AM335x CAN0 CAN1 同时使用时, 冲突问题

jimmy yang1

Prodigy 80 points

Other Parts Discussed in Thread: AM3352

Hello 大家好:

我在使用AM3352时, 单独测试 can0 / can1 收发都是正常, 同时使用can0 & can1 时, can1 被 block 住, 一直在等 can0 释放 can1 才可以接收资料.

Linux Kernel : linux-rt-4.19.38+gitAUTOINC+1224cd679e-g1224cd679e

两片板子can1 接在一起, 测试步骤如下:

第一片板子

$ /bin/ip link set can0 type can bitrate 1000000;/bin/ip link set can0 up

$ /bin/ip link set can1 type can bitrate 1000000;/bin/ip link set can1 up

$ candump can0 &

$ candump can1 &

第二片板子

$ /bin/ip link set can0 type can bitrate 1000000;/bin/ip link set can0 up

$ /bin/ip link set can1 type can bitrate 1000000;/bin/ip link set can1 up

＄cansend can1 -i 0x10 0x11 0x22 0x33 0x44 0x55 0x66 0x77 0x88

当第二片 "cansend" 后, 在第一片板子上并没看到接收到资料,之后在第一片板子停掉 can0 后

$ /bin/ip link set can0 down

马上收到 "<0x010> [8] 11 22 33 44 55 66 77 88"

该如何解决排除这个问题呢?

麻烦知道的人可以帮忙回答谢谢

附上kernel config file

4201.tisdk_am335x-evm-rt_defconfig.txt

5 年多前

0 Shine 5 年多前

TI__Guru**** 357097 points

请看看下面的帖子是否有帮助。
e2e.ti.com/.../494905

0 jimmy yang1 5 年多前回复 Shine

Prodigy 80 points

謝謝幫忙解答, 不過這個版本在"c_can.c"已經打過補丁, "c_can_platform.c" 改動不少和補丁不合

0 yongqing wang 5 年多前回复 jimmy yang1

Guru 27460 points

看看是否中断的问题

0 jimmy yang1 5 年多前回复 yongqing wang

Prodigy 80 points

你好, 中断的问题要从哪边查看呢?

0 Shine 5 年多前回复 jimmy yang1

TI__Guru**** 357097 points

我在e2e上发了帖，请关注下面的帖子。
e2e.ti.com/.../3327719

0 yongqing wang 5 年多前回复 jimmy yang1

Guru 27460 points

你can设置为什么模式

0 jimmy yang1 5 年多前回复 Shine

Prodigy 80 points

Master:

/bin # /bin/ip link set can0 type can bitrate 1000000;/bin/ip link set can0 up
/bin # /bin/ip link set can1 type can bitrate 1000000;/bin/ip link set can1 up
/bin # ip -d -s link show can0;ip -d -s link show can1
2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
    link/can
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 1000000 sample-point 0.750
    tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
    c_can: tseg1 2..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 24000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes packets errors dropped overrun mcast
    0          0        0       0       0       0
    TX: bytes packets errors dropped carrier collsns
    0          0        0       0       0       0
3: can1: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
    link/can
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 1000000 sample-point 0.750
    tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
    c_can: tseg1 2..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 24000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes packets errors dropped overrun mcast
    0          0        0       0       0       0
    TX: bytes packets errors dropped carrier collsns
    0          0        0       0       0       0
/bin # candump can0 &
/bin # interface = can0, family = 29, type = 3, proto = 1

/bin # candump can1 &
/bin # interface = can1, family = 29, type = 3, proto = 1

/bin # ip -d -s link show can0;ip -d -s link show can1
2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
    link/can
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 1000000 sample-point 0.750
    tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
    c_can: tseg1 2..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 24000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes packets errors dropped overrun mcast
    0          0        0       0       0       0
    TX: bytes packets errors dropped carrier collsns
    0          0        0       0       0       0
3: can1: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
    link/can
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 1000000 sample-point 0.750
    tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
    c_can: tseg1 2..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 24000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes packets errors dropped overrun mcast
    0          0        0       0       0       0
    TX: bytes packets errors dropped carrier collsns
    0          0        0       0       0       0
/bin #

Salve:

/bin # /bin/ip link set can0 type can bitrate 1000000;/bin/ip link set can0 up
/bin # /bin/ip link set can1 type can bitrate 1000000;/bin/ip link set can1 up
/bin # ip -d -s link show can0;ip -d -s link show can1
2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
    link/can
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 1000000 sample-point 0.750
    tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
    c_can: tseg1 2..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 24000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes packets errors dropped overrun mcast
    0          0        0       0       0       0
    TX: bytes packets errors dropped carrier collsns
    0          0        0       0       0       0
3: can1: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
    link/can
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 1000000 sample-point 0.750
    tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
    c_can: tseg1 2..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 24000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes packets errors dropped overrun mcast
    0          0        0       0       0       0
    TX: bytes packets errors dropped carrier collsns
    0          0        0       0       0       0
/bin # cansend can1 -i 0x10 0x11 0x22 0x33 0x44 0x55 0x66 0x77 0x88
interface = can1, family = 29, type = 3, proto = 1
/bin # ip -d -s link show can0;ip -d -s link show can1
2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
    link/can
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 1000000 sample-point 0.750
    tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
    c_can: tseg1 2..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 24000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes packets errors dropped overrun mcast
    0          0        0       0       0       0
    TX: bytes packets errors dropped carrier collsns
    0          0        0       0       0       0
3: can1: <NO-CARRIER,NOARP,UP,ECHO> mtu 16 qdisc pfifo_fast state DOWN qlen 10
    link/can
    can state BUS-OFF (berr-counter tx 248 rx 0) restart-ms 0
    bitrate 1000000 sample-point 0.750
    tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
    c_can: tseg1 2..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 24000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          1          1          1
    RX: bytes packets errors dropped overrun mcast
    24         3        0       0       0       0
    TX: bytes packets errors dropped carrier collsns
    0          0        0       0       0       0
/bin #

Result:

板子不是TI开发板, 两块板子分别是Master 和Salve, Master CAN0 和 Salve CAN0 连接, Master CAN1 和 Salve CAN1 连接.

从上面发现 Master端没看到异常地方, Salve端输入"cansend" 后, can1 state 从"ERROR-ACTIVE" 变成 "BUS-OFF".

如果只使用can1, 并没有这个情况, 这种情况是kernel 配置出问题? 还是Driver的bug? 还是其他原因呢? 附件是Dual CAN 和 Single CAN 的测试结果

7345.Single_Master.txt 8168.Single_Salve.txt 0871.Dual_Master.txt 2604.Dual_Salve.txt

0 jimmy yang1 5 年多前回复 yongqing wang

Prodigy 80 points

你好, 你指的can模式是指什么?

0 yongqing wang 5 年多前回复 jimmy yang1

Guru 27460 points

你可以试试改大fifo看看

0 jimmy yang1 5 年多前回复 yongqing wang

Prodigy 80 points

我调整 c_can.h

#define C_CAN_NO_OF_OBJECTS   64     // old:32
#define C_CAN_MSG_OBJ_RX_NUM   32 // old:16
#define C_CAN_MSG_OBJ_TX_NUM   32   // old:16

还是同样的情况, 这样改 fifo 正确?

0 Shine 5 年多前回复 jimmy yang1

TI__Guru**** 357097 points

建议检查一下板子的cable线。
The only thing I can suggest from what I can see at the moment is to check the cabling and line terminations on the both boards for both can interfaces. The bus-off condition I believe typically means something is wrong with the electrical signaling. Since can1 is showing bus-off indication it was not able to send the can frame. So if this condition only appears when both can0 and can1 perhaps can0 and can1 are not electrically isolated.

0 jimmy yang1 5 年多前回复 Shine

Prodigy 80 points

你好我检查过板子 cable 都正常, 因此我调整接线, 有两块板子分别是Master, Salve, Master CAN0 CAN1 和 Salve CAN0 都接在一起, 以下是测试步骤:

Color Define: The color is a command , The color is a respond, The color is a comment

Master$ /bin/ip link set can0 type can bitrate 1000000;/bin/ip link set can0 up
Master$ /bin/ip -d -s link show can0
2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
    link/can
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 1000000 sample-point 0.750
    tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
    c_can: tseg1 2..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 24000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes packets errors dropped overrun mcast
    0          0        0       0       0       0
    TX: bytes packets errors dropped carrier collsns
    0          0        0       0       0       0

Salve$ /bin/ip link set can0 type can bitrate 1000000;/bin/ip link set can0 up
Salve$ candump can0 &
interface = can0, family = 29, type = 3, proto = 1

Salve$ /bin/ip -d -s link show can0
2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
    link/can
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 1000000 sample-point 0.750
    tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
    c_can: tseg1 2..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 24000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes packets errors dropped overrun mcast
    0          0        0       0       0       0
    TX: bytes packets errors dropped carrier collsns
    0          0        0       0       0       0

Master$ cansend can0 -i 0x10 0x11 0x22 0x33 0x44 0x55 0x66 0x77 0x88
interface = can0, family = 29, type = 3, proto = 1

Salve$ <0x010> [8] 11 22 33 44 55 66 77 88

# Master can0 cable is normal.

Master$ /bin/ip link set can0 down
Master$ /bin/ip link set can1 type can bitrate 1000000;/bin/ip link set can1 up
Master$ /bin/ip -d -s link show can1
3: can1: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
    link/can
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 1000000 sample-point 0.750
    tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
    c_can: tseg1 2..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 24000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes packets errors dropped overrun mcast
    0          0        0       0       0       0
    TX: bytes packets errors dropped carrier collsns
    0          0        0       0       0       0

Master$ cansend can1 -i 0x20 0x11 0x22 0x33 0x44 0x55 0x66 0x77 0x88
interface = can1, family = 29, type = 3, proto = 1

Salve$ <0x020> [8] 11 22 33 44 55 66 77 88

# Master can1 cable is normal.

Master$ /bin/ip link set can0 up
Master$ ip -d -s link show can0; ip -d -s link show can1
2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
    link/can
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 1000000 sample-point 0.750
    tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
    c_can: tseg1 2..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 24000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes packets errors dropped overrun mcast
    0          0        0       0       0       0
    TX: bytes packets errors dropped carrier collsns
    8          1        0       0       0       0
3: can1: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
    link/can
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 1000000 sample-point 0.750
    tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
    c_can: tseg1 2..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 24000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes packets errors dropped overrun mcast
    0          0        0       0       0       0
    TX: bytes packets errors dropped carrier collsns
    8          1        0       0       0       0

Master$ cansend can1 -i 0x20 0x11 0x22 0x33 0x44 0x55 0x66 0x77 0x88
interface = can1, family = 29, type = 3, proto = 1

# Wait for some time, Salve did not receive any response.

Master$ ip -d -s link show can0; ip -d -s link show can1
2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
    link/can
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 1000000 sample-point 0.750
    tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
    c_can: tseg1 2..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 24000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes packets errors dropped overrun mcast
    0          0        0       0       0       0
    TX: bytes packets errors dropped carrier collsns
    8          1        0       0       0       0
3: can1: <NO-CARRIER,NOARP,UP,ECHO> mtu 16 qdisc pfifo_fast state DOWN qlen 10
    link/can
    can state BUS-OFF (berr-counter tx 248 rx 0) restart-ms 0
    bitrate 1000000 sample-point 0.750
    tq 83 prop-seg 4 phase-seg1 4 phase-seg2 3 sjw 1
    c_can: tseg1 2..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp-inc 1
    clock 24000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          1          1          1
    RX: bytes packets errors dropped overrun mcast
    24         3        0       0       0       0
    TX: bytes packets errors dropped carrier collsns
    8          1        0       0       0       0

单独测试 can0 can1 都是正常, 但是两个都打开时, 就有问题, 只要传送 cansend can state 就会跳成 BUS-OFF, 但是接线并没有改动. 该怎么解决这问题呢?

0 Shine 5 年多前回复 jimmy yang1

TI__Guru**** 357097 points

我已经跟进下面的e2e帖子了。请关注下面帖子的回复，您也可以直接回复帖子。
e2e.ti.com/.../3332468

0 jimmy yang1 5 年多前回复 Shine

Prodigy 80 points

Hi:

谢谢了, 问题排除, 刚好测试的板子GPIO有问题, 更换一片板子就排除该问题

0 Shine 5 年多前回复 jimmy yang1

TI__Guru**** 357097 points

非常感谢告知原因！

处理器

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AM335x CAN0 CAN1 同时使用时, 冲突问题

Master:

Salve:

Result: