DESK-MX6UL-L/Peripherals/CAN
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| Version | Issue Date | Notes | |
| Apr 2021 | First DESK release | ||
| 2.0.0 | Mar 2022 | DESK 3.0.0 release | |
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]
... ... [ 3.806768] can: controller area network core [ 3.816080] can: raw protocol [ 3.819081] can: broadcast manager protocol [ 3.823309] can: netlink gateway - 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: 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 33
Usage with can-utils[edit | edit source]
root@desk-mx6ul-lynx:~# ip link set can0 type can bitrate 500000 triple-sampling on loopback on root@desk-mx6ul-lynx:~# ifconfig can0 up root@desk-mx6ul-lynx:~# candump can0 & [1] 280 interface = can0, family = 29, type = 3, proto = 1 root@desk-mx6ul-lynx:~# cansend can0 -i 0x7ff 00 01 02 03 04 05 06 07 interface = can0, family = 29, type = 3, proto = 1 <0x7ff> [8] 00 01 02 03 04 05 06 07 <0x7ff> [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
