Raspberry Pi 3b+ 带多个 CAN 总线 (MPC2515)）
RaspberryPi 3b+ with multiple can buses (MPC2515))
我正在尝试通过 spi0 连接 6 个 mcp2515。我已经调整了一个 SPI 覆盖层来添加必要的芯片 select 行。我的新 SPI 覆盖图如下所示：
{
compatible = "brcm,bcm2835", "brcm,bcm2836", "brcm,bcm2708", "brcm,bcm2709";
fragment@0 {
target = <&spi0>;
frag0: __overlay__ {
#address-cells = <1>;
#size-cells = <0>;
pinctrl-0 = <&spi0_pins &spi0_cs_pins>;
status = "okay";
cs-gpios = <&gpio 8 1>, <&gpio 7 1>, <&gpio 22 1>, <&gpio 23 1>, <&gpio 24 1>, <&gpio 25 1>;
spidev@0{
compatible = "spidev";
reg = <0>; /* CE0 */
#address-cells = <1>;
#size-cells = <0>;
spi-max-frequency = <500000>;
};
spidev@1{
compatible = "spidev";
reg = <1>; /* CE1 */
#address-cells = <1>;
#size-cells = <0>;
spi-max-frequency = <500000>;
};
spidev@2{
compatible = "spidev";
reg = <2>; /* CE2 */
#address-cells = <1>;
#size-cells = <0>;
spi-max-frequency = <500000>;
};
spidev@3{
compatible = "spidev";
reg = <3>; /* CE3 */
#address-cells = <1>;
#size-cells = <0>;
spi-max-frequency = <500000>;
};
spidev@4{
compatible = "spidev";
reg = <4>; /* CE4 */
#address-cells = <1>;
#size-cells = <0>;
spi-max-frequency = <500000>;
};
spidev@5{
compatible = "spidev";
reg = <5>; /* CE5 */
#address-cells = <1>;
#size-cells = <0>;
spi-max-frequency = <500000>;
};
};
};
fragment@1 {
target = <&gpio>;
__overlay__ {
spi0_cs_pins: spi0_cs_pins {
brcm,pins = <7 8 22 23 24 25>;
brcm,function = <1>; /* out */
};
};
};
有了这个 SPI 覆盖，我在 /sys/bus/spi/devices/
中有 6 个 spi
spi0.0 spi0.1 spi0.2 spi0.3 spi0.4 spi0.5
我还为 mcp2515（can0 到 can5）制作了新的覆盖层，以便将它们与新芯片 select 行的 spi0 绑定。
我的 /boot/config.txt 看起来像这样：
dtoverlay=spi-gpio-cs-new
dtoverlay=mcp2515-can0,oscillator=8000000,interrupt=5
dtoverlay=mcp2515-can4,oscillator=8000000,interrupt=26
dtoverlay=mcp2515-can5,oscillator=8000000,interrupt=27
dmesg | grep mcp
[ 7.870207] mcp251x spi0.5 can0: MCP2515 successfully initialized.
[ 7.892886] mcp251x spi0.4 can1: MCP2515 successfully initialized.
[ 7.908725] mcp251x spi0.0 can2: MCP2515 successfully initialized.
ifconfig
can0: flags=193<UP,RUNNING,NOARP> mtu 16
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
can1: flags=193<UP,RUNNING,NOARP> mtu 16
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 36 bytes 180 (180.0 B)
RX errors 0 dropped 36 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
can2: flags=193<UP,RUNNING,NOARP> mtu 16
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
目前我只有3块mcp2515板可供使用。为了不损坏 Raspberry Pi GPIO，我修改了它们关于 CAN 收发器（5V）和控制器（3V）的电压供应，这些板已经过单独测试，我能够 send/receive CAN与他们相框。他们像这样连接到树莓派
在这 3 个接口中，只有 can1 (spi0.4) 可以工作！使用 candump 我可以看到网络上的帧。
我的问题是为什么在尝试发送或接收 CAN 消息时 can0 和 can2 被静音（candump 和 cansend）？
内核中断table
CPU0 CPU1 CPU2 CPU3
17: 217 0 0 0 ARMCTRL-level 1 Edge 3f00b880.mailbox
18: 47 0 0 0 ARMCTRL-level 2 Edge VCHIQ doorbell
40: 0 0 0 0 ARMCTRL-level 48 Edge bcm2708_fb DMA
42: 352 0 0 0 ARMCTRL-level 50 Edge DMA IRQ
44: 3062 0 0 0 ARMCTRL-level 52 Edge DMA IRQ
45: 0 0 0 0 ARMCTRL-level 53 Edge DMA IRQ
48: 0 0 0 0 ARMCTRL-level 56 Edge DMA IRQ
56: 14104 0 0 0 ARMCTRL-level 64 Edge dwc_otg, dwc_otg_pcd, dwc_otg_hcd:usb1
78: 0 0 0 0 ARMCTRL-level 86 Edge 3f204000.spi
80: 158 0 0 0 ARMCTRL-level 88 Edge mmc0
81: 7450 0 0 0 ARMCTRL-level 89 Edge uart-pl011
86: 4207 0 0 0 ARMCTRL-level 94 Edge mmc1
161: 0 0 0 0 bcm2836-timer 0 Edge arch_timer
162: 1813 1900 2264 1528 bcm2836-timer 1 Edge arch_timer
165: 0 0 0 0 bcm2836-pmu 9 Edge arm-pmu
166: 0 0 0 0 lan78xx-irqs 17 Edge usb-001:004:01
167: 0 0 0 0 pinctrl-bcm2835 26 Edge spi0.5
168: 6 0 0 0 pinctrl-bcm2835 27 Edge spi0.4
169: 0 0 0 0 pinctrl-bcm2835 5 Level spi0.0
FIQ: usb_fiq
IPI0: 0 0 0 0 CPU wakeup interrupts
IPI1: 0 0 0 0 Timer broadcast interrupts
IPI2: 1469 2966 3711 4460 Rescheduling interrupts
IPI3: 203 798 542 445 Function call interrupts
IPI4: 0 0 0 0 CPU stop interrupts
IPI5: 55 85 41 24 IRQ work interrupts
IPI6: 0 0 0 0 completion interrupts
Err: 0
从这个table我可以看出，SPI 被分配了中断，但实际上只有 spi0.4 被激活。 如何激活spi0.0和spi0.5的另外2个中断？
有效！！！
正如我在第一个 post 中提到的，只有一块板在工作（can1 spi0.4），在我重新检查其他两块不工作的板后，我发现一块硬件损坏导致另一块板无法正常工作。作为最终结论，我的 spi 和 mcp 叠加层功能齐全！
问候
安特玛
[ 7.846788] mcp251x spi0.0 can0: MCP2515 successfully initialized.
[ 7.888039] mcp251x spi0.1 can1: MCP2515 successfully initialized.
[ 7.924747] mcp251x spi0.2 can2: MCP2515 successfully initialized.
[ 7.936608] mcp251x spi0.3 can3: MCP2515 successfully initialized.
can0 241 [5] 67 A4 31 F0 C7
can1 2A0 [2] 02 93
can2 241 [5] 67 A4 31 F0 CB
can3 240 [2] 02 6A
我正在尝试通过 spi0 连接 6 个 mcp2515。我已经调整了一个 SPI 覆盖层来添加必要的芯片 select 行。我的新 SPI 覆盖图如下所示：
{
compatible = "brcm,bcm2835", "brcm,bcm2836", "brcm,bcm2708", "brcm,bcm2709";
fragment@0 {
target = <&spi0>;
frag0: __overlay__ {
#address-cells = <1>;
#size-cells = <0>;
pinctrl-0 = <&spi0_pins &spi0_cs_pins>;
status = "okay";
cs-gpios = <&gpio 8 1>, <&gpio 7 1>, <&gpio 22 1>, <&gpio 23 1>, <&gpio 24 1>, <&gpio 25 1>;
spidev@0{
compatible = "spidev";
reg = <0>; /* CE0 */
#address-cells = <1>;
#size-cells = <0>;
spi-max-frequency = <500000>;
};
spidev@1{
compatible = "spidev";
reg = <1>; /* CE1 */
#address-cells = <1>;
#size-cells = <0>;
spi-max-frequency = <500000>;
};
spidev@2{
compatible = "spidev";
reg = <2>; /* CE2 */
#address-cells = <1>;
#size-cells = <0>;
spi-max-frequency = <500000>;
};
spidev@3{
compatible = "spidev";
reg = <3>; /* CE3 */
#address-cells = <1>;
#size-cells = <0>;
spi-max-frequency = <500000>;
};
spidev@4{
compatible = "spidev";
reg = <4>; /* CE4 */
#address-cells = <1>;
#size-cells = <0>;
spi-max-frequency = <500000>;
};
spidev@5{
compatible = "spidev";
reg = <5>; /* CE5 */
#address-cells = <1>;
#size-cells = <0>;
spi-max-frequency = <500000>;
};
};
};
fragment@1 {
target = <&gpio>;
__overlay__ {
spi0_cs_pins: spi0_cs_pins {
brcm,pins = <7 8 22 23 24 25>;
brcm,function = <1>; /* out */
};
};
};
有了这个 SPI 覆盖，我在 /sys/bus/spi/devices/
中有 6 个 spispi0.0 spi0.1 spi0.2 spi0.3 spi0.4 spi0.5
我还为 mcp2515（can0 到 can5）制作了新的覆盖层，以便将它们与新芯片 select 行的 spi0 绑定。
我的 /boot/config.txt 看起来像这样：
dtoverlay=spi-gpio-cs-new
dtoverlay=mcp2515-can0,oscillator=8000000,interrupt=5
dtoverlay=mcp2515-can4,oscillator=8000000,interrupt=26
dtoverlay=mcp2515-can5,oscillator=8000000,interrupt=27
dmesg | grep mcp
[ 7.870207] mcp251x spi0.5 can0: MCP2515 successfully initialized.
[ 7.892886] mcp251x spi0.4 can1: MCP2515 successfully initialized.
[ 7.908725] mcp251x spi0.0 can2: MCP2515 successfully initialized.
ifconfig
can0: flags=193<UP,RUNNING,NOARP> mtu 16
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
can1: flags=193<UP,RUNNING,NOARP> mtu 16
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 36 bytes 180 (180.0 B)
RX errors 0 dropped 36 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
can2: flags=193<UP,RUNNING,NOARP> mtu 16
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
目前我只有3块mcp2515板可供使用。为了不损坏 Raspberry Pi GPIO，我修改了它们关于 CAN 收发器（5V）和控制器（3V）的电压供应，这些板已经过单独测试，我能够 send/receive CAN与他们相框。他们像这样连接到树莓派
在这 3 个接口中，只有 can1 (spi0.4) 可以工作！使用 candump 我可以看到网络上的帧。
我的问题是为什么在尝试发送或接收 CAN 消息时 can0 和 can2 被静音（candump 和 cansend）？
内核中断table
CPU0 CPU1 CPU2 CPU3
17: 217 0 0 0 ARMCTRL-level 1 Edge 3f00b880.mailbox
18: 47 0 0 0 ARMCTRL-level 2 Edge VCHIQ doorbell
40: 0 0 0 0 ARMCTRL-level 48 Edge bcm2708_fb DMA
42: 352 0 0 0 ARMCTRL-level 50 Edge DMA IRQ
44: 3062 0 0 0 ARMCTRL-level 52 Edge DMA IRQ
45: 0 0 0 0 ARMCTRL-level 53 Edge DMA IRQ
48: 0 0 0 0 ARMCTRL-level 56 Edge DMA IRQ
56: 14104 0 0 0 ARMCTRL-level 64 Edge dwc_otg, dwc_otg_pcd, dwc_otg_hcd:usb1
78: 0 0 0 0 ARMCTRL-level 86 Edge 3f204000.spi
80: 158 0 0 0 ARMCTRL-level 88 Edge mmc0
81: 7450 0 0 0 ARMCTRL-level 89 Edge uart-pl011
86: 4207 0 0 0 ARMCTRL-level 94 Edge mmc1
161: 0 0 0 0 bcm2836-timer 0 Edge arch_timer
162: 1813 1900 2264 1528 bcm2836-timer 1 Edge arch_timer
165: 0 0 0 0 bcm2836-pmu 9 Edge arm-pmu
166: 0 0 0 0 lan78xx-irqs 17 Edge usb-001:004:01
167: 0 0 0 0 pinctrl-bcm2835 26 Edge spi0.5
168: 6 0 0 0 pinctrl-bcm2835 27 Edge spi0.4
169: 0 0 0 0 pinctrl-bcm2835 5 Level spi0.0
FIQ: usb_fiq
IPI0: 0 0 0 0 CPU wakeup interrupts
IPI1: 0 0 0 0 Timer broadcast interrupts
IPI2: 1469 2966 3711 4460 Rescheduling interrupts
IPI3: 203 798 542 445 Function call interrupts
IPI4: 0 0 0 0 CPU stop interrupts
IPI5: 55 85 41 24 IRQ work interrupts
IPI6: 0 0 0 0 completion interrupts
Err: 0
从这个table我可以看出，SPI 被分配了中断，但实际上只有 spi0.4 被激活。 如何激活spi0.0和spi0.5的另外2个中断？
有效！！！ 正如我在第一个 post 中提到的，只有一块板在工作（can1 spi0.4），在我重新检查其他两块不工作的板后，我发现一块硬件损坏导致另一块板无法正常工作。作为最终结论，我的 spi 和 mcp 叠加层功能齐全！
问候 安特玛
[ 7.846788] mcp251x spi0.0 can0: MCP2515 successfully initialized.
[ 7.888039] mcp251x spi0.1 can1: MCP2515 successfully initialized.
[ 7.924747] mcp251x spi0.2 can2: MCP2515 successfully initialized.
[ 7.936608] mcp251x spi0.3 can3: MCP2515 successfully initialized.
can0 241 [5] 67 A4 31 F0 C7
can1 2A0 [2] 02 93
can2 241 [5] 67 A4 31 F0 CB
can3 240 [2] 02 6A