Altera Linux - How to configure CAN bus?

All,

I figured out how to get the CAN bus working. I thought I would just share here in case anyone else runs into this question and might find this helpful:

1. Download the 13.1 binaries for Altera Linux

http://software.altera.com/linux_socfpga/0dcda22e23aa08c250fb3446daf36231/?version=13.1cb

Follow this guide and make sure default release works on development board

http://rocketboards.org/foswiki/documentation/gsrdbootlinuxsd

2. Download 3.11 kernel and compile. This is needed for CAN support. If you have not set up the compiler, see this for reference. http://rocketboards.org/foswiki/documentation/gitgettingstarted

cd ~
git clone http://git.rocketboards.org/linux-socfpga.git 
cd linux-socfpga
git checkout -b socfpga-3.11 origin/socfpga-3.11
export CROSS_COMPILE=~/gcc-linaro-arm-linux-gnueabihf-4.7-2012.11-20121123_linux/bin/arm-linux-gnueabihf-
make ARCH=arm socfpga_defconfig
make ARCH=arm uImage LOADADDR=0x8000
make ARCH=arm dtbs
make ARCH=arm modules

Once the kernel finishes building, mount the sd card partition 1 and update the kernel.

cd ~/linux-socfpga/arch/arm/boot
cp zImage sdcard/zImage
cp dts/socfpga_cyclone5.dtb sdcard/socfpga.dtb

Verify development board boots and test the kernel version by uname -a

You should also see the can bus if you type: ip link show

3. Download Yocto to build the new rootfs. This is needed to add the iproute2 to enable the CAN bus.

http://rocketboards.org/foswiki/documentation/gsrdgettingstartedyocto

Add the following line to ~/yocto/build/conf/local.conf

IMAGE_INSTALL_append = " iproute2"

You will want to build the rootfs by:

bitbake altera-gsrd-image

Look in ~/yocto/build/tmp/deploy/images to find the rootfs. Use a linux machine to dd this to the 2nd partition on the sd card.

cd ~/yocto/build/tmp/deploy/images
dd if=altera-image-socfpga_cyclone5.ext3 of=/dev/sdx2

4. Connect to the development board through the usb/serial port. You should now have the right "ip"

Initialize the can0:

ip link set can0 up type can bitrate 125000
ifconfig can0 up

Helpful reference

http://www.armadeus.com/wiki/index.php?title=can_bus_linux_driver

Now that the can bus is up and running, I am following an example like the following to send messages.

http://en.wikipedia.org/wiki/socketcan

There may be a better way going about all this. Let me know if there is.

John