i.MX6q sabresd CAN/FLEXCAN Support

[aravindsrinivas]

I am trying to bring up CAN I/F on i.mx6q sabresd on Android 8.0. i have made the kernel configurations such as 

CONFIG_CAN=y
CONFIG_CAN_VCAN=y
CONFIG_CAN_FLEXCAN=y
CONFIG_CAN_M_CAN=y

 and dtsi changes 

can1: flexcan@02090000 {
compatible = "fsl,imx6q-flexcan";
reg = <0x02090000 0x4000>;
interrupts = <0 110 IRQ_TYPE_LEVEL_HIGH>;
clocks = <&clks IMX6QDL_CLK_CAN1_IPG>,
<&clks IMX6QDL_CLK_CAN1_SERIAL>;
clock-names = "ipg", "per";
stop-mode = <&gpr 0x34 28 0x10 17>;
status = "enabled";
};

can2: flexcan@02094000 {
compatible = "fsl,imx6q-flexcan";
reg = <0x02094000 0x4000>;
interrupts = <0 111 IRQ_TYPE_LEVEL_HIGH>;
clocks = <&clks IMX6QDL_CLK_CAN2_IPG>,
<&clks IMX6QDL_CLK_CAN2_SERIAL>;
clock-names = "ipg", "per";
stop-mode = <&gpr 0x34 29 0x10 18>;
status = "enabled";
};

can1 {
pinctrl_flexcan1_1: flexcan1grp-1 {
fsl,pins = <
MX6QDL_PAD_KEY_ROW2__FLEXCAN1_RX 0x1b0b0
MX6QDL_PAD_KEY_COL2__FLEXCAN1_TX 0x1b0b0
MX6QDL_PAD_GPIO_2__GPIO1_IO02 0x4001b0b0 /* CAN_STBY */
>;
};

pinctrl_flexcan1_2: flexcan1grp-2 {
fsl,pins = <
MX6QDL_PAD_GPIO_7__FLEXCAN1_TX 0x1b0b0
MX6QDL_PAD_KEY_ROW2__FLEXCAN1_RX 0x1b0b0
MX6QDL_PAD_GPIO_2__GPIO1_IO02 0x4001b0b0 /* CAN_STBY */
>;
};

pinctrl_flexcan1_3: flexcan1grp-3 {
fsl,pins = <
MX6QDL_PAD_GPIO_7__FLEXCAN1_TX 0x1b0b0
MX6QDL_PAD_GPIO_8__FLEXCAN1_RX 0x1b0b0
MX6QDL_PAD_GPIO_2__GPIO1_IO02 0x4001b0b0 /* CAN_STBY */
>;
};
};

how ever i am not able to enumerated can0 port on /sys/class/net/

my ifconfig -a is 

sabresd_6dq:/ # ifconfig -a
eth0 Link encap:Ethernet HWaddr 00:04:9f:05:b7:18 Driver fec
UP BROADCAST MULTICAST MTU:1500 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:1000
RX bytes:0 TX bytes:0

sit0 Link encap:IPv6-in-IPv4
NOARP MTU:1480 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:1
RX bytes:0 TX bytes:0

lo Link encap:Local Loopback
inet addr:127.0.0.1 Mask:255.0.0.0
inet6 addr: ::1/128 Scope: Host
UP LOOPBACK RUNNING MTU:65536 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:1
RX bytes:0 TX bytes:0

kernel logs

sabresd_6dq:/ # dmesg | grep can
[ 0.502410] i2c i2c-0: can't use DMA, using PIO instead.
[ 0.503669] i2c i2c-1: can't use DMA, using PIO instead.
[ 0.504463] i2c i2c-2: can't use DMA, using PIO instead.
[ 1.819637] vcan: Virtual CAN interface driver
[ 1.825525] flexcan 2090000.flexcan: could not find pctldev for node /soc/can1/flexcan1grp-3, deferring probe
[ 1.834207] flexcan 2094000.flexcan: could not find pctldev for node /soc/can2/flexcan2grp-1, deferring probe
[ 4.009768] snvs-secvio 20cc000.caam-snvs: can't get snvs clock
[ 4.261684] can: controller area network core (rev 20120528 abi 9)
[ 4.269794] can: raw protocol (rev 20120528)
[ 4.272825] can: broadcast manager protocol (rev 20161123 t)
[ 4.277194] can: netlink gateway (rev 20130117) max_hops=1
[ 4.353356] flexcan 2090000.flexcan: could not find pctldev for node /soc/can1/flexcan1grp-3, deferring probe
[ 4.362515] flexcan 2094000.flexcan: could not find pctldev for node /soc/can2/flexcan2grp-1, deferring probe
[ 4.635453] flexcan 2090000.flexcan: could not find pctldev for node /soc/can1/flexcan1grp-3, deferring probe
[ 4.644554] flexcan 2094000.flexcan: could not find pctldev for node /soc/can2/flexcan2grp-1, deferring probe
[ 4.664613] flexcan 2090000.flexcan: could not find pctldev for node /soc/can1/flexcan1grp-3, deferring probe
[ 4.674109] flexcan 2094000.flexcan: could not find pctldev for node /soc/can2/flexcan2grp-1, deferring probe
[ 12.998737] flexcan 2090000.flexcan: could not find pctldev for node /soc/can1/flexcan1grp-3, deferring probe
[ 13.041782] flexcan 2094000.flexcan: could not find pctldev for node /soc/can2/flexcan2grp-1, deferring probe
[ 73.135941] flexcan 2090000.flexcan: could not find pctldev for node /soc/can1/flexcan1grp-3, deferring probe
[ 73.147405] flexcan 2094000.flexcan: could not find pctldev for node /soc/can2/flexcan2grp-1, deferring probe

Anything i am missing?

attached my sabresd board where i have fixed a DB9 connector in CAN I/F port.

Thanks in advance.

[aravindsrinivas]

Hi Igor,

Managed to get the driver registered on Android 8.0

130|sabresd_6dq:/ # dmesg | grep can

[ 1.799585] vcan: Virtual CAN interface driver
[ 1.805627] 2090000.flexcan supply xceiver not found, using dummy regulator
[ 1.812139] flexcan 2090000.flexcan: gpr /soc/aips-bus@02000000/iomuxc-gpr@020e0000 req_gpr 0x34 req_bit 28 ack_gpr 0x10 ack_bit 17
[ 1.812197] flexcan 2090000.flexcan: device registered (reg_base=f82f8000, irq=33)
[ 3.804080] imx6q-pinctrl 20e0000.iomuxc: pin MX6Q_PAD_KEY_ROW2 already requested by 2090000.flexcan; cannot claim for soc:hdmi_cec@00120000
[ 4.618004] snvs-secvio 20cc000.caam-snvs: can't get snvs clock
[ 4.871769] can: controller area network core (rev 20120528 abi 9)
[ 4.879904] can: raw protocol (rev 20120528)
[ 4.882900] can: broadcast manager protocol (rev 20161123 t)
[ 4.887269] can: netlink gateway (rev 20130117) max_hops=1
[ 199.665669] flexcan 2090000.flexcan can0: writing ctrl=0x0e312005
[ 199.665683] flexcan 2090000.flexcan can0: flexcan_set_bittiming: mcr=0x5980000f ctrl=0x0e312005
[ 199.665691] flexcan 2090000.flexcan can0: flexcan_chip_start: writing mcr=0x7de20209
[ 199.665699] flexcan 2090000.flexcan can0: flexcan_chip_start: writing ctrl=0x0e312055
[ 199.665751] flexcan 2090000.flexcan can0: flexcan_chip_start: reading mcr=0x64e20209 ctrl=0x0e31ac55
[ 199.665812] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready
[ 302.170212] flexcan 2090000.flexcan can0: New error state: 1
[ 302.173352] flexcan 2090000.flexcan can0: New error state: 3
[ 302.173361] flexcan 2090000.flexcan can0: bus-off

Now the issue is no frames are transmitted. i only have the cansend and candump utility working, cannot use cantest .

sabresd_6dq:/ # cansend can0 5A1#11.22.33.44.55.66.77.88
interface = can0, family = 29, type = 3, proto = 1

sabresd_6dq:/ # ip -details -statistics link show can0
2: can0: <NO-CARRIER,NOARP,UP,ECHO> mtu 16 qdisc pfifo_fast state DOWN mode DEFAULT group default qlen 10
link/can promiscuity 0
can state BUS-OFF (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
flexcan: tseg1 4..16 tseg2 2..8 sjw 1..4 brp 1..256 brp-inc 1
clock 30000000
re-started bus-errors arbit-lost error-warn error-pass bus-off
0 0 0 1 0 1
RX: bytes packets errors dropped overrun mcast
16 2 0 0 0 0
TX: bytes packets errors dropped carrier collsns
0 0 0 0 0 0

also cannot toggle gpio 7 & 8 to high to verify in scope -> echo 1 > /sys/class/gpio/gpio8/value doesnt take effect.

sabresd_6dq:/sys/class/gpio/gpio7 # cat /sys/kernel/debug/gpio
gpiochip0: GPIOs 0-31, parent: platform/209c000.gpio, 209c000.gpio:
gpio-2 ( |BT power enable ) out hi
gpio-4 ( |Volume Up ) in hi
gpio-5 ( |Volume Down ) in hi
gpio-7 ( |sysfs ) in lo
gpio-8 ( |sysfs ) out lo
gpio-9 ( |microphone detect ) in hi
gpio-25 ( |phy-reset ) out hi
gpio-29 ( |usb_h1_vbus ) out hi

Thanks,

Aravind

[igorpadykov]

Hi Aravind

flexcan is not supported on i.MX6Q Sabre SD board,

one can look at flexcan example for i.MX6Q Sabre AI board and check:

How to enable CAN bus on i.MX6Q SabreSD 

imx6qdl-sabreauto.dtsi\dts\boot\arm\arch - linux-imx - i.MX Linux kernel 

Best regards
igor
-----------------------------------------------------------------------------------------------------------------------
Note: If this post answers your question, please click the Correct Answer button. Thank you!
-----------------------------------------------------------------------------------------------------------------------

[aravindsrinivas]

Hi Igor,

This link seems to be broken or i am unauthorized to access .

How to enable CAN bus on i.MX6Q SabreSD - https://community.nxp.com/docs/DOC-94887. 

Thanks,

Aravind

[igorpadykov]

Hi Aravind

I sent file via mail.

Best regards
igor

[aravindsrinivas]

Hi Igor. Thanks for the File. But this seems to be for Linux. in Android i dont have any such folder like /arch/arm/mach-mx6/ and neither file like board-mx6q_sabresd.c/.h .

Also the procedure for cantest/canutils/libsocketcan were based on linux.

Can you point me more insight on how should i proceed in android.

Thanks,

Aravind

[igorpadykov]

Hi Aravind

general steps are described on

How to use FlexCAN in Android OS 

Best regards
igor

[aravindsrinivas]

Thanks igor for your reply.

Is CAN supported on Android 8.0 on i.MX6 sabre sd? What kind of support for CAN I/F support available for i.MX6 sabre sd?

- aravind

[igorpadykov]

>Is CAN supported on Android 8.0 on i.MX6 sabre sd?

not.

Best regards
igor

[aravindsrinivas]

Thanks igor. Is linux having support for CAN/FLEXCAN on i.mx 6 sabresd ?. 

From datasheets it say CAN/FLEXCAN supported. Whats the platform where its verified on i.mx6 quad sabresd.

Also another question whether it can be enabled on Android 8.0 for i.mx 6 Quad sabresd if we use NXP Professional services.

Thanks,

aravind

[igorpadykov]

Hi Aravind

>Is linux having support for CAN/FLEXCAN on i.mx 6 sabresd ?

no for i.MX6Q Sabre SD. Yes for i.MX6SX Sabre SD. For other platforms

suggest to check Sabre SD schematics.

>whether it can be enabled on Android 8.0 for i.mx 6 Quad sabresd if we use NXP Professional services.

yes

Best regards
igor