linux can ip -loop,CAN (Linux)

For Colibri, the kernel needs to be configured to include the

CAN subsystem plus the used driver.

For V2.x Images

http://git.toradex.com/gitweb/linux-toradex.git/commitdiff/d4be58791a6358e85fa1bf139d46f7e80c65eec4

As on Apalis the CAN chips have dedicated SPI interfaces we provide

our standard image with a kernel configured for CAN.

For V1.x Images

The relevant platform data must be back ported.

First install the CAN utilities plus the native (e.g. not BusyBox

based) IP route 2 as follows:

For V2.x Images:

The required ipk packages be built with openembedded or can be

found here:

http://developer.toradex.com/files/toradex-dev/uploads/media/Colibri/Linux/Extra/

For V1.x Images:

root@colibri_t20:~# opkg install canutils iproute2

Installing canutils (4.0.6-r1.0.5) to root...

Downloading http://www.angstrom-distribution.org/feeds/unstable/ipk/glibc/armv5t

e/base/canutils_4.0.6-r1.0.5_armv5te.ipk.

Installing libsocketcan2 (0.0.8-r0.0.5) to root...

Downloading http://www.angstrom-distribution.org/feeds/unstable/ipk/glibc/armv5t

e/base/libsocketcan2_0.0.8-r0.0.5_armv5te.ipk.

Installing iproute2 (2.6.38-r4.0.9) to root...

Downloading http://www.angstrom-distribution.org/feeds/next/ipk/eglibc/armv5te/b

ase/iproute2_2.6.38-r4.0.9_armv5te.ipk.

Configuring iproute2.

update-alternatives: Linking //bin/ip to /sbin/ip.iproute2

Configuring libsocketcan2.

Configuring canutils.

Colibri EvalBoard V3.1a with built-in MCP2515 SPI CAN

Controller

The following shows the bring-up of a Colibri EvalBoard V3.1a

with its built-in MCP2515 SPI CAN controller connected to the

Colibri T20's SPI bus:

[ 4.904898] CAN device driver interface

[ 4.932793] Colibri EvalBoard V3.1a/MECS Tellurium xPOD CAN Initialisation

[ 4.979119] mcp251x spi3.0: probed

[ 5.340662] can: controller area network core (rev 20090105 abi 8)

[ 5.424355] can: raw protocol (rev 20090105)

[ 5.434325] can: broadcast manager protocol (rev 20090105 t)

root@colibri-t20:~# ip link set can0 type can bitrate 125000

root@colibri-t20:~# ifconfig can0 up

[ 2616.560726] Wake5 for irq=192

[ 2616.579120] mcp251x spi3.0: CNF: 0x03 0xb5 0x01

root@colibri-t20:~# cat /proc/interrupts | grep mcp251x

192: 0 0 GPIO mcp251x

root@colibri-t20:~# candump can0

interface = can0, family = 29, type = 3, proto = 1

<0x001> [1] 01

<0x001> [1] 01

^C

root@colibri-t20:~# cansend can0 1F334455#1122334455667788

interface = can0, family = 29, type = 3, proto = 1

root@colibri-t20:~# cansend can0 1F334455#1122334455667788

interface = can0, family = 29, type = 3, proto = 1

root@colibri-t20:~# cat /proc/interrupts | grep mcp251x

192: 4 0 GPIO mcp251x

root@colibri-t20:~# ip -details -statistics link show can0

2: can0: mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10

link/can

can state ERROR-ACTIVE restart-ms 0

bitrate 125000 sample-point 0.875

tq 500 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1

mcp251x: tseg1 3..16 tseg2 2..8 sjw 1..4 brp 1..64 brp-inc 1

clock 8000000

re-started bus-errors arbit-lost error-warn error-pass bus-off

0 0 0 0 0 0

RX: bytes packets errors dropped overrun mcast

2 2 0 0 0 0

TX: bytes packets errors dropped carrier collsns

2 2 0 0 0 0

Colibri EvalBoard V2.1c with built-in SJA1000 CAN Controller

on GMI Bus

The following shows the bring-up of a Colibri EvalBoard V2.1c

with its built-in SJA1000 CAN controller connected to the Colibri

T20's GMI bus:

[ 4.317941] CAN device driver interface

[ 4.343046] sja1000 CAN netdevice driver

[ 4.369867] sja1000_platform sja1000_platform.0: sja1000_platform device registered (reg_base=97800000, irq=192)

[ 5.340662] can: controller area network core (rev 20090105 abi 8)

[ 5.424355] can: raw protocol (rev 20090105)

[ 5.434325] can: broadcast manager protocol (rev 20090105 t)

root@colibri_t20:~# ip link set can0 type can bitrate 125000

[ 909.720112909.720112] sja1000_platform sja1000_platform.0: setting BTR0=0x05 BTR1=0x1c

root@colibri_t20:~# ifconfig can0 up

[ 938.335586938.335586] Wake5 for irq=192

root@colibri_t20:~# cat /proc/interrupts | grep can

192: 0 0 GPIO can0

root@colibri_t20:~# candump can0

interface = can0, family = 29, type = 3, proto = 1

<0x001> [1] 01

<0x001> [1] 01

^C

root@colibri_t20:~# cansend can0 1F334455#1122334455667788

interface = can0, family = 29, type = 3, proto = 1

root@colibri_t20:~# cansend can0 1F334455#1122334455667788

interface = can0, family = 29, type = 3, proto = 1

root@colibri_t20:~# cat /proc/interrupts | grep can

192: 4 0 GPIO can0

root@colibri_t20:~# ip -details -statistics link show can0

2: can0: mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10

link/can

can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0

bitrate 125000 sample-point 0.875

tq 500 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1

sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1

clock 12000000

re-started bus-errors arbit-lost error-warn error-pass bus-off

0 0 0 0 0 0

RX: bytes packets errors dropped overrun mcast

2 2 0 0 0 0

TX: bytes packets errors dropped carrier collsns

2 2 0 0 0 0

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