- 简介
ArmSoM-W3 RK3588 开发板中已集成AN总线:
- CAN (controller Area Network)
- CAN BUS:控制器局域网络总线
- 目前世界上绝大多数汽车制造厂商都采用CAN总线来实现汽车内部控制系统之间的数据通信。
- RK3568/RK3588的CAN驱动文件:drivers/net/can/rockchip/rockchip_canfd.c
2. 内核配置
- rockchip_linux_defconfig配置:
CONFIG_CAN=y
CONFIG_CAN_DEV=y
CONFIG_CAN_ROCKCHIP=y
CONFIG_CANFD_ROCKCHIP=y
- 内核配置:
cd kernel
make ARCH=arm64 menuconfig
make savedefconfig
- 选择:Networking support ---> CAN bus subsystem support ()--->CAN Device Drivers() ---> Platform CAN drivers with Netlink support(*)
3. DTS 节点配置
3.1 主要参数:
- interrupts = <GIC_SPI 1 IRQ_TYPE_LEVEL_HIGH>; 转换完成,产生中断信号。
- clock 时钟属性,用于驱动开关clk,reset属性,用于每次复位总线。
- pinctrl
3.2 公共配置 kernel-5.10/arch/arm64/boot/dts/rockchip/rk3588s.dtsi
can1: can@fea60000 {
compatible = "rockchip,can-2.0";
reg = <0x0 0xfea60000 0x0 0x1000>;
interrupts = <GIC_SPI 342 IRQ_TYPE_LEVEL_HIGH>;
clocks = <&cru CLK_CAN1>, <&cru PCLK_CAN1>;
clock-names = "baudclk", "apb_pclk";
resets = <&cru SRST_CAN1>, <&cru SRST_P_CAN1>;
reset-names = "can", "can-apb";
pinctrl-names = "default";
pinctrl-0 = <&can1m0_pins>;
tx-fifo-depth = <1>;
rx-fifo-depth = <6>;
status = "disabled";
};
- compatible = “rockchip,can-1.0” ,rockchip,can-1.0用来匹配can控制器驱动。
- compatible = “rockchip,can-2.0” ,rockchip,can-2.0用来匹配canfd控制器驱动。
- assigned-clock-rates用来配置can的始终频率,如果CAN的比特率低于等于3M建议修改CAN时钟到100M,信号更稳定。高于3M比特率的,时钟设置200M就可以。
- pinctrl配置:根据实际板卡连接情况配置can_h和can_l的iomux作为can功能使用。
3.3 板级配置 kernel-5.10/arch/arm64/boot/dts/rockchip/rk3588-armsom-w3.dts
/* can1 */
&can1 {
status = "okay";
assigned-clocks = <&cru CLK_CAN1>;
assigned-clock-rates = <200000000>;
pinctrl-names = "default";
pinctrl-0 = <&can1m1_pins>; //根据原理图配置
};
- 由于系统根据上述dts节点创建的CAN设备只有一个,而第一个创建的设备为CAN0
4. 调试
- 查询当前⽹络设备:
ifconfig -a
- CAN启动
ip link set can0 down //关闭CAN
ip link set can0 type can bitrate 500000 //设置⽐特率500KHz
ip -details -statistics link show can0 //打印can0信息
ip link set can0 up //启动CAN
- CAN发送
cansend can0 123#DEADBEEF //发送(标准帧,数据帧,ID:123,date:DEADBEEF)
cansend can0 123#R //发送(标准帧,远程帧,ID:123)
cansend can0 00000123#12345678 //发送(扩展帧,数据帧,ID:00000123,date:DEADBEEF)
cansend can0 00000123#R //发送(扩展帧,远程帧,ID:00000123)
- CAN接收
candump can0 //candump can0
标签:RK3588,rockchip,配置,总线,pinctrl,can0,clock
From: https://blog.51cto.com/u_16120916/6445884