... | ... | ||
| − | [ 2. | + | [ 2.722873] flexcan 2090000.flexcan: 2090000.flexcan supply xceiver not found, using dummy regulator |
| − | [ 2. | + | [ 2.734031] flexcan 2090000.flexcan: device registered (reg_base=a099c000, irq=24) |
... | ... | ||
... | ... | ||
| Line 69: | Line 68: | ||
====Enable the interface and check status==== | ====Enable the interface and check status==== | ||
<pre class="workstation-terminal"> | <pre class="workstation-terminal"> | ||
| − | root@desk-mx6ul- | + | root@desk-mx6ul-lynx:~# ip link set can0 type can bitrate 500000 |
| − | root@desk-mx6ul- | + | root@desk-mx6ul-lynx:~# ifconfig can0 up |
| − | root@desk-mx6ul- | + | 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 | can0 Link encap:UNSPEC HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 | ||
| − | UP | + | UP NOARP MTU:16 Metric:1 |
| − | RX packets: | + | RX packets:2 errors:0 dropped:0 overruns:0 frame:0 |
TX packets:0 errors:0 dropped:0 overruns:0 carrier:0 | TX packets:0 errors:0 dropped:0 overruns:0 carrier:0 | ||
collisions:0 txqueuelen:10 | collisions:0 txqueuelen:10 | ||
| − | RX bytes: | + | RX bytes:16 (16.0 B) TX bytes:0 (0.0 B) |
Interrupt:24 | Interrupt:24 | ||
| − | root@desk-mx6ul- | + | root@desk-mx6ul-lynx:~# |
</pre> | </pre> | ||
==== Usage with [https://github.com/linux-can/can-utils can-utils] ==== | ==== Usage with [https://github.com/linux-can/can-utils can-utils] ==== | ||
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<pre class="workstation-terminal"> | <pre class="workstation-terminal"> | ||
| − | root@desk-mx6ul- | + | root@desk-mx6ul-lynx:~# ip link set can0 type can bitrate 500000 triple-sampling on |
| − | root@desk-mx6ul- | + | root@desk-mx6ul-lynx:~# ifconfig can0 up |
| − | root@desk-mx6ul- | + | root@desk-mx6ul-lynx:~# cansend can0 128#1122334455667788 |
| − | root@desk-mx6ul- | + | 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 | can0 128 [8] 11 22 33 44 55 66 77 88 | ||
| − | root@desk-mx6ul- | + | root@desk-mx6ul-lynx:~# |
</pre> | </pre> | ||
Revision as of 10:09, 16 July 2021
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Contents
Peripheral CAN[edit | edit source]
 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
