Problems with mcp2515 on Jetson nano

Robotics & Edge Computing Jetson & Embedded Systems Jetson Nano
1

I have a problem with clock regarding the log:

wlad@ubuntu:/media/wlad/Copy/CAN/jetson-mcp2515$ dmesg | grep can
[    0.000000] OF: fdt:memory scan node memory@80000000, reg size 32,
[    1.055723] tegra-pwm 7000a000.pwm: PWM clk cannot sleep in ops
[    1.086079] of_fixed_clk: probe of can_clock failed with error -17
[    3.792045] mcp251x spi1.0 can0: MCP2515 successfully initialized.
[  440.627905] can: controller area network core (rev 20120528 abi 9)
[  440.666726] can: raw protocol (rev 20120528)

what can I do against the problem with the clock?

3

hello waldemar.friesen,

please see-also this thread,

may I also know which JetPack release you’re currently working with?
thanks

4

32.7.2 (JetPack 4.6.2). It seems to be the problem with the driver “Microchip,mcp2515”, because with “tegra-spidev” it is working somehow. The node with “microchip,mcp2515” will not activated

	hdr40_spi1: spi@7000d400 { /* SPI 0 to 40 pin header */
		status = "okay";
		spi@0 {
			compatible = "tegra-spidev";
			reg = <0x0>;
			spi-max-frequency = <33000000>;
			controller-data {
				nvidia,enable-hw-based-cs;
				nvidia,rx-clk-tap-delay = <7>;
			};
		};
		spi@1 {
			compatible = "tegra-spidev";
			reg = <0x1>;
			spi-max-frequency = <33000000>;
			controller-data {
				nvidia,enable-hw-based-cs;
				nvidia,rx-clk-tap-delay = <7>;
			};
		};
	};

    can_clock: can_clock {
        status = "okay";
    	compatible = "fixed-clock";
    	#clock-cells = <0>;
    	clock-frequency = <16000000>;
    	clock-accuracy = <100>;
    };
	hdr40_spi2: spi@7000d600 { /* SPI 1 to 40 pin header */
		status = "okay";
		spi@0 {
			compatible = "tegra-spidev";
			reg = <0x0>;
			spi-max-frequency = <33000000>;
            nvidia,enable-hw-based-cs;
    		nvidia,rx-clk-tap-delay = <0x6>;
            clocks = <&can_clock>;
            interrupts = <&gpio TEGRA_GPIO(H, 7) 0x1>; // GPIO pin chosen from 40 pin header
			controller-data {
				nvidia,enable-hw-based-cs;
				nvidia,rx-clk-tap-delay = <6>;
			};
		};
		spi@1 {
			compatible = "tegra-spidev";
			reg = <0x1>;
			spi-max-frequency = <33000000>;
            nvidia,enable-hw-based-cs;
    		nvidia,rx-clk-tap-delay = <0x6>;
            clocks = <&can_clock>;
            interrupts = <&gpio TEGRA_GPIO(H, 7) 0x1>; // GPIO pin chosen from 40 pin header
			controller-data {
				nvidia,enable-hw-based-cs;
				nvidia,rx-clk-tap-delay = <6>;
			};
		};
	};

spi@7000d800 {  SPI 2 to 40 pin header 
    	status = "okay";
    	spi@0 {
            status = "okay";
    		compatible = "microchip,mcp2515";
    		reg = <0x0>;
    		spi-max-frequency = <10000000>;
    		nvidia,enable-hw-based-cs;
    		nvidia,rx-clk-tap-delay = <0x6>;
    		clocks = <&can_clock>;
    		interrupts = <&gpio TEGRA_GPIO(H, 7) 0x1>; // GPIO pin chosen from 40 pin header
		};
		spi@1 {
            status = "disabled";
		};
	};

as log message will generated in kernel:

wlad@ubuntu:/media/wlad/Copy/CAN$ make driver 
# http://www.armadeus.org/wiki/index.php?title=CAN_bus_Linux_driver
sudo modprobe spidev
[sudo] password for wlad: 
ls /dev/spi*
/dev/spidev0.0	/dev/spidev0.1	/dev/spidev1.0	/dev/spidev1.1
sudo modprobe can
sudo modprobe can-dev
sudo modprobe can-raw
sudo modprobe mcp251x
sudo modprobe mttcan
# ip link set can0 up type can bitrate 125000
sudo ip link set can0 up type can bitrate 125000 dbitrate 1000000 berr-reporting on fd on
Cannot find device "can0"
Makefile:5: recipe for target 'driver' failed
make: *** [driver] Error 1
wlad@ubuntu:/media/wlad/Copy/CAN$ make dmesg 
# https://developer.ridgerun.com/wiki/index.php/How_to_configure_and_use_CAN_bus
ls -d /sys/bus/spi/drivers/mcp251x
/sys/bus/spi/drivers/mcp251x
ls /sys/class/net/
docker0  dummy0  eth0  l4tbr0  lo  rndis0  usb0  usb1
dmesg | grep -i mcp
[    4.791389] mcp251x spi2.0: MCP251x didn't enter in conf mode after reset
[    4.799280] mcp251x spi2.0: Probe failed, err=16
[    4.819201] mcp251x: probe of spi2.0 failed with error -16
dmesg | fgrep -i can
[    0.000000] OF: fdt:memory scan node memory@80000000, reg size 32,
[    1.048652] tegra-pwm 7000a000.pwm: PWM clk cannot sleep in ops
[    1.079320] of_fixed_clk: probe of can_clock failed with error -17
[    3.759878] CAN device driver interface
[  308.775518] can: controller area network core (rev 20120528 abi 9)
[  308.813820] can: raw protocol (rev 20120528)
5

when can we expect to get fixed version?

6

I have found followed aliases:

spi0 = "/spi@7000d400";
spi1 = "/spi@7000d600";
spi2 = "/spi@7000d800";
spi3 = "/spi@7000da00";

Can it be used in JetPack4.6.2 ?

7

hello waldemar.friesen,

it’s tested on Jetson-Nano, SPI to CAN communication using MCP2515 chip is working successfully.
there are 2 SPI controllers present on Jetson-Nano. MCP is connected under SPI controller SPI 0 and SPI 1
please see-also. Jetson nano and mcp2515 can module - #24 by shgarg for the steps.

9

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