DRA821U: CAN stack be run on linux by working with CAN of R5?

Sung-IL

Part Number: DRA821U
Other Parts Discussed in Thread: DRA821

Dear Champs,

I learnt CAN data packet can be exchanged to linux of A72 core through IPC in below e2e.

https://e2e.ti.com/support/processors-group/processors/f/processors-forum/1035403/dra821u-linux-example-to-get-can-fd-data/3828663#3828663

My customer has used open CAN stack working on linux in other platform and they also want to use it in DRA821U, but the problem is there is no CAN linux driver for DRA821U.

Do you think it is possible to use CAN stack on linux of DRA821U A72 core while exchanging CAD data packet with Cortex-R5 core through IPC?

Their target is to process several CAN protocols like ISO-TP and SAE J1939-TP on Linux of A72 core to utilize open source CAN stack of linux.

Or, is there open source CAN stack supporting ISO-TP and SAE J1939-TP on Cortex-R5?

Thanks and Best Regards,

SI.

over 4 years ago

0 Karan Saxena over 4 years ago

TI__Guru* 78155 points

Hi SI,

Sung-IL said:
Do you think it is possible to use CAN stack on linux of DRA821U A72 core while exchanging CAD data packet with Cortex-R5 core through IPC?

We do have an internal requirement for officially supporting CAN driver on Linux. Please see JACINTOREQ-1534.

That being said, we have been able to send some patches over e2e with limited testing where MCAN driver is working on A72 Linux for DRA821. Please review the below threads:

https://e2e.ti.com/support/processors-group/processors/f/processors-forum/1000106/dra821u-linux-enable-main-domain-mcan-ports-on-gesi-board

https://e2e.ti.com/support/processors-group/processors/f/processors-forum/993148/dra821u-linux-multiple-mcan-can-fd-peripheral-support

Sung-IL said:
Or, is there open source CAN stack supporting ISO-TP and SAE J1939-TP on Cortex-R5?

We have not tested any opensource CAN stacks on R5. We provide a CSL-FL which customers can use to integrate in such stacks and there is an MCAL driver which AutoSAR vendors can use to integrate in AutoSAR CAN stack.

Additionally, I wanted to confirm, are you looking to control CAN from R5 or A72?

Regards

Karan

0 Sung-IL over 4 years ago in reply to Karan Saxena

TI__Mastermind 31540 points

Hi Karan,

Actually, they are looking to control CAN from A72. They used open CAN stack running on Linux before and they want to get/control CAN data in the A72.

I saw the patches in the e2e you mentioned and delivered it. but I thought there were only device tree modifications to enable CAN module and could not find any SW running on A72. Is my understanding right? Is there any SW working on A72?

Thanks and Best Regards,

SI.

+1 Karan Saxena over 4 years ago in reply to Sung-IL

TI__Guru* 78155 points

Hi SI,

Sorry, did not realise that you had a follow up question here.

So the MCAN driver is already there as a part of the Linux SDK as we used to support this on older keystone3 devices (AM65x), adding a device tree node with proper configuration should be the only thing needed.

You can write a simple Linux user space script to test the CAN interface then (see FAQ https://e2e.ti.com/support/processors-group/processors/f/processors-forum/922168/faq-tda4vm-how-can-i-use-can-on-linux)

Regards

Karan

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DRA821U: CAN stack be run on linux by working with CAN of R5?