SAME51 CAN-Bus Support #61014

DomiHive · 2023-07-10T08:27:44Z

DomiHive
Jul 10, 2023

I am currently developing a board with the ATSAME51J19A as soc and I am facing a problem with the activation of the can bus. I have added can0 and can1 to the soc in the .dts file. The same error occures when compiled for the atsame54_xpro with the babbling sample. Now I get the following warning/error:

warning: CACHE_MANAGEMENT (defined at arch/Kconfig:860) has direct dependencies DCACHE || ICACHE with value n, but is currently being y-selected by the following symbols:
 - CAN_SAM (defined at drivers/can/Kconfig.sam:5), with value y, direct dependencies DT_HAS_ATMEL_SAM_CAN_ENABLED && CAN (value: y), and select condition DT_HAS_ATMEL_SAM_CAN_ENABLED && CAN (value: y)
Parsing /home/hive/hive_zephyr/zephyr/samples/drivers/can/babbling/Kconfig
Loaded configuration '/home/hive/hive_zephyr/zephyr/boards/arm/atsame54_xpro/atsame54_xpro_defconfig'
Merged configuration '/home/hive/hive_zephyr/zephyr/samples/drivers/can/babbling/prj.conf'

error: Aborting due to Kconfig warnings

Here are some additional information to this case

I am using a self developed board with the same51j19a as SOC
This error also happens when I add CAN-Bus to the atsame54_xpro and try to compile the CAN-Bus babbling sample
I added the CAN as follows in the .dts file:

   	soc {
		can0: can@42000000 {
			status = "okay";
			compatible = "atmel,sam-can";
			reg = <0x42000000 0x100>;
			reg-names = "m_can";
			interrupts = <36 0>;
			interrupt-names = "LINE_0";
			clocks = <&gclk 7>, <&mclk 0x10 8>;
			clock-names = "GCLK", "MCLK";
			divider = <12>;
			bosch,mram-cfg = <0x0 28 8 3 3 0 1 1>;
			sjw = <1>;
			sample-point = <875>;
			sjw-data = <1>;
			sample-point-data = <875>;
		};

		can1: can@42000400 {
			status = "okay";
			compatible = "atmel,sam-can";
			reg = <0x42000400 0x100>;
			reg-names = "m_can";
			interrupts = <38 0>;
			interrupt-names = "LINE_0";
			clocks = <&gclk 7>, <&mclk 0x10 9>;
			clock-names = "GCLK", "MCLK";
			divider = <12>;
			bosch,mram-cfg = <0x0 28 8 3 3 0 1 1>;
			sjw = <1>;
			sample-point = <875>;
			sjw-data = <1>;
			sample-point-data = <875>;
		};
	};

&can0 {
	status = "okay";

	pinctrl-0 = <&can0_default>;
	pinctrl-names = "default";

	bus-speed = <125000>;
	bus-speed-data = <1000000>;

	can-transceiver {
		max-bitrate = <5000000>;
	};
};

&can1 {
	status = "okay";

	pinctrl-0 = <&can1_default>;
	pinctrl-names = "default";

	bus-speed = <125000>;
	bus-speed-data = <1000000>;

	can-transceiver {
		max-bitrate = <5000000>;
	};
};

I also added CAN-Bus as follows in the .dtsi-file:

	can0_default: can0_default {
		group1 {
			pinmux = <PA23I_CAN0_RX>,
				 <PA22I_CAN0_TX>;
		};
	};


	can1_default: can1_default {
		group1 {
			pinmux = <PB15H_CAN1_RX>,
				 <PB14H_CAN1_TX>;
		};
	};

Steps to reproduce the behavior

add CAN-Bus to the SOC as described above (tested with the SAME51J19 and the SAME54 of the atsame54_xpro board)
west build -b atsame54_xpro zephyr/samples/drivers/can/babbling
See error

Expected behavior
I expected the project to build with maybe a CAN-Bus error or something, but not a CACHE_MANAGEMENT Error

Impact
I am developing a new board. If this dosen't work it is a complete showstopper. I can't continue to implement other functionalities if the CAN-Bus is not working.

Logs and console output

-- west build: generating a build system
Loading Zephyr default modules (Zephyr base).
-- Application: /home/hive/hive_zephyr/zephyr/samples/drivers/can/babbling
-- CMake version: 3.26.4
-- Found Python3: /usr/bin/python3.10 (found suitable exact version "3.10.6") found components: Interpreter 
-- Cache files will be written to: /home/hive/.cache/zephyr
-- Zephyr version: 3.4.99 (/home/hive/hive_zephyr/zephyr)
-- Found west (found suitable version "1.1.0", minimum required is "0.14.0")
-- Board: atsame54_xpro
-- ZEPHYR_TOOLCHAIN_VARIANT not set, trying to locate Zephyr SDK
-- Found host-tools: zephyr 0.16.1 (/home/hive/zephyr-sdk-0.16.1)
-- Found toolchain: zephyr 0.16.1 (/home/hive/zephyr-sdk-0.16.1)
-- Found Dtc: /home/hive/zephyr-sdk-0.16.1/sysroots/x86_64-pokysdk-linux/usr/bin/dtc (found suitable version "1.6.0", minimum required is "1.4.6") 
-- Found BOARD.dts: /home/hive/hive_zephyr/zephyr/boards/arm/atsame54_xpro/atsame54_xpro.dts
-- Generated zephyr.dts: /home/hive/hive_zephyr/build/zephyr/zephyr.dts
-- Generated devicetree_generated.h: /home/hive/hive_zephyr/build/zephyr/include/generated/devicetree_generated.h
-- Including generated dts.cmake file: /home/hive/hive_zephyr/build/zephyr/dts.cmake

warning: CACHE_MANAGEMENT (defined at arch/Kconfig:860) has direct dependencies DCACHE || ICACHE with value n, but is currently being y-selected by the following symbols:
 - CAN_SAM (defined at drivers/can/Kconfig.sam:5), with value y, direct dependencies DT_HAS_ATMEL_SAM_CAN_ENABLED && CAN (value: y), and select condition DT_HAS_ATMEL_SAM_CAN_ENABLED && CAN (value: y)
Parsing /home/hive/hive_zephyr/zephyr/samples/drivers/can/babbling/Kconfig
Loaded configuration '/home/hive/hive_zephyr/zephyr/boards/arm/atsame54_xpro/atsame54_xpro_defconfig'
Merged configuration '/home/hive/hive_zephyr/zephyr/samples/drivers/can/babbling/prj.conf'

error: Aborting due to Kconfig warnings

CMake Error at /home/hive/hive_zephyr/zephyr/cmake/modules/kconfig.cmake:343 (message):
  command failed with return code: 1
Call Stack (most recent call first):
  /home/hive/hive_zephyr/zephyr/cmake/modules/zephyr_default.cmake:115 (include)
  /home/hive/hive_zephyr/zephyr/share/zephyr-package/cmake/ZephyrConfig.cmake:66 (include)
  /home/hive/hive_zephyr/zephyr/share/zephyr-package/cmake/ZephyrConfig.cmake:92 (include_boilerplate)
  CMakeLists.txt:4 (find_package)


-- Configuring incomplete, errors occurred!
FATAL ERROR: command exited with status 1: /usr/bin/cmake -DWEST_PYTHON=/usr/bin/python3 -B/home/hive/hive_zephyr/build -GNinja -DBOARD=atsame54_xpro -S/home/hive/hive_zephyr/zephyr/samples/drivers/can/babbling

Environment (please complete the following information):

OS: Linus
Toolchain: Zephyr SDK 0.16.1
Zephyr 3.4.0

Answered by DomiHive

Aug 10, 2023

Hi together,
I have finally solved all problems and got the CAN-Bus to work as expected. Here are the things that needed to be changed.

At first I had to get the .dts file correct. The following one worked for my configuration. The correct interrupt pins and the correct clocks can be found in the datasheet.

	soc {
		can0: can@42000000 {
			status = "okay";
			compatible = "atmel,sam0-can";
			reg = <0x42000000 0x100>;
			reg-names = "m_can";
			interrupts = <78 0>, <78 1>;
			interrupt-names = "LINE_0", "LINE_1";
			clocks = <&gclk 27>, <&mclk 0x10 8>;
			clock-names = "GCLK", "MCLK";
			divider = <1>;
			bosch,mram-cfg = <0x0 28 8 3 3 1 1 1>;
			sjw = <1>;
			sample-point = <875>;
			sjw…

View full answer

@DomiHive · 2023-07-10T08:28:29Z

github-actions[bot]
bot Jul 10, 2023

Hi @DomiHive! We appreciate you submitting your first issue for our open-source project. 🌟

Even though I'm a bot, I can assure you that the whole community is genuinely grateful for your time and effort. 🤖💙

0 replies

str4t0m · 2023-07-10T18:54:53Z

str4t0m
Jul 10, 2023
Collaborator

I have removed the bug label as CAN is not yet supported on this SoC.

0 replies

str4t0m · 2023-07-10T19:06:34Z

str4t0m
Jul 10, 2023
Collaborator

I am not familiar with these SAME5x Socs and neither about the difference to the currently only SoC (SAME70) that has been tested with the atmel,sam-can driver. But a few notes:

Having a quick look into the zephyr repo it looks like the same5x Socs are part of the sam0 product line, so most likely you'll have better chances with the atmel,sam0-can driver.
Also, you'll need to adopt the dts parameters to match your Soc, the interrupt line for example definitely does not match the Soc and seems to be just copied from an in-tree Soc.
Furthermore, enabling a driver for a different series often requires the one or the other small tweak to the driver as well. So even if your device tree parameters are defined correctly not everything might work right away.

0 replies

henrikbrixandersen · 2023-07-28T18:36:37Z

henrikbrixandersen
Jul 28, 2023
Collaborator

Related PR: #60425

0 replies

henrikbrixandersen · 2023-07-31T20:44:56Z

henrikbrixandersen
Jul 31, 2023
Collaborator

@DomiHive Any luck with the atmel,sam0-can driver and DTS parameters adjusted to match SAME51/SAME54?

0 replies

DomiHive · 2023-08-10T11:08:02Z

DomiHive
Aug 10, 2023
Author

Hi together,
I have finally solved all problems and got the CAN-Bus to work as expected. Here are the things that needed to be changed.

At first I had to get the .dts file correct. The following one worked for my configuration. The correct interrupt pins and the correct clocks can be found in the datasheet.

	soc {
		can0: can@42000000 {
			status = "okay";
			compatible = "atmel,sam0-can";
			reg = <0x42000000 0x100>;
			reg-names = "m_can";
			interrupts = <78 0>, <78 1>;
			interrupt-names = "LINE_0", "LINE_1";
			clocks = <&gclk 27>, <&mclk 0x10 8>;
			clock-names = "GCLK", "MCLK";
			divider = <1>;
			bosch,mram-cfg = <0x0 28 8 3 3 1 1 1>;
			sjw = <1>;
			sample-point = <875>;
			sjw-data = <1>;
			sample-point-data = <875>;
		};

		can1: can@42000400 {
			status = "okay";
			compatible = "atmel,sam0-can";
			reg = <0x42000400 0x100>;
			reg-names = "m_can";
			interrupts = <79 0>, <79 1>;
			interrupt-names = "LINE_0", "LINE_1";
			clocks = <&gclk 28>, <&mclk 0x10 9>;
			clock-names = "GCLK", "MCLK";
			divider = <1>;
			bosch,mram-cfg = <0x0 28 8 3 3 1 1 1>;
			sjw = <1>;
			sample-point = <875>;
			sjw-data = <1>;
			sample-point-data = <875>;
		};
	};

&can0 {
	status = "okay";

	pinctrl-0 = <&can0_default>;
	pinctrl-names = "default";

	bus-speed = <1000000>;
	bus-speed-data = <1000000>;

	can-transceiver {
		max-bitrate = <1000000>;
	};
};

&can1 {
	status = "okay";

	pinctrl-0 = <&can1_default>;
	pinctrl-names = "default";

	bus-speed = <1000000>;
	bus-speed-data = <1000000>;

	can-transceiver {
		max-bitrate = <1000000>;
	};
};

Additional I had to add the correct pins to the .dtsi file.

	can0_default: can0_default {
		group1 {
			pinmux = <PA23I_CAN0_RX>,
				 <PA22I_CAN0_TX>;
		};
	};


	can1_default: can1_default {
		group1 {
			pinmux = <PB15H_CAN1_RX>,
				 <PB14H_CAN1_TX>;
		};
	};

At last step I also had to add the correct initialization of the clock in the zephyr/drivers/can/can_sam0.c file. I added the config for the same51.

static void can_sam0_clock_enable(const struct can_sam0_config *cfg)
{
	#if CONFIG_SOC_SERIES_SAMC21
	/* Enable the GLCK7 with DIV*/
	GCLK->GENCTRL[7].reg = GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_OSC48M)
			     | GCLK_GENCTRL_DIV(cfg->divider)
			     | GCLK_GENCTRL_GENEN;

	/* Route channel */
	GCLK->PCHCTRL[cfg->gclk_core_id].reg = GCLK_PCHCTRL_GEN_GCLK7
					     | GCLK_PCHCTRL_CHEN;
	#endif

	#if CONFIG_SOC_SERIES_SAME51
	/* Enable the GLCK7 */
	GCLK->GENCTRL[7].reg = GCLK_GENCTRL_SRC(GCLK_SOURCE_DFLL48M)
				| GCLK_GENCTRL_DIV(cfg->divider)
				| GCLK_GENCTRL_GENEN;

	/* Route channels */
	GCLK->PCHCTRL[cfg->gclk_core_id].reg = GCLK_PCHCTRL_GEN_GCLK7
						 | GCLK_PCHCTRL_CHEN;
	#endif

	/* Enable CAN clock in MCLK */
	*cfg->mclk |= cfg->mclk_mask;
}

2 replies

henrikbrixandersen Aug 15, 2023
Collaborator

That's great. Are you able to submit CAN support for the atsame54 to upstream Zephyr?

sebastianschlupp Nov 21, 2023

I found some additional changes to be required:

in the same file, the following function fails because the soc.h files of the SAME51 and SAME54 don't have SOC_ATMEL_SAM0_OSC48M_FREQ_HZ defined. Since these use the DFLL48 clock, the frequency for it needs to be defined in the soc.h files (like it is done for the OSC48M in the soc.h of the SAMC21) and another #if statement is required in this functions
`static int can_sam0_get_core_clock(const struct device *dev, uint32_t *rate)
{
const struct can_mcan_config *mcan_cfg = dev->config;
const struct can_sam0_config *sam_cfg = mcan_cfg->custom;

*rate = SOC_ATMEL_SAM0_OSC48M_FREQ_HZ / (sam_cfg->divider);

return 0;
}`

All changes are currently part of the following pull-request: #65513

SAME51 CAN-Bus Support #61014

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DomiHive Jul 10, 2023

Replies: 6 comments · 2 replies

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github-actions[bot] bot Jul 10, 2023

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str4t0m Jul 10, 2023 Collaborator

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str4t0m Jul 10, 2023 Collaborator

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henrikbrixandersen Jul 28, 2023 Collaborator

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henrikbrixandersen Jul 31, 2023 Collaborator

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DomiHive Aug 10, 2023 Author

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henrikbrixandersen Aug 15, 2023 Collaborator

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sebastianschlupp Nov 21, 2023

DomiHive
Jul 10, 2023

Replies: 6 comments 2 replies

github-actions[bot]
bot Jul 10, 2023

str4t0m
Jul 10, 2023
Collaborator

str4t0m
Jul 10, 2023
Collaborator

henrikbrixandersen
Jul 28, 2023
Collaborator

henrikbrixandersen
Jul 31, 2023
Collaborator

DomiHive
Aug 10, 2023
Author

henrikbrixandersen Aug 15, 2023
Collaborator