Add nodes to support the Controller Area Network(M_CAN) on SAMA5D2.
The version of M_CAN IP core is 3.1.0 (CREL = 0x31040730).
As said in SAMA5D2 datasheet, the CAN clock is recommended to use
frequencies of 20, 40 or 80 MHz. To achieve these frequencies,
PMC GCLK3 must select the UPLLCK(480 MHz) as source clock and
divide by 24, 12, or 6. So, the "assigned-clock-rates" property
has three options: 20000000, 40000000, and 80000000.
The "assigned-clock-parents" property should be referred to utmi
fixedly.
The MSBs [bits 31:16] of the CAN Message RAM for CAN0 and CAN1 are
default configured in 0x00200000. To avoid conflict with SRAM map
for PM, change them to 0x00210000 in the AT91Bootstrap via setting
the CAN Memories Address-based Register(SFR_CAN) of SFR.
Signed-off-by: Wenyou Yang <[email protected]>
---
The patch is tested on SAMA5D2 Xplained and based on the patch set,
1. [PATCH v4 1/7] can: m_can: Disabled Interrupt Line 1
http://marc.info/?l=linux-can&m=149165343604033&w=2
Changes in v2:
- Configures 10 TX Event FIFO elements and 10 TX Buffers/FIFO slots,
because the TXE FIFO is needed to be configured.
- Configure the offset of Message RAM for CAN1 followed from CAN0's.
arch/arm/boot/dts/at91-sama5d2_xplained.dts | 24 +++++++++++++
arch/arm/boot/dts/sama5d2.dtsi | 56 +++++++++++++++++++++++++++++
2 files changed, 80 insertions(+)
diff --git a/arch/arm/boot/dts/at91-sama5d2_xplained.dts b/arch/arm/boot/dts/at91-sama5d2_xplained.dts
index 9f7f8a7d8ff9..2f19b08dc226 100644
--- a/arch/arm/boot/dts/at91-sama5d2_xplained.dts
+++ b/arch/arm/boot/dts/at91-sama5d2_xplained.dts
@@ -257,6 +257,12 @@
status = "okay";
};
+ can0: can@f8054000 {
+ pinctrl-names = "default";
+ pinctrl-0 = <&pinctrl_can0_default>;
+ status = "okay";
+ };
+
uart3: serial@fc008000 {
atmel,use-dma-rx;
atmel,use-dma-tx;
@@ -321,6 +327,18 @@
bias-disable;
};
+ pinctrl_can0_default: can0_default {
+ pinmux = <PIN_PC10__CANTX0>,
+ <PIN_PC11__CANRX0>;
+ bias-disable;
+ };
+
+ pinctrl_can1_default: can1_default {
+ pinmux = <PIN_PC26__CANTX1>,
+ <PIN_PC27__CANRX1>;
+ bias-disable;
+ };
+
pinctrl_charger_chglev: charger_chglev {
pinmux = <PIN_PA12__GPIO>;
bias-disable;
@@ -468,6 +486,12 @@
};
};
+
+ can1: can@fc050000 {
+ pinctrl-names = "default";
+ pinctrl-0 = <&pinctrl_can1_default>;
+ status = "okay";
+ };
};
};
diff --git a/arch/arm/boot/dts/sama5d2.dtsi b/arch/arm/boot/dts/sama5d2.dtsi
index 22332be72140..383ca9307edf 100644
--- a/arch/arm/boot/dts/sama5d2.dtsi
+++ b/arch/arm/boot/dts/sama5d2.dtsi
@@ -762,6 +762,18 @@
atmel,clk-output-range = <0 83000000>;
};
+ can0_clk: can0_clk {
+ #clock-cells = <0>;
+ reg = <56>;
+ atmel,clk-output-range = <0 83000000>;
+ };
+
+ can1_clk: can1_clk {
+ #clock-cells = <0>;
+ reg = <57>;
+ atmel,clk-output-range = <0 83000000>;
+ };
+
classd_clk: classd_clk {
#clock-cells = <0>;
reg = <59>;
@@ -890,6 +902,18 @@
#clock-cells = <0>;
reg = <55>;
};
+
+ can0_gclk: can0_gclk {
+ #clock-cells = <0>;
+ reg = <56>;
+ atmel,clk-output-range = <0 80000000>;
+ };
+
+ can1_gclk: can1_gclk {
+ #clock-cells = <0>;
+ reg = <57>;
+ atmel,clk-output-range = <0 80000000>;
+ };
};
};
@@ -1144,6 +1168,22 @@
clocks = <&clk32k>;
};
+ can0: can@f8054000 {
+ compatible = "bosch,m_can";
+ reg = <0xf8054000 0x4000>, <0x210000 0x4000>;
+ reg-names = "m_can", "message_ram";
+ interrupts = <56 IRQ_TYPE_LEVEL_HIGH 7>,
+ <64 IRQ_TYPE_LEVEL_HIGH 7>;
+ interrupt-names = "int0", "int1";
+ clocks = <&can0_clk>, <&can0_gclk>;
+ clock-names = "hclk", "cclk";
+ assigned-clocks = <&can0_gclk>;
+ assigned-clock-parents = <&utmi>;
+ assigned-clock-rates = <40000000>;
+ bosch,mram-cfg = <0x0 0 0 32 0 0 10 10>;
+ status = "disabled";
+ };
+
spi1: spi@fc000000 {
compatible = "atmel,at91rm9200-spi";
reg = <0xfc000000 0x100>;
@@ -1305,6 +1345,22 @@
status = "okay";
};
+ can1: can@fc050000 {
+ compatible = "bosch,m_can";
+ reg = <0xfc050000 0x4000>, <0x210000 0x4000>;
+ reg-names = "m_can", "message_ram";
+ interrupts = <57 IRQ_TYPE_LEVEL_HIGH 7>,
+ <65 IRQ_TYPE_LEVEL_HIGH 7>;
+ interrupt-names = "int0", "int1";
+ clocks = <&can1_clk>, <&can1_gclk>;
+ clock-names = "hclk", "cclk";
+ assigned-clocks = <&can1_gclk>;
+ assigned-clock-parents = <&utmi>;
+ assigned-clock-rates = <40000000>;
+ bosch,mram-cfg = <0x1100 0 0 32 0 0 10 10>;
+ status = "disabled";
+ };
+
chipid@fc069000 {
compatible = "atmel,sama5d2-chipid";
reg = <0xfc069000 0x8>;
--
2.11.0
Hi,
On 19/04/2017 10:46, Wenyou Yang wrote:
> Add nodes to support the Controller Area Network(M_CAN) on SAMA5D2.
> The version of M_CAN IP core is 3.1.0 (CREL = 0x31040730).
>
> As said in SAMA5D2 datasheet, the CAN clock is recommended to use
> frequencies of 20, 40 or 80 MHz. To achieve these frequencies,
> PMC GCLK3 must select the UPLLCK(480 MHz) as source clock and
> divide by 24, 12, or 6. So, the "assigned-clock-rates" property
> has three options: 20000000, 40000000, and 80000000.
> The "assigned-clock-parents" property should be referred to utmi
> fixedly.
>
> The MSBs [bits 31:16] of the CAN Message RAM for CAN0 and CAN1 are
> default configured in 0x00200000. To avoid conflict with SRAM map
> for PM, change them to 0x00210000 in the AT91Bootstrap via setting
> the CAN Memories Address-based Register(SFR_CAN) of SFR.
>
> Signed-off-by: Wenyou Yang <[email protected]>
> ---
> The patch is tested on SAMA5D2 Xplained and based on the patch set,
> 1. [PATCH v4 1/7] can: m_can: Disabled Interrupt Line 1
> http://marc.info/?l=linux-can&m=149165343604033&w=2
>
> Changes in v2:
> - Configures 10 TX Event FIFO elements and 10 TX Buffers/FIFO slots,
> because the TXE FIFO is needed to be configured.
> - Configure the offset of Message RAM for CAN1 followed from CAN0's.
>
I've tested with the v4 patch series of Mario H?ttel on a SAMA5D2
Xplained and did the following:
# ip link set can0 down
# ip link set can0 up type can bitrate 125000
# cansend can0 500#1E.10.10
Last line at least 10 times, every message is received on my computer.
Same with can1. Tested with candump can0 as well, everything looks fine.
Tested-by: Quentin Schulz <[email protected]>
Thanks,
Quentin
> arch/arm/boot/dts/at91-sama5d2_xplained.dts | 24 +++++++++++++
> arch/arm/boot/dts/sama5d2.dtsi | 56 +++++++++++++++++++++++++++++
> 2 files changed, 80 insertions(+)
>
> diff --git a/arch/arm/boot/dts/at91-sama5d2_xplained.dts b/arch/arm/boot/dts/at91-sama5d2_xplained.dts
> index 9f7f8a7d8ff9..2f19b08dc226 100644
> --- a/arch/arm/boot/dts/at91-sama5d2_xplained.dts
> +++ b/arch/arm/boot/dts/at91-sama5d2_xplained.dts
> @@ -257,6 +257,12 @@
> status = "okay";
> };
>
> + can0: can@f8054000 {
> + pinctrl-names = "default";
> + pinctrl-0 = <&pinctrl_can0_default>;
> + status = "okay";
> + };
> +
> uart3: serial@fc008000 {
> atmel,use-dma-rx;
> atmel,use-dma-tx;
> @@ -321,6 +327,18 @@
> bias-disable;
> };
>
> + pinctrl_can0_default: can0_default {
> + pinmux = <PIN_PC10__CANTX0>,
> + <PIN_PC11__CANRX0>;
> + bias-disable;
> + };
> +
> + pinctrl_can1_default: can1_default {
> + pinmux = <PIN_PC26__CANTX1>,
> + <PIN_PC27__CANRX1>;
> + bias-disable;
> + };
> +
> pinctrl_charger_chglev: charger_chglev {
> pinmux = <PIN_PA12__GPIO>;
> bias-disable;
> @@ -468,6 +486,12 @@
> };
>
> };
> +
> + can1: can@fc050000 {
> + pinctrl-names = "default";
> + pinctrl-0 = <&pinctrl_can1_default>;
> + status = "okay";
> + };
> };
> };
>
> diff --git a/arch/arm/boot/dts/sama5d2.dtsi b/arch/arm/boot/dts/sama5d2.dtsi
> index 22332be72140..383ca9307edf 100644
> --- a/arch/arm/boot/dts/sama5d2.dtsi
> +++ b/arch/arm/boot/dts/sama5d2.dtsi
> @@ -762,6 +762,18 @@
> atmel,clk-output-range = <0 83000000>;
> };
>
> + can0_clk: can0_clk {
> + #clock-cells = <0>;
> + reg = <56>;
> + atmel,clk-output-range = <0 83000000>;
> + };
> +
> + can1_clk: can1_clk {
> + #clock-cells = <0>;
> + reg = <57>;
> + atmel,clk-output-range = <0 83000000>;
> + };
> +
> classd_clk: classd_clk {
> #clock-cells = <0>;
> reg = <59>;
> @@ -890,6 +902,18 @@
> #clock-cells = <0>;
> reg = <55>;
> };
> +
> + can0_gclk: can0_gclk {
> + #clock-cells = <0>;
> + reg = <56>;
> + atmel,clk-output-range = <0 80000000>;
> + };
> +
> + can1_gclk: can1_gclk {
> + #clock-cells = <0>;
> + reg = <57>;
> + atmel,clk-output-range = <0 80000000>;
> + };
> };
> };
>
> @@ -1144,6 +1168,22 @@
> clocks = <&clk32k>;
> };
>
> + can0: can@f8054000 {
> + compatible = "bosch,m_can";
> + reg = <0xf8054000 0x4000>, <0x210000 0x4000>;
> + reg-names = "m_can", "message_ram";
> + interrupts = <56 IRQ_TYPE_LEVEL_HIGH 7>,
> + <64 IRQ_TYPE_LEVEL_HIGH 7>;
> + interrupt-names = "int0", "int1";
> + clocks = <&can0_clk>, <&can0_gclk>;
> + clock-names = "hclk", "cclk";
> + assigned-clocks = <&can0_gclk>;
> + assigned-clock-parents = <&utmi>;
> + assigned-clock-rates = <40000000>;
> + bosch,mram-cfg = <0x0 0 0 32 0 0 10 10>;
> + status = "disabled";
> + };
> +
> spi1: spi@fc000000 {
> compatible = "atmel,at91rm9200-spi";
> reg = <0xfc000000 0x100>;
> @@ -1305,6 +1345,22 @@
> status = "okay";
> };
>
> + can1: can@fc050000 {
> + compatible = "bosch,m_can";
> + reg = <0xfc050000 0x4000>, <0x210000 0x4000>;
> + reg-names = "m_can", "message_ram";
> + interrupts = <57 IRQ_TYPE_LEVEL_HIGH 7>,
> + <65 IRQ_TYPE_LEVEL_HIGH 7>;
> + interrupt-names = "int0", "int1";
> + clocks = <&can1_clk>, <&can1_gclk>;
> + clock-names = "hclk", "cclk";
> + assigned-clocks = <&can1_gclk>;
> + assigned-clock-parents = <&utmi>;
> + assigned-clock-rates = <40000000>;
> + bosch,mram-cfg = <0x1100 0 0 32 0 0 10 10>;
> + status = "disabled";
> + };
> +
> chipid@fc069000 {
> compatible = "atmel,sama5d2-chipid";
> reg = <0xfc069000 0x8>;
>
--
Quentin Schulz, Free Electrons
Embedded Linux and Kernel engineering
http://free-electrons.com