Add PAB_CAN board config and device tree (ARK PAB CAN Jetson Carrier)#104
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Add PAB_CAN board config and device tree (ARK PAB CAN Jetson Carrier)#104AlexKlimaj wants to merge 7 commits into
AlexKlimaj wants to merge 7 commits into
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…etson Carrier
New product target for the PAB CAN carrier (Rev 1.0), derived from PAB_V3 per
its schematic change log ("Initial Release Based on ARK PAB Jetson Carrier V3;
Remove IO MCU; Swap power input connectors").
Schematic comparison against PAB V3 Rev 3.0 (sheet by sheet):
- Jetson blocks 1-3, cameras (dev-kit i2c-mux dual CSI), micro HDMI (active-low
HPD via Q21 inverter), USB (usb2-0/1/2 + usb3-0 USB-C, USB4715 hub), M.2 Key E
and Key M, and UARTA/UARTB wiring are identical, so the fragment carries over.
- The KSZ8795 ethernet switch is replaced by a Microchip LAN9646 on the same
management bus (module SPI0 -> spi@3210000 CS0, spi1_pz3-6 pins) with the same
reset GPIO (SWITCH_RSTn, module pin 211 -> PAC.06). The fragment swaps the
node to compatible "microchip,lan9646"; the R36 5.15 kernel has no LAN9646
driver (DSA support landed upstream in 6.13) and the switch runs
strap-configured, so the node documents the wiring and reserves CS0. The
KS8995 defconfig fragment is dropped since it only served the KSZ8795.
- Jetson CAN (module pins 143/145) now feeds an on-board TCAN1057A transceiver
to the Pixhawk Payload Bus connector. mttcan@c310000 is already enabled by
the stock BSP tree and can0/can0_din pinmux is already in the shared BCT, so
no kernel DT change is needed for can0 to come up.
- UART0 moves from the M.2 Key E Bluetooth pins to an external JST-GH (J19) and
UART2 from the PAB_V3 debug connector to the UART2/I2C0 JST-GH (J20); both
stay on the same module pins, so the existing uarta/uartb setup is unchanged.
- The PAB_V3 SW_PMEn input (module pin 216) is unconnected on this carrier; its
BCT config (rsvd0, pulled up, input) is safe as-is, so the BCT files are
byte-identical to PAB_V3.
Register the PAB_CAN target in build/flash/setup/provision, packaging (tag
prefix pab-can-), the CI tag matrix (matched before pab-*), device-tree
tooling, and docs.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_013wvSbvPTrgdKjnPzVuh7Tv
dakejahl
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mttcan@c310000 is enabled by the stock BSP tree and can0_dout_paa0/can0_din_paa1 pinmux is already in the BCT so can0 comes up out of the box.
so jetson-can service is not needed it sounds like
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
…AB_V3 and PAB_CAN
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Summary
Adds a new
PAB_CANproduct target for the ARK PAB CAN Jetson Carrier Rev 1.0, derived fromPAB_V3— matching the schematic change log: "Initial Release Based on ARK PAB Jetson Carrier V3; Remove IO MCU; Swap power input connectors."Built from a sheet-by-sheet comparison of the PAB CAN Rev 1.0 schematic against PAB V3 Rev 3.0, plus the production BOM.
What's identical to PAB_V3 (fragment carries over unchanged)
serial3) — the UARTs moved to different connectors (see below) but stay on the same module pinsWhat changed
BOOT_MODE=011,MGMT_MODESPI client). No DSA driver on R36 5.15. Traffic works as a plain L2 switch; SPI management does not respond (MISO stays silent / 0x00). See below.gpio-hogthen drives HIGH so the rising edge latches straps and starts unmanaged ROM boot. Leave the hog high for the life of Linux.mttcan@c310000is enabled by the stock BSP tree andcan0pinmux is already in the BCT, socan0comes up out of the box.Ethernet switch: unmanaged mode (no DSA)
Hardware is strapped for:
BOOT_MODE) — internal ROM configures a basic L2 switch after nRESET deassertMGMT_MODE) — management pins exist on Jetson SPI1 /spi@3210000CS0, but this path is not usable todayImplications:
spi@0/ CS0 yields no response (MISO idle / all zeros). There is no in-tree LAN9645x DSA driver on JetPack R36 (5.15); even with spidev/raw SPI, the switch does not answer management traffic in this unmanaged ROM-boot setup. The DT node (compatible = "microchip,lan96455s") documents the wiring and reserves CS0 so stocktegra-spidevis not double-registered — it does not imply a working SPI control path.gpio-output-lowon PAC.06 + kernel hogoutput-high.Dropped the now-useless
CONFIG_MICREL_KS8995MAdefconfig fragment (KSZ8795).Registration
PAB_CANadded tobuild.sh(incl.all),flash.sh,setup.sh,provision.sh, packaging scripts (tag prefixpab-can-, matched beforepab-*in CI),.github/workflows/build.yml,scripts/device_tree/classify.sh, and docs (README, cameras, gpio, i2c, device-tree, packaging).Validation (bench)
./build.sh PAB_CAN+ flash on hardware.192.168.0.1/24, vehicle192.168.0.4).Known limitations
spi@0for configuration.