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====== CAN Bus Data Transaction ======
===== Introduction =====

This document describes how to do a data transaction test via CAN bus on SC5xx EZ-Board. Take ADSP SC589-EZKIT as an example.

===== Hardware Setup =====
Two ADSP-SC5xx EZ-Boards: 
  * ADSP-SC589 Ezkit v1.1 and above, or,
  * ADSP-SC584 Ezkit v1.0 and above, or,
  * ADSP-SC573 Ezkit v1.2 (BOM 1.8) and above
An RJ-11 crossover cable
Connect the RJ-11 port labelled "CAN0/HU CONTROL" or "ACN1/ENGINE"on each board together with the crossover cable.

Connect a serial cable for each of the board to PC so we have a serial console for each of the boards.

===== Software Setup =====
==== Configure Linux Kernel ====
Run **bitbkae linux-adi -c menuconfig** and configure the kernel as follows:
<code>
Networking support  --->
    <*>   CAN bus subsystem support  --->
        <*>   Raw CAN Protocol (raw access with CAN-ID filtering)
        <*>   Broadcast Manager CAN Protocol (with content filtering)
        CAN Device Drivers  --->
            <*> Platform CAN drivers with Netlink support
            [*]   CAN bit-timing calculation
            <M>   Analog Devices SC5xx on-chip CAN
Device Drivers  --->
    [*] SPI support  --->
        <*>   SPI controller v3 for ADI
</code>

For ADSP-SC573 Ezkit, Users should additionally disable the MMC support from Linux Kernel menuconfig due to pin conflict. Please refer to Mobile Storage Interface for MMC/SD.

<code>
Device Drivers
    MMC/SD/SDIO card support  --->
        [*] Synopsys DesignWare Memory Card Interface
        [*]   Synopsys Designware MCI Support as platform device
        [N]   ADI specific extensions forSynopsys DW Memory Card Interface
</code>

==== Configure Device Tree ====
Need to disable the spidev from the device tree file due to SPI chip select line conflict. Please refer to SPI Driver;

For ADSP-SC573 Ezkit:
<code>
$ bitbake linux-adi -c devshell
$ vim arch/arm/boot/dts/sc573-ezkit.dts

-   spidev {
-          #address-cells = <1>;
-           #size-cells = <1>;
-           compatible = "rohm,dh2228fv";
-           spi-max-frequency = <5000000>;
-           reg = <38>;
-   };
</code>

For other boards (sc589-ezkit.dts/sc589-mini.dts/sc584-ezkit.dts)
<code>
$ bitbake linux-adi -c devshell
$ vim arch/arm/boot/dts/sc589-ezkit.dts
-   spidev {
-          #address-cells = <1>;
-           #size-cells = <1>;
-           compatible = "rohm,dh2228fv";
-           spi-max-frequency = <5000000>;
-           reg = <44>;
-   };
</code>

Then you must run "**bitbake linux-adi -C compile**" so that the changes can be effective.

Copy zImage and sc589-ezkit.dtb to /tftpboot directory
<code>
cp ${YOCTO_DIR}/build/tmp/deploy/images/adsp-sc589-ezkit/zImage /tftpboot

cp ${YOCTO_DIR}/build/tmp/deploy/images/adsp-sc589-ezkit/sc589-ezkit.dtb /tftpboot
</code>

As to filesystem, use the adsp-sc5xx-full image.

===== CAN0(HU CONTROL) Test Example =====

==== Bring Up CAN0 Interface On Both Boards ====
Run the following command on both of the boards:
<code>
root:/> modprobe sc5xx_can
sc5xx_can 31000200.can: sc5xx_can device registered(&reg_base=0c450739, rx_irq=22, tx_irq=23, err_irq=24, sclk=112500000)

sc5xx_can 31000a00.can: sc5xx_can device registered(&reg_base=de8b6d1d, rx_irq=25, tx_irq=26, err_irq=27, sclk=112500000)

root:/> ip link set can0 type can bitrate 125000
sc5xx_can 31000200.can can0: setting CLOCK=0x003b TIMING=0x001b
root:/> ifconfig can0 up
</code>
==== Data Send & Receive Test ====
Run the data receiving program on one of the boards:
<code>
root:/> candump can0
</code>

Run the data sending program on the other board:
<code>
root:/> cansend can0 123#AABBCCDD
root:/> cansend can0 123#R 
root:/> cansend can0 1F334455#1122334455667788
root:/> cansend can0 1F334455#R
</code>

You should now see the transmitted data printing on the console of the receiving board:
<code>
can0  123  [4] AA BB CC DD
can0  123  [0] remote request
can0  1F334455  [8] 11 22 33 44 55 66 77 88
can0  1F334455  [0] remote request
</code>

\\
----
**Back to** [[resources:tools-software/linuxdsp/docs/linux-kernel-and-drivers/start|Kernel Features and Device Drivers for ADSP-SC5xx Yocto Linux]]
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