Hello Oliver, It works! 1) I set it 1Mbps for arbitration phase and 4Mbps for data phase as bit rate switching like below. ip link set can0 up type can bitrate 1000000 sample-point 0.75 dbitrate 4000000 dsample-point 0.8 fd on 2) Send CAN FD data cansend can0 123##1122334455667788991011121314151617181920 3) I got the data through CAN bus. ID=291,Type=F,Length=32,Data=11223344556677889910111213141516171819202122232425 It solved! Many Thanks, Jin -----Original Message----- From: Oliver Hartkopp <socketcan@xxxxxxxxxxxx> Sent: Friday, November 20, 2020 10:34 AM To: Jin Park <jpark@xxxxxxxxxxxxxxxxx>; Marc Kleine-Budde <mkl@xxxxxxxxxxxxxx>; manivannan.sadhasivam@xxxxxxxxxx Cc: linux-can@xxxxxxxxxxxxxxx Subject: Re: Question on CAN FD Driver for mcp251xfd EXTERNAL EMAIL - Use caution when responding, clicking, and/or downloading attachments. On 20.11.20 18:14, Jin Park wrote: > Hello Marc, > > Here are my answers. > VAR-SOM-MX8M-Nano board drives MCP2517FD/MCP2518FD (CAN FD controller) and TCAN332G (CAN FD Transceiver) for CAN FD communication. > > 1) Which commands have you tried? > 2) What are the error messages? > Please see below a), b), c), and d). > > a) Based on Bit Rate Switching feature in CAN FD, the bit rate at data phase and arbitration phase (or nominal phase) can be set in CAN FD protocol. > So, I tried below. > - command > ip link set can0 type can dbitrate 1000000 > > - error message > RTNETLINK answers: Operation not supported > > You need to apply both bitrates at the same time, e.g. $ ip link set can0 up type can bitrate 500000 sample-point 0.75 dbitrate 4000000 dsample-point 0.8 fd on See at: https://www.kernel.org/doc/Documentation/networking/can.txt Regards, Oliver > > b) To turn on FD mode, I tried below. > - command > ip link set can0 type can fd on > > - error message > RTNETLINK answers: Operation not supported > > > > c) To send CAN FD message, I tried below. Th > - command > cansend can0 123##1 > > - error message > CAN interface is not CAN FD capable - sorry. > > - help text for cansend > <can_id>#{R|data} for CAN 2.0 frames > <can_id>##<flags>{data} for CAN FD frames > > <can_id> can have 3 (SFF) or 8 (EFF) hex chars {data} has 0..8 (0..64 > CAN FD) ASCII hex-values (optionally separated by '.') <flags> a > single ASCII Hex value (0 .. F) which defines canfd_frame.flags > > e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / 123##1 / 213##311 > 1F334455#1122334455667788 / 123#R for remote transmission request. > > > > > > d) TCAN332G (CAN FD Transceiver) can support 5Mbps at data phase in CAN FD mode. > Current supported maximum bitrate in the driver is now 1Mbps at nominal rate. > (FYI, bit rate in data phase at CAN FD protocol is up to 8Mbps) > Where: BITRATE := { 1..1000000 } > SAMPLE-POINT := { 0.000..0.999 } > TQ := { NUMBER } > PROP-SEG := { 1..8 } > PHASE-SEG1 := { 1..8 } > PHASE-SEG2 := { 1..8 } > SJW := { 1..4 } > RESTART-MS := { 0 | NUMBER } > > > > 3) What doesn't work exactly? > > I would like to send and receive messages in CAN FD with Bit Rate Switching (Arbitration phase: 1Mbps, Data phase: 5Mbps). > So far, CAN FD mode doesn't turn on with above commands. > > Thanks, > Jin > > > -----Original Message----- > From: Marc Kleine-Budde <mkl@xxxxxxxxxxxxxx> > Sent: Thursday, November 19, 2020 11:11 PM > To: Jin Park <jpark@xxxxxxxxxxxxxxxxx>; > manivannan.sadhasivam@xxxxxxxxxx > Subject: Re: Question on CAN FD Driver for mcp251xfd > > Hello Jin Park, > > please use the linux-can mailing list (linux-can@xxxxxxxxxxxxxxx) for community question. There are other people interested in these question, please add list on Cc. > > On 11/20/20 4:03 AM, Jin Park wrote: >> I am using MCP251XFD SPI-CAN Network Driver with VAR-SOM-MX8M-NANO >> board now and would like to ask whether it can support CAN FD features as well. > > Yes it does support CAN-FD. > >> I tried to command with CAN FD features in terminal and it didn’t >> work with CAN FD commands. > > Which commands have you tried? > What are the error messages? > What doesn't work exactly? > >> Is there any plan to release CAN FD Linux Driver in the future, if >> you have worked on CAN FD? > > It should be working. > > Marc >
