Adding CAN Bus (can0) device to BeagleBone

[Brent]

I'm trying to add can0 to my BeagleBone so that I can communicate on the CAN Bus.  I'm using the image from April 2012 found here: http://downloads.angstrom-distribution.org/demo/beaglebone/archive/Angstrom-Cloud9-IDE-eglibc-ipk-v2012.04-core-beaglebone-2012.04.09.img.xz.

 

iproute2 is installed, and i'm trying to add the device by using: ip link add dev can0 type can

The response I get back is: RTNETLINK answers: Operation not permitted

 

How do I add a CAN device?  Is there a way to tell if D_CAN is included in the kernel?

[Gary Thomas]

Simple start - does it show up in 'cat /proc/net/dev'?
If not, the device is not present.

[Brent]

No... just lo and eth0.  Does this mean I need to reconfigure the kernel?

[R U Local]

You need the following kernel configs.

CONFIG_CAN=y

CONFIG_CAN_RAW=y

CONFIG_CAN_BCM=y

# CAN Device Drivers

# CONFIG_CAN_VCAN is not set

CONFIG_CAN_DEV=y

CONFIG_CAN_CALC_BITTIMING=y

CONFIG_CAN_TI_HECC=y

 

D_CAN driver for Bosh parts. The TI controller is HECC (high end CAN controller).

 

Then it works great.

 

Cheers Mike.

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[Brent]

Thanks Mike.  I did see this posted somewhere, but I couldn't find where I need to set this. (I'm still looking)  Sorry, but I'm still learning linux, so I'm not familiar with kernel configs.  Is this a file located somewhere in the directory on the BeagleBoard?  Or do I need to follow the instructions here and build the kernel?  Thanks for your help.

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[Yegor Yefremov]

You need at least the kernel sources from this repo: https://github.com/koenkooi/linux.git

Setup a proper PATH to your compiler toolchain (for example Linaro, CodeSourcery etc.), export your arch:

export ARCH=arm

execute:

make menuconfig

and go to "Networking support" -> "CAN bus subsystem support"

choose Raw CAN protocol

then go to "CAN Device drivers" and select "CAN platform drivers with netlink support" and "CAN bittiming calculation" and "Bosch D_CAN devices" -> "Generic Platform Bus based D_CAN driver"

That should be enough. HECC is not available on am335x, but on am3517/15.

[Brent]

I'm not getting anywhere.  I downloaded the CodeSourcery toolchain and followed their instructions on how to install it, ran "make menuconfig" and set the options for can.  But when I run "make", I get the following errors:

 

CC kernel/bounds.s

cc1: error: unrecognized command line option '-mlittle-endian'

... 'mapcs'

... 'mno-sched-prolog'

kernel/bounds.c:1:0: error: unknown ABI (apcs-gnu) for -mabi= switch

[Robert Nelson]

On Fri, Jun 22, 2012 at 11:16 AM, Brent <brent...@gmail.com> wrote:
> I'm not getting anywhere.  I downloaded the CodeSourcery toolchain and
> followed their instructions on how to install it, ran "make menuconfig" and
> set the options for can.  But when I run "make", I get the following errors:
>
> CC kernel/bounds.s
> cc1: error: unrecognized command line option '-mlittle-endian'
> ... 'mapcs'
> ... 'mno-sched-prolog'
> kernel/bounds.c:1:0: error: unknown ABI (apcs-gnu) for -mabi= switch

make ARCH=arm <...>

Regards,

--
Robert Nelson
http://www.rcn-ee.com/

[Brent C. Sink]

Not following... I need to type: "export ARCH=arm" or "export ARCH=armv7"?  Or "make ARCH=arm"?  I've tried all and get the same result. (Actually there is no armv7 directory so that one gives me a different error)

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-brent

[Robert Nelson]

On Fri, Jun 22, 2012 at 11:47 AM, Brent C. Sink <brent...@gmail.com> wrote:
> Not following... I need to type: "export ARCH=arm" or "export ARCH=armv7"?
> Or "make ARCH=arm"?  I've tried all and get the same result. (Actually there
> is no armv7 directory so that one gives me a different error)

From your kernel source directory, with the correct "defconfig" saved
as ".config"..

Then run:

make ARCH=arm menuconfig
make ARCH=arm CROSS_COMPILE=path/to/codesourcy/arm/cross/gcc uImage modules

[Brent]

Where would the defconfig/config file be located?  In the arch/arm/configs folder?

 

When I run "make ARCH=arm CROSS_COMPILE=/opt/CodeSourcery/Sourcery_G++_Lite/bin uImage modules", I get an error saying gcc: Command not found.  I feel like I'm missing something... Do I need the commercial version of CodeSourcery?  Or use a different toolchain?

[Robert Nelson]

On Fri, Jun 22, 2012 at 12:28 PM, Brent <brent...@gmail.com> wrote:
> Where would the defconfig/config file be located?  In the arch/arm/configs
> folder?

From the same place you got the patched kernel source code... Or from
your current running beaglebone..

> When I run "make ARCH=arm
> CROSS_COMPILE=/opt/CodeSourcery/Sourcery_G++_Lite/bin uImage modules", I get
> an error saying gcc: Command not found.  I feel like I'm missing
> something... Do I need the commercial version of CodeSourcery?  Or use a
> different toolchain?

Nah, just not fully complete..

CROSS_COMPILE=/opt/CodeSourcery/Sourcery_G++_Lite/bin/arm-linux-gnueabi-

But double check the "bin" dir and adjust accordingly, encase it's
slightly different...

[Brent]

Thanks, that got me further.  I'm in the process of compiling, but getting lots of errors and having to exclude some configurations from the config file.  Is this normal?  Is there a base config file that I should start from?

 

 

On Friday, June 22, 2012 1:36:31 PM UTC-4, RobertCNelson wrote:

[Yegor Yefremov]

You can also try Buildroot.

Get source:

git clone git://git.buildroot.net/buildroot

then choose BeagleBone config:

make beaglebone_defconfig

and make the first build:

make

after that you can configure the kernel:

make linux-menuconfig

The images are placed under build/images

[Robert Nelson]

On Fri, Jun 22, 2012 at 2:28 PM, Brent <brent...@gmail.com> wrote:
> Thanks, that got me further.  I'm in the process of compiling, but getting
> lots of errors and having to exclude some configurations from the config
> file.  Is this normal?  Is there a base config file that I should start
> from?

Brent, sounds like you got a random source then..

For the source/config currently used by Angstrom, look at :
https://github.com/beagleboard/kernel

git clone git://github.com/beagleboard/kernel.git
cd kernel
git checkout origin/beaglebone-3.2 -b beaglebone-3.2
./patch.sh

config is in patches/beaglebone/defconfig

and the patched source is under kernel dir.

[Brent C. Sink]

Ah, that makes sense. I was using the one here:
https://github.com/koenkooi/linux.git. I'll try this over the
weekend. Thanks for all your help!

[Brent]

Robert,

 

I've tried compiling from the source you suggested (git://github.com/beagleboard/kernel.git), and I keep getting errors about not being able to find asm/leds.h.  Do you know anything about this?  Here is the output:

arch/arm/mach-versatile/core.c:42:22: fatal error: asm/leds.h: No such file or directory
compilation terminated.
make[1]: *** [arch/arm/mach-versatile/core.o] Error 1
make: *** [arch/arm/mach-versatile] Error 2

I've tried a different compilier and still no luck.

 

On Friday, June 22, 2012 4:35:56 PM UTC-4, RobertCNelson wrote:

[Robert Nelson]

On Mon, Jun 25, 2012 at 4:37 PM, Brent <brent...@gmail.com> wrote:
> Robert,
>
> I've tried compiling from the source you suggested
> (git://github.com/beagleboard/kernel.git), and I keep getting errors about
> not being able to find asm/leds.h.  Do you know anything about this?  Here
> is the output:
> arch/arm/mach-versatile/core.c:42:22: fatal error: asm/leds.h: No such file

ah.. "mach-versatile"? It looks like you forgot to copy the defconfig
from patches/beagleboard/defconfig and save it as .config in kernel
directory right..

[Brent]

Thanks, that helped a lot!  I had an issue about not finding the firmware, but I found your post here to resolve that one.

 

I feel like I'm seeing the light at the end of the tunnel.  Hopefully these are the last questions... Is the output in the arch/arm/boot/ directory?  Is there a procedure somewhere on how to get the files on the SD card?

 

On Monday, June 25, 2012 5:42:23 PM UTC-4, RobertCNelson wrote:

[Robert Nelson]

On Mon, Jun 25, 2012 at 6:56 PM, Brent <brent...@gmail.com> wrote:
> Thanks, that helped a lot!  I had an issue about not finding the firmware,
> but I found your post here to resolve that one.
>
> I feel like I'm seeing the light at the end of the tunnel.  Hopefully
> these are the last questions... Is the output in the arch/arm/boot/
> directory?  Is there a procedure somewhere on how to get the files on the SD
> card?

Your going to copy the uImage to where your boot script looks for it..
(older looked in the fat16 partition, newer ones look under /boot/ on
the extX partition..)

For the modules just do:

make ARCH=arm CROSS_COMPILE=${CC} modules_install INSTALL_MOD_PATH=/media/rootfs

or wherever you have your mmc's rootfs mounted...

[Brent]

Well, still more problems...   Going back to my very first post about adding can0 by typing "ip link add dev can0 type can", I still get the same error message.  However, vcan works just fine (I enabled this in the config as well).  I even tried marking yes to everything in the CAN section, but still no luck.  Am I missing something else?  My config is shown below:

 

#
# Network testing
#
# CONFIG_NET_PKTGEN is not set
# CONFIG_HAMRADIO is not set
CONFIG_CAN=y
CONFIG_CAN_RAW=y
CONFIG_CAN_BCM=y
CONFIG_CAN_GW=m

#

# CAN Device Drivers
#
# CONFIG_CAN_VCAN is not set

# CONFIG_CAN_SLCAN is not set
CONFIG_CAN_DEV=y
CONFIG_CAN_CALC_BITTIMING=y
CONFIG_CAN_TI_HECC=y
# CONFIG_CAN_MCP251X is not set
# CONFIG_CAN_SJA1000 is not set
# CONFIG_CAN_C_CAN is not set
CONFIG_CAN_D_CAN=y
CONFIG_CAN_D_CAN_PLATFORM=y

#
# CAN USB interfaces
#
# CONFIG_CAN_EMS_USB is not set
# CONFIG_CAN_ESD_USB2 is not set
# CONFIG_CAN_SOFTING is not set
# CONFIG_CAN_DEBUG_DEVICES is not set

On Monday, June 25, 2012 8:08:11 PM UTC-4, RobertCNelson wrote:

[Koen Kooi]

You need platform data to init the can bus. Or as has been popular recently, emulate a can cape with an eeprom :)

[Brent C. Sink]

Platform data? I'm not familiar. I figured I could add an eeprom to
my cape to make this work, but if this can be fixed with software, I
would prefer that route.

Can you tell me how to initialize the can bus? Thanks,

--
-brent

[Brent]

I may have it working now, but won't be able to test for sure until tomorrow.  can0 is now showing up... here is what I did:

Added these two lines somewhere in the beaglebone_cape_setup() function in the /arch/arm/mach-omap2/board-am335xevm.c file.
setup_pin_mux(uart1dcan1_pin_mux);
am33xx_d_can_init(1);

A bit of a hack, but it seems to have done the trick.  I'll know for sure when I plug it into my can bus tomorrow.

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[Brent]

Nope, not working.  I've been fighting this too long and I'm ready to give up.  I'll just order the cape from Tower Technologies and pay out the nose...

[Brent]

For anyone reading this post, the method I used to initialize the can bus did work.  I had a (very stupid) wiring problem which is why I thought it was not working.  I used a standard 3.3V CAN Transceiver: TI SN65HVD231 and everything works perfectly.

[Brent]

No, everything is working great.  Let me know if you have any problems.

On Thursday, November 15, 2012 7:38:07 AM UTC-5, Andrzej wrote:

Hi Brent!
I am planning to use CAN BUS in beaglebone. Do you have some troubles with can since your last messege?

> beagleboard...@googlegroups.com

[captc...@gmail.com]

Hello Brent,

Is it possible for you to share your schematic?

I have worked with other hardware platforms, but not the Beagleboard... 

Thanks

Chris