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i.MX 6 DualLite Android 6 CANBus Send question

Question asked by RueiChang Chang on Oct 14, 2018

Hi all,


   Recently, we found CANBus has an issue on i.MX6 DualLite. We used the following links to implement CANBus function.


Here is the process of CANBus.

Flexcan/flexcan/frameworks/base/service/java/com/android/server at master · zhangjie201412/Flexcan · GitHub 


Flexcan/com_android_server_FlexcanService.cpp at master · zhangjie201412/Flexcan · GitHub 


Flexcan/flexcan.c at master · zhangjie201412/Flexcan · GitHub 



Now the issue happened in _flexcan_send  of flexcan.c When I call _flexcan_send this function frequently, it would return me an error. 


But if I had a delay for waiting 5ms of every  _flexcan_send), CANBus would be fine. It seems I couldn't call _flexcan_send too quick. 


Has anyone met this issue before?


It would be grateful if there is any solution to it.



I have highlighted the code which returned me an error.


static int _flexcan_send(struct flexcan_device_t* flexcan_device,int *data, int id, int dlc, int extended,int rtr, int infinite, int loopcount)
      int s = flexcan_device->s;
      struct can_frame frame;
      int i;
      int ret;
      for(i = 0; i < dlc; i++)
      {[i] = (char)data[i];
         // LOGI("[flexcan]--%d = %d .",i,data[i]);
         if(i == 8)
      frame.can_id = id;
      frame.can_dlc = dlc;

      if (extended) {
         frame.can_id &= CAN_EFF_MASK;
         frame.can_id |= CAN_EFF_FLAG;
      } else {
         frame.can_id &= CAN_SFF_MASK;

      if (rtr)
        frame.can_id |= CAN_RTR_FLAG;

      while (infinite || loopcount--) {
         ret = write(s, &frame, sizeof(frame));
         if (ret == -1) {

   // close(s);
   return 0;