We flashed on our Orin NX custom carrier board JetPack 6.0 GA. Now we face an issue with the SPI-CAN Controller MCP2518FD. With older JetPack Versions, everything was working.
The controller is connected to the SPI0 interface of the Orin NX. We changed the device tree according to the new Documentation:
cat kernel/kernel-jammy-src_5.15/Documentation/devicetree/bindings/net/can/microchip,mcp251xfd.yaml
# SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
%YAML 1.2
---
$id: http://devicetree.org/schemas/net/can/microchip,mcp251xfd.yaml#
$schema: http://devicetree.org/meta-schemas/core.yaml#
title:
Microchip MCP2517FD and MCP2518FD stand-alone CAN controller device tree
bindings
maintainers:
- Marc Kleine-Budde <mkl@pengutronix.de>
properties:
compatible:
oneOf:
- const: microchip,mcp2517fd
description: for MCP2517FD
- const: microchip,mcp2518fd
description: for MCP2518FD
- const: microchip,mcp251xfd
description: to autodetect chip variant
reg:
maxItems: 1
interrupts:
maxItems: 1
clocks:
maxItems: 1
vdd-supply:
description: Regulator that powers the CAN controller.
xceiver-supply:
description: Regulator that powers the CAN transceiver.
microchip,rx-int-gpios:
description:
GPIO phandle of GPIO connected to to INT1 pin of the MCP251XFD, which
signals a pending RX interrupt.
maxItems: 1
spi-max-frequency:
description:
Must be half or less of "clocks" frequency.
maximum: 20000000
required:
- compatible
- reg
- interrupts
- clocks
additionalProperties: false
examples:
- |
#include <dt-bindings/gpio/gpio.h>
#include <dt-bindings/interrupt-controller/irq.h>
spi0 {
#address-cells = <1>;
#size-cells = <0>;
can@0 {
compatible = "microchip,mcp251xfd";
reg = <0>;
clocks = <&can0_osc>;
pinctrl-names = "default";
pinctrl-0 = <&can0_pins>;
spi-max-frequency = <20000000>;
interrupts-extended = <&gpio 13 IRQ_TYPE_LEVEL_LOW>;
microchip,rx-int-gpios = <&gpio 27 GPIO_ACTIVE_LOW>;
vdd-supply = <®5v0>;
xceiver-supply = <®5v0>;
};
};
We see in the log files, that the controller is successfully initialized:
ip link set can1 type can bitrate 1000000 restart-ms 1000
Receiving data with the interface works, however we are not able to send any messages. We tested it with cansend.
Any idea what could go wrong?
Let us know if you need further information.
Thank you.
For AGX Orin, we have everything working also with JP6.0 GA.
We tried the loopback test on the Orin NX and it does also not work.
There are many changes between the JP5.1.2 driver and the one in JP6.0. How can we further debug this? Should we contact the MCP2518FD manufacturer?
Thank you.
From your result, it seems the issue is specific to MCP2518FD driver in JP6.0GA (can1).
(since mttcan(can0) could work as expected)
Please contact your vendor to check if there’s any patch missed for JP6.0GA(K5.15).
According to the manufacturer, there should not be changes between 5.10 and 5.15 causing this behavior.
Could it be an issue with patches for the SPI Bus that were applied to the kernel 5.10 but not 5.15, like mentioned in the following topic?
We don’t have this module to verify it locally with JP6.0GA.
If you have the concern about SPI driver, you can also port the driver from K5.10 to your current K5.15 to verify.
We ported the spi-tegra114 driver from K5.10 to K5.15 and now everything works as expected. Did you already check internally why there are patches missing for the K5.15 as stated in your last response here:
We are also trying to use a newer Kernel (6.6.29) for the same Orin NX platform and face again the same issue with the SPI-to-CAN Controller. Sending from the CAN Interface does not work while receiving data works. As porting the SPI driver from Kernel 5.10 to Kernel 6.6.29 is a big effort, we hope you can come up with an easier solution.
Thank you.
Sorry that we are busy on another task currently so that it may take more time to get check this issue in details.
I’ve roughly compared the driver in K5.10 and K5.10. It indeed has several differences.
Have you tried to just use spi-tegra114 driver from K5.10 to your current kernel?
Or please help to provide your current driver for further check.
Just using the spi-tegra114 driver from K5.10 for K6.6.29 does not work, we get compilation errors:
drivers/spi/spi-tegra114.c: In function ‘tegra_spi_setup_transfer_one’:
drivers/spi/spi-tegra114.c:1126:45: error: ‘struct spi_device’ has no member named ‘cs_gpio’; did you mean ‘cs_gpiod’?
1126 | gpio_set_value(spi->cs_gpio, gval);
| ^~~~~~~
| cs_gpiod
drivers/spi/spi-tegra114.c: In function ‘tegra_spi_cleanup’:
drivers/spi/spi-tegra114.c:1246:32: error: ‘struct spi_device’ has no member named ‘cs_gpio’; did you mean ‘cs_gpiod’?
1246 | gpio_free(spi->cs_gpio);
| ^~~~~~~
| cs_gpiod
drivers/spi/spi-tegra114.c: In function ‘tegra_spi_setup’:
drivers/spi/spi-tegra114.c:1279:26: error: ‘struct spi_controller’ has no member named ‘cs_gpios’; did you mean ‘cs_gpiods’?
1279 | if (spi->master->cs_gpios && gpio_is_valid(spi->cs_gpio)) {
| ^~~~~~~~
| cs_gpiods
drivers/spi/spi-tegra114.c:1279:57: error: ‘struct spi_device’ has no member named ‘cs_gpio’; did you mean ‘cs_gpiod’?
1279 | if (spi->master->cs_gpios && gpio_is_valid(spi->cs_gpio)) {
| ^~~~~~~
| cs_gpiod
drivers/spi/spi-tegra114.c:1286:53: error: ‘struct spi_device’ has no member named ‘cs_gpio’; did you mean ‘cs_gpiod’?
1286 | ret = gpio_request_one(spi->cs_gpio, gpio_flag,
| ^~~~~~~
| cs_gpiod
drivers/spi/spi-tegra114.c:1298:45: error: ‘struct spi_device’ has no member named ‘cs_gpio’; did you mean ‘cs_gpiod’?
1298 | gpio_set_value(spi->cs_gpio, val);
| ^~~~~~~
| cs_gpiod
drivers/spi/spi-tegra114.c: In function ‘tegra_spi_transfer_one_message’:
drivers/spi/spi-tegra114.c:1505:53: error: ‘struct spi_device’ has no member named ‘cs_gpio’; did you mean ‘cs_gpiod’?
1505 | gpio_set_value(spi->cs_gpio, gval);
| ^~~~~~~
| cs_gpiod
drivers/spi/spi-tegra114.c:1515:61: error: ‘struct spi_device’ has no member named ‘cs_gpio’; did you mean ‘cs_gpiod’?
1515 | gpio_set_value(spi->cs_gpio, gval);
| ^~~~~~~
| cs_gpiod
drivers/spi/spi-tegra114.c:1524:53: error: ‘struct spi_device’ has no member named ‘cs_gpio’; did you mean ‘cs_gpiod’?
1524 | gpio_set_value(spi->cs_gpio, gval);
| ^~~~~~~
| cs_gpiod
drivers/spi/spi-tegra114.c:1535:53: error: ‘struct spi_device’ has no member named ‘cs_gpio’; did you mean ‘cs_gpiod’?
1535 | gpio_set_value(spi->cs_gpio, !gval);
| ^~~~~~~
| cs_gpiod
Here is the current driver from K6.6.29: spi-tegra114.txt (41.5 KB)
We were now able to adapt the driver and so far it seems to work, even tough we just commented out the parts that gave the compilation errors. Here the current working driver file: spi-tegra114.txt (57.5 KB)
As this seams a bit messy, we still would like to receive a working driver by NVidia with the necessary patches. Please keep us updated.
Thank you.
