RK3588-CAN總線 精彩看點
    2023-06-10 20:42:59 來源: jf_30051736


    (資料圖片)

    1. 簡介

    ArmSoM-W3 RK3588 開發板中已集成AN總線:

    專欄總目錄CAN(controller Area Network)CAN BUS:控制器局域網絡總線目前世界上絕大多數汽車制造廠商都采用CAN總線來實現汽車內部控制系統之間的數據通信。RK3568/RK3588的CAN驅動文件:drivers/net/can/rockchip/rockchip_canfd.c

    2. 內核配置

    rockchip_linux_defconfig配置:
    CONFIG_CAN=yCONFIG_CAN_DEV=yCONFIG_CAN_ROCKCHIP=yCONFIG_CANFD_ROCKCHIP=y
    內核配置:
    cd kernelmake ARCH=arm64 menuconfigmake savedefconfig
    選擇:Networking support ---> CAN bus subsystem support ( )--->CAN Device Drivers() ---> Platform CAN drivers with Netlink support(*)

    3. DTS 節點配置

    3.1 主要參數:

    interrupts = ;

    轉換完成,產生中斷信號。

    clock

    時鐘屬性,用于驅動開關clk,reset屬性,用于每次復位總線。

    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用來匹配can控制器驅動。compatible = “rockchip,can-2.0” ,rockchip,can-2.0用來匹配canfd控制器驅動。assigned-clock-rates用來配置can的始終頻率,如果CAN的比特率低于等于3M建議修改CAN時鐘到100M,信號更穩定。高于3M比特率的,時鐘設置200M就可以。pinctrl配置:根據實際板卡連接情況配置can_h和can_l的iomux作為can功能使用。

    3.3 板級配置 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 >;      //根據原理圖配置};
    由于系統根據上述dts節點創建的CAN設備只有一個,而第一個創建的設備為CAN0

    4. 調試

    查詢當前?絡設備:
    ifconfig -a
    CAN啟動
    ip link set can0 down   //關閉CANip link set can0 type can bitrate 500000   //設置?特率500KHzip -details -statistics link show can0    //打印can0信息ip link set can0 up     //啟動CAN
    CAN發送
    cansend can0 123#DEADBEEF            //發送(標準幀,數據幀,ID:123,date:DEADBEEF)cansend can0 123#R                            //發送(標準幀,遠程幀,ID:123)cansend can0 00000123#12345678    //發送(擴展幀,數據幀,ID:00000123,date:DEADBEEF)cansend can0 00000123#R                 //發送(擴展幀,遠程幀,ID:00000123)
    CAN接收
    candump can0       //candump can0

    審核編輯:湯梓紅

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    責任編輯: 梅長蘇