我用的是TI-SDK-am335x-evm-06.00.00.00 PSP是linux3.2.0-psp04.06.00.11，为了在BBB上用上CAN总线，对mux33xx.c做了如下修改
修改前
_AM33XX_MUXENTRY(UART1_CTSN, 0,
"uart1_ctsn", NULL, " NULL", "i2c2_sda",
"spi1_cs0", NULL, NULL, "gpio0_12"),
_AM33XX_MUXENTRY(UART1_RTSN, 0,
"uart1_rtsn", NULL, " NULL", "i2c2_scl",
"spi1_cs1", NULL, NULL, "gpio0_13"),
_AM33XX_MUXENTRY(UART1_RXD, 0,
"uart1_rxd", "mmc1_sdwp", " NULL", "i2c1_sda",
NULL, "pr1_uart0_rxd_mux1", NULL, "gpio0_14"),
_AM33XX_MUXENTRY(UART1_TXD, 0,
"uart1_txd", "mmc2_sdwp", " NULL", "i2c1_scl",
NULL, "pr1_uart0_txd_mux1", NULL, "gpio0_15"),
修改后
_AM33XX_MUXENTRY(UART1_CTSN, 0,
"uart1_ctsn", NULL, "d_can0_tx", "i2c2_sda",
"spi1_cs0", NULL, NULL, "gpio0_12"),
_AM33XX_MUXENTRY(UART1_RTSN, 0,
"uart1_rtsn", NULL, "d_can0_rx", "i2c2_scl",
"spi1_cs1", NULL, NULL, "gpio0_13"),
_AM33XX_MUXENTRY(UART1_RXD, 0,
"uart1_rxd", "mmc1_sdwp", "d_can1_tx", "i2c1_sda",
NULL, "pr1_uart0_rxd_mux1", NULL, "gpio0_14"),
_AM33XX_MUXENTRY(UART1_TXD, 0,
"uart1_txd", "mmc2_sdwp", "d_can1_rx", "i2c1_scl",
NULL, "pr1_uart0_txd_mux1", NULL, "gpio0_15"),
对board-am335xevm.c文件进行如下修改：
加入
static struct pinmux_config d_can_bbb0_pin_mux[] = {
{"uart1_ctsn.d_can0_tx", OMAP_MUX_MODE2 | AM33XX_PULL_ENBL},
{"uart1_rtsn.d_can0_rx", OMAP_MUX_MODE2 | AM33XX_PIN_INPUT_PULLUP},
{NULL, 0},
};
static struct pinmux_config d_can_bbb1_pin_mux[] = {
{"uart1_rxd.d_can1_tx", OMAP_MUX_MODE2 | AM33XX_PULL_ENBL},
{"uart1_txd.d_can1_rx", OMAP_MUX_MODE2 | AM33XX_PIN_INPUT_PULLUP},
{NULL, 0},
};
在函数static void d_can_init(int evm_id, int profile)中加入
case BEAGLE_BONE_BLACK:
/* Instance Zero */
setup_pin_mux(d_can_bbb0_pin_mux);
am33xx_d_can_init(0);
/* Instance one */
setup_pin_mux(d_can_bbb1_pin_mux);
am33xx_d_can_init(1);
break;
最后/* Beaglebone Black */
static struct evm_dev_cfg beagleboneblack_dev_cfg[] = {
{am335x_rtc_init, DEV_ON_BASEBOARD, PROFILE_NONE},
{clkout2_enable, DEV_ON_BASEBOARD, PROFILE_NONE},
{tps65217_init, DEV_ON_BASEBOARD, PROFILE_NONE},
{mii1_init, DEV_ON_BASEBOARD, PROFILE_NONE},
{usb0_init, DEV_ON_BASEBOARD, PROFILE_NONE},
{usb1_init, DEV_ON_BASEBOARD, PROFILE_NONE},
{mmc1_emmc_init, DEV_ON_BASEBOARD, PROFILE_NONE},
{mmc0_init, DEV_ON_BASEBOARD, PROFILE_NONE},
{d_can_init, DEV_ON_BASEBOARD, PROFILE_NONE},// 加入d_can_init函数
/* {i2c2_init, DEV_ON_BASEBOARD, PROFILE_NONE},*/ //删除i2c2的初始化函数
{sgx_init, DEV_ON_BASEBOARD, PROFILE_NONE},
{NULL, 0, 0},
};
按照AM335X DCAN driver guide.pdf 对linux driver的CAN进行了配置，然后编译内核，将内核拷到SD卡中（我用的是SD启动），uboot和filesystem没有变，能正常启动，
问题：但是在/dev目录下找不到can0，can1的驱动，运行canconfig can0 start 提示Cannot find device "can0".查看串口显示记录，在启动过程中出现了boardname:A335BNLT board version : 000B,The board is a AM335x Beaglebone Black..........等等，关于CAN的显示CAN device driver interface, CAN bus driver for Bosch D_CAN controller 1.0，can:controller area network core (rev 20090105 abi 8),can:raw protocol(rev 20090105),can:broadcast manager prorocol (20090105 t)。
PS：目前我只用了BBB，没有CAN扩展板，没有接CAN收发器，如果只看/dev目录下有没有驱动的话 CAN收发器应该可以不接，请教TI的大神帮我
