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Sienovo AM5728 CAN Bus Testing and SDK Upgrade, Linux CAN Debugging Commands

#AM5728#CAN#DCAN#SDKUpgrade#Porting

I. AM5728 CAN Bus Testing

Execute the following commands in the development board's file system to configure the CAN0 bus (CAN0 in software corresponds to CAN1 in hardware) with a bitrate of 1MHz and start the CAN bus:

Target# canconfig can0 bitrate 1000000

Target# canconfig can0 start

Execute the following command to monitor data sent from the PC:

Target# candump can0

Driver automatically installed on PC

Then open the debugging instrument software

  1. First, set the COM port and bitrate to 1MHz.

  2. Select either 'Send Data' or 'Loop Send'.

II. Device Tree Upgrade and Porting

CAN exists as a network device in TI AM5728 Linux. Here's a record of the canconfig porting process.

          1. Download canutils and libsocketcan

    libsocketcan address: http://public.pengutronix.de/software/libsocketcan/

    canutils address: http://public.pengutronix.de/software/socket-can/canutils/v4.0/

    // Download the latest canutils-4.0.6.tar.bz2 and libsocketcan-0.0.10.tar.bz2

          1. After downloading, compile the libsocketcan library first.

    // Unzip

    tar -xvf canutils-4.0.6.tar.bz2

    cd libsocketcan-0.0.10/

    mkdir out

    // Cross-compiler is configured by default.

ye@ye-ThinkPad-E420:~/Downloads/libsocketcan-0.0.11$ source ~/ti-processor-sdk-linux-am57xx-evm-05.01.00.11/linux-devkit/environment-setup

[linux-devkit]:~/Downloads/libsocketcan-0.0.11> ./configure --prefix=/home/ye/Downloads/libsocketcan-0.0.11/out --host=arm-none-linux-gnueabi

[linux-devkit]:~/Downloads/libsocketcan-0.0.11> make

[linux-devkit]:~/Downloads/libsocketcan-0.0.11> make install

[linux-devkit]:~/Downloads/libsocketcan-0.0.11/out/lib> ls

libsocketcan.a libsocketcan.so libsocketcan.so.2.3.0

libsocketcan.la libsocketcan.so.2 pkgconfig

// Copy these generated libraries to your board's file system. They can be placed in the `lib` directory or `usr/lib`.
        • 3. Then compile canconfig

    // First, copy the header files libsocketcan.h and can_netlink.h from libsocketcan to canutils's include directory.

    tar -xvf canutils-4.0.6.tar.bz2

    cd canutils-4.0.6/

    mkdir out

    chmod 777 . -R

    // Configure

    [linux-devkit]:~/Downloads/canutils-4.0.6> ./configure --host=arm-none-linux-gnueabi --prefix=/home/ye/Downloads/canutils-4.0.6/out libsocketcan_ LIBS=-lsocketcan LDFLAGS="-L/home/ye/Downloads/libsocketcan-0.0.11/out/lib" libsocketcan_CFLAGS="-I/home/ye/Downloads/libsocketcan-0.0.11/out/include"

    make

    make install

    // Finally, you should find the canconfig command in out/sbin.

    [linux-devkit]:~/Downloads/canutils-4.0.6> ls out/sbin/

canconfig

Copy canconfig to the board's /sbin/ directory.

chmod 777 /sbin/ canconfig

Error occurred on the board:

root@am57xx-evm:/run/media/sda2/can/out/lib# canconfig can0 bitrate 1000000

canconfig: error while loading shared libraries: /lib/libsocketcan.so.2: file too short

Solution:

root@am57xx-evm:/run/media/sda2/can/out/lib# rm /lib/libsocketcan.so.2

root@am57xx-evm:/run/media/sda2/can/out/lib# ln -s /lib/libsocketcan.so.2.3.0

Test run:

root@am57xx-evm:/run/media/sda2/can/out/lib# canconfig can0 bitrate 1000000

can0 bitrate: 1000000, sample-point: 0.750

root@am57xx-evm:/run/media/sda2/can/out/lib# canconfig can0 start

[ 402.704469] c_can_platform 4ae3c000.can can0: setting BTR=4d00 BRPE=0000

can0 state: ERROR-ACTIVE

root@am57xx-evm:~# candump can0

[ 666.993280] can: controller area network core (rev 20170425 abi 9)

[ 666.999568] NET: Registered protocol family 29

[ 667.012032] can: raw protocol (rev 20170425)

can0 666 [8] 01 02 0A 0B 0C 0D 0E 0F

can0 0AA [8] 01 02 0A 0B 0C 0D 0E 0F

can0 0BB [8] 01 02 0A 0B 0C 0D 0E 0F

can0 0CC [8] 01 02 0A 0B 0C 0D 0E 0F

can0 0DD [8] 01 02 0A 0B 0C 0D 0E 0F

Reference article: https://www.cnblogs.com/chenfulin5/p/6797756.html

===================Linux CAN Debugging Commands=========================

Implementation of CAN Bus Driver in Embedded Linux

http://www.21ic.com/app/embed/200911/49216.htm

SocketCAN Bitrate Configuration

One method found uses the ip command. The ip command built with BusyBox seems not to support SocketCAN configuration; you must download the iproute2 source code and compile it yourself. Once you have the ip command, copy it to your system's /bin directory. ip link set can0 type can bitrate 250000 Set CAN0's bitrate to 250K. Before setting, CAN0 needs to be brought down: ip set can0 down. Issue resolved! ! ! ! ! ! ! ! ! !

Linux CAN Bus Socket Interface Test Usage, Explaining the Upgrade from Character Device to Socket Device

http://blog.chinaunix.net/uid-26119896-id-3452315.html

http://www.cnblogs.com/zym0805/p/4345175.html

dmesg | grep can

root@imx_mfgtools_nogpu:~# dmesg | grep can can-3v3: 3300 mV flexcan 2090000.can: device registered (reg_base=a0968000, irq=142) flexcan 2094000.can: device registered (reg_base=a0970000, irq=143) can: controller area network core (rev 20120528 abi 9) can: raw protocol (rev 20120528) can: broadcast manager protocol (rev 20120528 t) can: netlink gateway (rev 20130117) max_hops=1 can-3v3: disabling

ifconfig -a

can0 Link encap:UNSPEC HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 NOARP MTU:16 Metric:1 RX packets:0 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:0 (0.0 B) TX bytes:0 (0.0 B) Interrupt:142

can1 Link encap:UNSPEC HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 NOARP MTU:16 Metric:1 RX packets:0 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:0 (0.0 B) TX bytes:0 (0.0 B) Interrupt:143

ip -details link show can0

root@imx_mfgtools_nogpu:~# ip -details link show can0 2: can0: <NOARP,ECHO> mtu 16 qdisc noop state DOWN mode DEFAULT group default qlen 10 link/can promiscuity 0 can state STOPPED (berr-counter tx 0 rx 0) restart-ms 0 bitrate 0 sample-point 0.000 tq 0 prop-seg 0 phase-seg1 0 phase-seg2 0 sjw 0 flexcan: tseg1 4..16 tseg2 2..8 sjw 1..4 brp 1..256 brp-inc 1 clock 30000000

ip -details link show can0 // View

ifconfig can0 down // Disable

ip link set can0 up type can // Enable

./candump can0 // Receive data

./cansend can0 -e 0x11 0x22 0x33 0x44 0x55 0x66 0x77 0x88 // Send data

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