TDA4VM: Inquiry on CAN Interface Usage from Linux Side

Murphy Ou

Part Number: TDA4VM

Tool/software:

Dear TI Support Team,

Following up on a previous discussion regarding CAN usage from MCU3_0, I would like to open a new topic specifically related to using the CAN interface from the Linux side on the TDA4 platform.

Development Environment:
Target: TDA4VM EVM
SDK: ti-processor-sdk-rtos-j721e-evm-10_01_00_04
APP: vision_apps
Core: Linux running on A72 with SPL (MCU3_x R5F with FreeRTOS)

Could you kindly help clarify the following:
1. How to properly disable a specific CAN node in Linux to avoid interference with MCU-side control?
I understand from prior communication that setting status = "disabled" in the corresponding Device Tree node is one method.
Could you please point out the exact DTS file or node name(s) to modify for disabling, for example, MCAN0 or MAIN_MCAN4?

2. If I want to access and use the CAN interface purely from Linux, is there any reference application or documentation
in the TDA4 Linux SDK demonstrating how to config CAN settings; send/receive CAN messages using standard Linux CAN APIs (socketcan, can-utils, etc.)?
Any example, DTS configuration, or test application for Linux CAN usage would be greatly appreciated.
I’d like to ensure the Linux-side CAN setup is aligned with best practices and avoids any resource conflicts with other domains (e.g., MCU cores).

Thank you for your support.

Best regards,
Murphy Ou

3 months ago

+1 Takuma Fujiwara 3 months ago

TI__Guru 51263 points

Hi Murphy,

Murphy Ou said:
1. How to properly disable a specific CAN node in Linux to avoid interference with MCU-side control?

Your understanding is correct. In terms of setting/unsetting the MCAN nodes, these would be defined in the board specific devicetree file. For J721e/TDA4VM EVM board, it will be this file: https://git.ti.com/cgit/ti-linux-kernel/ti-linux-kernel/tree/arch/arm64/boot/dts/ti/k3-j721e-common-proc-board.dts?h=ti-linux-6.6.y.

The node themselves are in the following files for MAIN domain and MCU domain:

The board specific dts file should "&" reference the nodes in the MAIN/MCU domain devicetree include files.

Murphy Ou said:
2. If I want to access and use the CAN interface purely from Linux, is there any reference application or documentation

Example using can-utils are shown here: https://software-dl.ti.com/jacinto7/esd/processor-sdk-linux-jacinto7/11_00_00_08/exports/docs/linux/Foundational_Components/Kernel/Kernel_Drivers/MCAN.html

All the Linux standard commands for "ip" and the can-utils tools should be supported. That is, documentation that is searchable on the web that uses these commands for other platforms should be applicable to our platform as well.

By default, the board specific devicetree enables mcu_mcan0, mcu_mcan1, main_mcan0, and main_mcan2 which are the 4 MCAN interfaces pinned out on the EVM board. Running "ipconfig -a" should show all interfaces, including the MCAN interfaces that are by default turned off.

Regards,

Takuma

+1 Murphy Ou 3 months ago in reply to Takuma Fujiwara

Prodigy 20 points

Hi Takuma

One more question, since TDA4VM (j721e-evm) already enable 4 MCAN linux driver in kernel side,
if I need to do the development in Linux user space, I can simply using SocketCAN framework (APIs) in C/C++ to access TDA4's CAN interfaces, am I correct ?

Thank you very much.

BR
Murphy

+1 Takuma Fujiwara 2 months ago in reply to Murphy Ou

TI__Guru 51263 points

Hi Murphy,

Yes.

Regards,

Takuma

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TDA4VM: Inquiry on CAN Interface Usage from Linux Side