Part Number: TCAN4550-Q1
我们使用的是NVIDIA Jetson Thor平台，通过SPI拓展CAN，具体电路如下：
VSUP已经链接到了12V，并将R9电阻取消焊接，
使用的驱动代码是：
m_can - drivers/net/can/m_can - Linux source code (v6.8.12) - Bootlin Elixir Cross Referencer
设备树配置如下：
spi@810c590000 {
status = "okay";
spi@0 {
status = "okay";
compatible = "ti,tcan4x5x";
reg = <0x0>;
#address-cells = <1>;
#size-cells = <1>;
spi-max-frequency = <10000000>;
bosch,mram-cfg = <0x0 0 0 16 0 0 1 1>;
clocks = <&tcan4x5x_clk>, <&tcan4x5x_clk>;
clock-names = "hclk", "cclk";
interrupt-parent = <&gpio_aon>;
interrupts = <TEGRA264_AON_GPIO(DD, 4) IRQ_TYPE_LEVEL_LOW>;
//device-state-gpios = <&gpio3 21 GPIO_ACTIVE_HIGH>;
//device-wake-gpios = <&gpio1 15 GPIO_ACTIVE_HIGH>;
reset-gpios = <&gpio_aon TEGRA264_AON_GPIO(DD, 3) GPIO_ACTIVE_HIGH>;
controller-data {
nvidia,enable-hw-based-cs;
nvidia,rx-clk-tap-delay = <0x10>;
nvidia,tx-clk-tap-delay = <0x0>;
};
};
加载驱动之后的日志如下：
[ 109.198684] irq: IRQ398: trimming hierarchy from :bus@0:pmc@c800000
[ 109.201510] tcan4x5x spi0.0: Detected TCAN device version generic
[ 109.201669] tcan4x5x spi0.0: ----plink----tcan4x5x_clear_interrupts ----
[ 109.203484] tcan4x5x spi0.0: ----plink----tcan4x5x_clear_interrupts ----
[ 109.204219] tcan4x5x spi0.0: m_can device registered (irq=398, version=32)
[ 109.204225] tcan4x5x spi0.0 can4: TCAN4X5X successfully initialized.
操作如下：
nvidia@tegra-ubuntu:~$ sudo modprobe can
[sudo] password for nvidia:
nvidia@tegra-ubuntu:~$ sudo modprobe can-raw
nvidia@tegra-ubuntu:~$ sudo insmod m_can.ko
nvidia@tegra-ubuntu:~$ sudo insmod tcan4x5x.ko
nvidia@tegra-ubuntu:~$ sudo ip link set can4 type can bitrate 500000
nvidia@tegra-ubuntu:~$ sudo ip link set up can4
nvidia@tegra-ubuntu:~$ sudo ip link set down can4
当通过IP link打开can总线之后，dmesg日志会一直输出下述内容：
[ 155.365846] ----plink---- m_can_open ----
[ 155.383143] tcan4x5x spi0.0: ----plink----tcan4x5x_clear_interrupts ----
[ 157.480670] tcan4x5x spi0.0: ECR=0x00000000 (TEC=0, REC=0)
[ 157.480683] ----plink---- m_can_isr ----
[ 157.480687] tcan4x5x spi0.0: ----plink---- m_can_interrupt_handler ----
[ 157.480787] tcan4x5x spi0.0: ----plink----tcan4x5x_clear_interrupts ----
[ 157.481023] tcan4x5x spi0.0: ISR triggered: IR=0x00000000 PSR=0x0000070f
[ 159.578596] tcan4x5x spi0.0: ECR=0x00000000 (TEC=0, REC=0)
[ 159.578608] ----plink---- m_can_isr ----
[ 159.578612] tcan4x5x spi0.0: ----plink---- m_can_interrupt_handler ----
[ 159.578721] tcan4x5x spi0.0: ----plink----tcan4x5x_clear_interrupts ----
[ 159.578965] tcan4x5x spi0.0: ISR triggered: IR=0x00000000 PSR=0x0000070f
[ 161.675261] tcan4x5x spi0.0: ECR=0x00000000 (TEC=0, REC=0)
[ 161.675273] ----plink---- m_can_isr ----
[ 161.675276] tcan4x5x spi0.0: ----plink---- m_can_interrupt_handler ----
[ 161.675707] tcan4x5x spi0.0: ----plink----tcan4x5x_clear_interrupts ----
[ 161.676621] tcan4x5x spi0.0: ISR triggered: IR=0x00000000 PSR=0x0000070f
[ 163.773759] tcan4x5x spi0.0: ECR=0x00000000 (TEC=0, REC=0)
[ 163.773780] ----plink---- m_can_isr ----
[ 163.773787] tcan4x5x spi0.0: ----plink---- m_can_interrupt_handler ----
[ 163.774490] tcan4x5x spi0.0: ----plink----tcan4x5x_clear_interrupts ----
[ 163.775033] tcan4x5x spi0.0: ISR triggered: IR=0x00000000 PSR=0x0000070f
[ 165.870509] tcan4x5x spi0.0: ECR=0x00000000 (TEC=0, REC=0)
[ 165.870534] ----plink---- m_can_isr ----
[ 165.870541] tcan4x5x spi0.0: ----plink---- m_can_interrupt_handler ----
[ 165.871268] tcan4x5x spi0.0: ----plink----tcan4x5x_clear_interrupts ----
[ 165.871837] tcan4x5x spi0.0: ISR triggered: IR=0x00000000 PSR=0x0000070f
同时中断计数会一直增加，直到关闭CAN总线
现象如下：
nvidia@tegra-ubuntu:~$ sudo ip link set up can4
nvidia@tegra-ubuntu:~$ cat /proc/interrupts |grep 398
398: 11 0 0 0 0 0 0 0 0 0 0 0 0 0 cf00000.gpio 22 Level can4
nvidia@tegra-ubuntu:~$ cat /proc/interrupts |grep 398
398: 11 0 0 0 0 0 0 0 0 0 0 0 0 0 cf00000.gpio 22 Level can4
nvidia@tegra-ubuntu:~$ cat /proc/interrupts |grep 398
398: 12 0 0 0 0 0 0 0 0 0 0 0 0 0 cf00000.gpio 22 Level can4
IPI1: 14863 17983 14218 21255 12577 19493 48290 13692 14282 20918 16944 15354 53524 23989 Function call interrupts
nvidia@tegra-ubuntu:~$ cat /proc/interrupts |grep 398
398: 13 0 0 0 0 0 0 0 0 0 0 0 0 0 cf00000.gpio 22 Level can4
nvidia@tegra-ubuntu:~$ cat /proc/interrupts |grep 398
398: 14 0 0 0 0 0 0 0 0 0 0 0 0 0 cf00000.gpio 22 Level can4
nvidia@tegra-ubuntu:~$ cat /proc/interrupts |grep 398
398: 15 0 0 0 0 0 0 0 0 0 0 0 0 0 cf00000.gpio 22 Level can4
nvidia@tegra-ubuntu:~$ cat /proc/interrupts |grep 398
398: 15 0 0 0 0 0 0 0 0 0 0 0 0 0 cf00000.gpio 22 Level can4
nvidia@tegra-ubuntu:~$ sudo ip link set down can4
这个情况会持续到系统自动禁用该中断，并且系统日志输出如下内容：
[ 5620.598322] irq 398: nobody cared (try booting with the "irqpoll" option)
[ 5620.598375] CPU: 0 PID: 0 Comm: swapper/0 Tainted: G OE 6.8.12-1021-tegra #1
[ 5620.598383] Hardware name: NVIDIA NVIDIA Jetson AGX Thor Developer Kit/Jetson, BIOS 39.2.0-gcid-45755727 06/01/2026
[ 5620.598389] Call trace:
[ 5620.598393] dump_backtrace+0x90/0xf0
[ 5620.598413] show_stack+0x18/0x2c
[ 5620.598418] dump_stack_lvl+0x7c/0x9c
[ 5620.598442] dump_stack+0x18/0x2c
[ 5620.598449] __report_bad_irq+0x38/0xe8
[ 5620.598460] note_interrupt+0x320/0x370
[ 5620.598464] handle_irq_event+0xa4/0xb8
[ 5620.598486] handle_level_irq+0xc0/0x1a8
[ 5620.598494] handle_irq_desc+0x48/0x80
[ 5620.598500] generic_handle_domain_irq+0x1c/0x30
[ 5620.598508] tegra186_gpio_irq+0x138/0x280
[ 5620.598525] handle_irq_desc+0x48/0x80
[ 5620.598530] generic_handle_domain_irq+0x1c/0x30
[ 5620.598537] gic_handle_irq+0x4c/0x12c
[ 5620.598543] call_on_irq_stack+0x30/0x48
[ 5620.598551] do_interrupt_handler+0x88/0x9c
[ 5620.598558] el1_interrupt+0x34/0x70
[ 5620.598567] el1h_64_irq_handler+0x18/0x2c
[ 5620.598573] el1h_64_irq+0x68/0x6c
[ 5620.598576] cpuidle_enter_state+0xc0/0x4c4
[ 5620.598583] cpuidle_enter+0x38/0x58
[ 5620.598596] do_idle+0x1fc/0x278
[ 5620.598605] cpu_startup_entry+0x34/0x3c
[ 5620.598611] kernel_init+0x0/0x1ec
[ 5620.598616] arch_post_acpi_subsys_init+0x0/0x18
[ 5620.598631] start_kernel+0x54c/0x6f4
[ 5620.598636] __primary_switched+0xb8/0xc0
[ 5620.598646] handlers:
[ 5620.598659] [<00000000e3ce55da>] irq_default_primary_handler threaded [<00000000e676cd34>] m_can_class_suspend [m_can]
[ 5620.604031] Disabling IRQ #398
中断被禁用之后将无法再接受或者发送CAN数据
使用的内核版本如下：
nvidia@tegra-ubuntu:~$ uname -a
Linux tegra-ubuntu 6.8.12-1021-tegra #1 SMP PREEMPT Mon Jun 1 13:25:46 PDT 2026 aarch64 aarch64 aarch64 GNU/Linux
请问有什么好的解决方案嘛？
