To reply to myself: After looking at it again and reading through other
people's pages, I managed to get the CAN device working with this DTS
(after cloning the `BeagleBoard-DeviceTrees` repo):
#include "am5729-beagleboneai.dts"
/ {
chosen {
base_dtb = "am5729-beagleboneai-kitepower.dts";
base_dtb_timestamp = __TIMESTAMP__;
};
};
// The second name (pinmux_dcan2_pins) seems not used
&dra7_pmx_core {
dcan2_pins: pinmux_dcan2_pins {
pinctrl-single,pins = <
/* P9_24: uart1_txd.d_can2_rx */
DRA7XX_CORE_IOPAD(0x368C, PIN_INPUT_PULLUP | MUX_MODE2)
/* P9_26: uart1_rxd.d_can2_tx */
DRA7XX_CORE_IOPAD(0x3688, PIN_OUTPUT_PULLUP | MUX_MODE2)
>;
};
};
// Initially defined in dra7 (which is included through multiple layers) as
disabled
&dcan2 {
pinctrl-names = "default"; // Not sure what this is used for
pinctrl-0 = <&dcan2_pins>;
status = "okay";
};
This muxes the 2 pins with the CAN peripheral to CAN.
After compiling this into a DTB, putting it on the beagle and setting it up
in the `uEnv.txt`, I only need to bring up the CAN device:
sudo ip link set can0 up type can bitrate ${bitrate}
and CAN works (I use a bit rate of 125000).
Thanks for the people who took time to document their efforts and I hope
this helps others.
--
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