Dear Colleagues, Hello. Currently i'm working on building fully functional real size humanoid robot. One of major points of my work is connecting peripheral devices through CAN bus to cubieboard. During this activities i have read tonnes of manuals, related to Device Tree Source, but still have alot of problems with connecting mcp2515 to Cubieboard (v1). Would you be so kind to help my in this field? I'm trying to configure it more that month and have no success. My changes in DTS file sun4i-a10-cubieboard.dts represented in following diff: 54a55,59 > can0_oscillator = <&can0_osc>,"oscillator-frequency"; > can0_speed = <&can0>,"spi-max-frequency:0"; > can0_interrupt = <&can0_pins>,"allwinner,pins:PB11",<&can0>,"interrupts:0"; > > 77a83,90 > > /* ************************************************** */ > clocks { > can0_osc: can0_osc { > compatible = "fixed-clock"; > #clock-cells = <0>; > clock-frequency = <16000000>; > }; 78a92 > /* ************************************************* */ 179a194,199 > /* ****************************************************** */ > can0_pins: can0_pins { > allwinner,pins = "PI10", "PI11", "PI12", "PI13"; /* SPI0 */ > allwinner,function = "spi0"; /* input */ > }; > /* ****************************************************** */ 220a241 > /* ***************************************** */ 226c247,258 < }; --- > can0: mcp2515@0 { > reg= <0>; > compatible = "microchip,mcp2515"; > pinctrl-names = "default"; > pinctrl-0 = <&can0_pins>; > spi-max-frequency = <10000000>; > interrupt-parent = <&pio>; > interrupts = <25 0x2>; > clocks = <&can0_osc>; > }; > }; > /* **************************************** */ Original file can be found here https://github.com/torvalds/linux/blob/master/arch/arm/boot/dts/sun4i-a10-cubieboard.dts my CAN controller http://www.amazon.com/gp/product/B0152VCIA6?psc=1&redirect=true&ref_=ox_sc_act_title_1&smid=A1792RTTLO6S27 During compile i've used following settings: Linux Kernel Configuration Device Drivers SPI support Utilites for Bitbanging SPI masters GPIO-based bitbanging SPI Master Allwinner A10 Allwinner A31 Networking support CAN bus subsystem support CAN device drivers Virtual Local CAN Interface (vcan) Platform CAN drivers with Netlink support CAN bit-timing calculation #?? Enable LED triggers for Netlink based drivers TI High End CAN controller (HECC) Allwinner A10 CAN controller CAN SPI Interface Microchip MCP251x SPI CAN controller During startup dmesg shows following: [ 5.178360] CAN device driver interface [ 5.201827] pinconfig core: failed to register map default (1): no configs given [ 5.364882] mcp251x spi32766.0: CANCTRL 0x87 [ 5.365508] mcp251x spi32766.0 can0: set_features() failed (-1); wanted 0x0000000000004008, left 0x0000000000004808 [ 7.047499] mcp251x spi32766.0: failed to acquire irq 0 # ip -s -d link show can0 3: can0: <NOARP,ECHO> mtu 16 qdisc noop state DOWN mode DEFAULT group default qlen 10 link/can promiscuity 0 can <TRIPLE-SAMPLING> state STOPPED restart-ms 0 bitrate 125000 sample-point 0.875 tq 500 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1 mcp251x: tseg1 3..16 tseg2 2..8 sjw 1..4 brp 1..64 brp-inc 1 clock 8000000 re-started bus-errors arbit-lost error-warn error-pass bus-off 0 0 0 0 0 0 RX: bytes packets errors dropped overrun mcast 0 0 0 0 0 0 TX: bytes packets errors dropped carrier collsns 0 0 0 0 0 0 Your help will be really helpful. Thank you in advance, SA -- To unsubscribe from this list: send the line "unsubscribe linux-spi" in the body of a message to majordomo@xxxxxxxxxxxxxxx More majordomo info at http://vger.kernel.org/majordomo-info.html