Difference between revisions of "CAN"

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m (Minor formatting)
m (Zephyr CAN default bitrate symbol)
 
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*  https://www.politesi.polimi.it/retrieve/a81cb05d-af9c-616b-e053-1605fe0a889a/Implementation_of_CAN_driver_based_on_STM32H753I_EVAL_Board%20%283%29.pdf
 
*  https://www.politesi.polimi.it/retrieve/a81cb05d-af9c-616b-e053-1605fe0a889a/Implementation_of_CAN_driver_based_on_STM32H753I_EVAL_Board%20%283%29.pdf
 +
 +
== Supported Boards ==
  
 
Zephyr 3.7.0 supported STMicro boards with CAN controllers:
 
Zephyr 3.7.0 supported STMicro boards with CAN controllers:
Line 111: Line 113:
 
./stm32h7b3i_dk/stm32h7b3i_dk.dts:24: zephyr,canbus = &fdcan1;
 
./stm32h7b3i_dk/stm32h7b3i_dk.dts:24: zephyr,canbus = &fdcan1;
 
</pre>
 
</pre>
 +
 +
CAN default bit rate from Zephyr 3.7.0 menuconfig:
 +
 +
<pre>
 +
Name: CAN_DEFAULT_BITRATE
 +
Prompt: Default CAN bitrate
 +
Type: int
 +
Value: 125000
 +
 +
Help:
 +
 +
  Default initial CAN bitrate in bits/s. This can be overridden per CAN controller using the
 +
  "bitrate" devicetree property.
 +
 +
Direct dependencies (=y):
 +
    CAN(=y)
 +
 +
Default:
 +
  - 125000
 +
 +
Kconfig definition, with parent deps. propagated to 'depends on'
 +
================================================================
 +
 +
At drivers/can/Kconfig:26
 +
Included via /home/ted/projects/zephyr-project/psas-ers-board-bringup/samples/can/counter/Kconfig:15 -> Kconfig.zephyr:48 -> drivers/Kconfig:15
 +
Menu path: (Top) -> Device Drivers -> Controller Area Network (CAN) drivers
 +
 +
  config CAN_DEFAULT_BITRATE
 +
        int "Default CAN bitrate"
 +
        default 125000
 +
        depends on CAN(=y)
 +
        help
 +
          Default initial CAN bitrate in bits/s. This can be overridden per CAN controller using the
 +
          "bitrate" devicetree property.
 +
</pre>
 +
 +
== Example Projects and Code ==
 +
 +
*  https://github.com/zephyrproject-rtos/zephyr/discussions/69073
 +
 +
== Vulcan Boards ==
 +
 +
*  https://shop.copperforge.cc/products/ac41 - VulCAN USB-CANbus Adapter - Copperforge – Copperforge, LLC
 +
 +
Getting started sending and receiving bytes using Vulcan USB adapter and Python script:
 +
 +
*  https://copperforge.cc/docs/hardware/AC41_vulcan/#sending-your-first-bytes-and-receiving-them-too

Latest revision as of 13:39, 19 September 2025

Controller Area Network (CAN) developed and first released by Bosch in 1973.

2025-09-09

Basic CAN frames versus Canopennode frames . . .

2025-09-14

Masters thesis by William Fornaciari . . .

Supported Boards

Zephyr 3.7.0 supported STMicro boards with CAN controllers: 

ted@localhost:~/projects/zephyr-project/zephyr/boards/st$ grep -nr can ./* | grep '&' | grep can
grep: ./nucleo_f030r8/doc/img/nucleo_f030r8.jpg: binary file matches
grep: ./nucleo_f070rb/doc/img/nucleo_f070rb.jpg: binary file matches
grep: ./nucleo_f091rc/doc/img/nucleo_f091rc.jpg: binary file matches
grep: ./nucleo_f103rb/doc/img/nucleo_f103rb.jpg: binary file matches
grep: ./nucleo_f207zg/doc/img/nucleo_f207zg_zio_left.jpg: binary file matches
./nucleo_f091rc/nucleo_f091rc.dts:23:		zephyr,canbus = &can1;
./nucleo_f091rc/nucleo_f091rc.dts:116:&can1 {
./nucleo_f091rc/nucleo_f091rc.dts:117:	pinctrl-0 = <&can_rx_pa11 &can_tx_pa12>;
./nucleo_f303re/nucleo_f303re.dts:23:		zephyr,canbus = &can1;
./nucleo_f303re/nucleo_f303re.dts:96:&can1 {
./nucleo_f303re/nucleo_f303re.dts:97:	pinctrl-0 = <&can_rx_pb8 &can_tx_pb9>;
./nucleo_f446re/nucleo_f446re.dts:23:		zephyr,canbus = &can2;
./nucleo_f446re/nucleo_f446re.dts:146:&can1 {
./nucleo_f446re/nucleo_f446re.dts:148:	pinctrl-0 = <&can1_rx_pb8 &can1_tx_pb9>;
./nucleo_f446re/nucleo_f446re.dts:153:&can2 {
./nucleo_f446re/nucleo_f446re.dts:154:	pinctrl-0 = <&can2_rx_pb12 &can2_tx_pb13>;
./nucleo_f446ze/nucleo_f446ze.dts:22:		zephyr,canbus = &can1;
./nucleo_f446ze/nucleo_f446ze.dts:180:&can1 {
./nucleo_f446ze/nucleo_f446ze.dts:181:	pinctrl-0 = <&can1_rx_pd0 &can1_tx_pd1>;
./nucleo_f722ze/nucleo_f722ze.dts:24:		zephyr,canbus = &can1;
./nucleo_f722ze/nucleo_f722ze.dts:123:&can1 {
./nucleo_f722ze/nucleo_f722ze.dts:124:	pinctrl-0 = <&can1_rx_pd0 &can1_tx_pd1>;
./nucleo_f746zg/nucleo_f746zg.dts:30:		zephyr,canbus = &can1;
./nucleo_f746zg/nucleo_f746zg.dts:166:&can1 {
./nucleo_f746zg/nucleo_f746zg.dts:167:	pinctrl-0 = <&can1_rx_pd0 &can1_tx_pd1>;
./nucleo_f767zi/nucleo_f767zi.dts:31:		zephyr,canbus = &can1;
./nucleo_f767zi/nucleo_f767zi.dts:165:&can1 {
./nucleo_f767zi/nucleo_f767zi.dts:166:	pinctrl-0 = <&can1_rx_pd0 &can1_tx_pd1>;
./nucleo_g0b1re/nucleo_g0b1re.dts:25:		zephyr,canbus = &fdcan1;
./nucleo_g0Zephyr 3.7.0 supported STMicro boards with CAN controllersb1re/nucleo_g0b1re.dts:181:&fdcan1 {
./nucleo_g0b1re/nucleo_g0b1re.dts:184:	pinctrl-0 = <&fdcan1_rx_pa11 &fdcan1_tx_pa12>;
./nucleo_g0b1re/nucleo_g0b1re.dts:189:&fdcan2 {
./nucleo_g0b1re/nucleo_g0b1re.dts:192:	pinctrl-0 = <&fdcan2_rx_pb0 &fdcan2_tx_pb1>;
./nucleo_g474re/nucleo_g474re.dts:22:		zephyr,canbus = &fdcan1;
./nucleo_g474re/nucleo_g474re.dts:221:&fdcan1 {
./nucleo_g474re/nucleo_g474re.dts:224:	pinctrl-0 = <&fdcan1_rx_pa11 &fdcan1_tx_pa12>;
./nucleo_h563zi/nucleo_h563zi-common.dtsi:155:&fdcan1 {
./nucleo_h563zi/nucleo_h563zi-common.dtsi:156:	pinctrl-0 = <&fdcan1_rx_pd0 &fdcan1_tx_pd1>;
./nucleo_h563zi/nucleo_h563zi.dts:25:		zephyr,canbus = &fdcan1;
./nucleo_h743zi/nucleo_h743zi.dts:24:		zephyr,canbus = &fdcan1;
./nucleo_h743zi/nucleo_h743zi.dts:180:&fdcan1 {
./nucleo_h743zi/nucleo_h743zi.dts:181:	pinctrl-0 = <&fdcan1_rx_pd0 &fdcan1_tx_pd1>;
./nucleo_h753zi/nucleo_h753zi.dts:24:		zephyr,canbus = &fdcan1;
./nucleo_h753zi/nucleo_h753zi.dts:159:&fdcan1 {
./nucleo_h753zi/nucleo_h753zi.dts:162:	pinctrl-0 = <&fdcan1_rx_pd0 &fdcan1_tx_pd1>;
./nucleo_l432kc/nucleo_l432kc.dts:20:		zephyr,canbus = &can1;
./nucleo_l432kc/nucleo_l432kc.dts:99:&can1 {
./nucleo_l432kc/nucleo_l432kc.dts:100:	pinctrl-0 = <&can1_rx_pa11 &can1_tx_pa12>;
./nucleo_l433rc_p/nucleo_l433rc_p.dts:22:		zephyr,canbus = &can1;
./nucleo_l433rc_p/nucleo_l433rc_p.dts:118:&can1 {
./nucleo_l433rc_p/nucleo_l433rc_p.dts:119:	pinctrl-0 = <&can1_rx_pa11 &can1_tx_pa12>;
./nucleo_l452re/nucleo_l452re_common.dtsi:22:		zephyr,canbus = &can1;
./nucleo_l452re/nucleo_l452re_common.dtsi:102:&can1 {
./nucleo_l452re/nucleo_l452re_common.dtsi:103:	pinctrl-0 = <&can1_rx_pa11 &can1_tx_pa12>;
./nucleo_u575zi_q/nucleo_u575zi_q.dts:22:		zephyr,canbus = &fdcan1;
./nucleo_u575zi_q/nucleo_u575zi_q-common.dtsi:181:&fdcan1 {
./nucleo_u575zi_q/nucleo_u575zi_q-common.dtsi:184:	pinctrl-0 = <&fdcan1_rx_pd0 &fdcan1_tx_pd1>;
./nucleo_u5a5zj_q/nucleo_u5a5zj_q-common.dtsi:173:&fdcan1 {
./nucleo_u5a5zj_q/nucleo_u5a5zj_q-common.dtsi:176:	pinctrl-0 = <&fdcan1_rx_pd0 &fdcan1_tx_pd1>;
./nucleo_u5a5zj_q/nucleo_u5a5zj_q.dts:22:		zephyr,canbus = &fdcan1;
./stm32f072b_disco/stm32f072b_disco.dts:21:		zephyr,canbus = &can1;
./stm32f072b_disco/stm32f072b_disco.dts:118:&can1 {
./stm32f072b_disco/stm32f072b_disco.dts:119:	pinctrl-0 = <&can_rx_pb8 &can_tx_pb9>;
./stm32f3_disco/stm32f3_disco.dts:21:		zephyr,canbus = &can1;
./stm32f3_disco/stm32f3_disco.dts:184:&can1 {
./stm32f3_disco/stm32f3_disco.dts:185:	pinctrl-0 = <&can_rx_pd0 &can_tx_pd1>;
./stm32f4_disco/stm32f4_disco.dts:22:		zephyr,canbus = &can2;
./stm32f4_disco/stm32f4_disco.dts:129:&can1 {
./stm32f4_disco/stm32f4_disco.dts:130:	pinctrl-0 = <&can1_rx_pb8 &can1_tx_pb9>;
./stm32f4_disco/stm32f4_disco.dts:135:&can2 {
./stm32f4_disco/stm32f4_disco.dts:136:	pinctrl-0 = <&can2_rx_pb5 &can2_tx_pb13>;
./stm32h573i_dk/stm32h573i_dk.dts:24:		zephyr,canbus = &fdcan1;
./stm32h573i_dk/stm32h573i_dk.dts:253:&fdcan1 {
./stm32h573i_dk/stm32h573i_dk.dts:256:	pinctrl-0 = <&fdcan1_rx_pa11 &fdcan1_tx_pa12>;
./stm32h735g_disco/stm32h735g_disco.dts:22:		zephyr,canbus = &fdcan1;
./stm32h735g_disco/stm32h735g_disco.dts:213:&fdcan1 {
./stm32h735g_disco/stm32h735g_disco.dts:214:	pinctrl-0 = <&fdcan1_rx_ph14 &fdcan1_tx_ph13>;
./stm32h735g_disco/stm32h735g_disco.dts:225:&fdcan2 {
./stm32h735g_disco/stm32h735g_disco.dts:226:	pinctrl-0 = <&fdcan2_rx_pb5 &fdcan2_tx_pb6>;
./stm32h735g_disco/stm32h735g_disco.dts:237:&fdcan3 {
./stm32h735g_disco/stm32h735g_disco.dts:238:	pinctrl-0 = <&fdcan3_rx_pf6 &fdcan3_tx_pf7>;
./stm32h745i_disco/stm32h745i_disco_stm32h745xx_m7.dts:24:		zephyr,canbus = &fdcan1;
./stm32h745i_disco/stm32h745i_disco_stm32h745xx_m7.dts:220:&fdcan1 {
./stm32h745i_disco/stm32h745i_disco_stm32h745xx_m7.dts:222:	pinctrl-0 = <&fdcan1_tx_ph13 &fdcan1_rx_ph14>;
./stm32h745i_disco/stm32h745i_disco_stm32h745xx_m7.dts:234:&fdcan2 {
./stm32h745i_disco/stm32h745i_disco_stm32h745xx_m7.dts:236:	pinctrl-0 = <&fdcan2_tx_pb13 &fdcan2_rx_pb5>;
./stm32h7b3i_dk/stm32h7b3i_dk.dts:24:		zephyr,canbus = &fdcan1;

CAN default bit rate from Zephyr 3.7.0 menuconfig: 

Name: CAN_DEFAULT_BITRATE
Prompt: Default CAN bitrate
Type: int
Value: 125000

Help:

  Default initial CAN bitrate in bits/s. This can be overridden per CAN controller using the
  "bitrate" devicetree property.

Direct dependencies (=y):
     CAN(=y)

Default:
  - 125000

Kconfig definition, with parent deps. propagated to 'depends on'
================================================================

At drivers/can/Kconfig:26
Included via /home/ted/projects/zephyr-project/psas-ers-board-bringup/samples/can/counter/Kconfig:15 -> Kconfig.zephyr:48 -> drivers/Kconfig:15
Menu path: (Top) -> Device Drivers -> Controller Area Network (CAN) drivers

  config CAN_DEFAULT_BITRATE
        int "Default CAN bitrate"
        default 125000
        depends on CAN(=y)
        help
          Default initial CAN bitrate in bits/s. This can be overridden per CAN controller using the
          "bitrate" devicetree property.

Example Projects and Code

Vulcan Boards

Getting started sending and receiving bytes using Vulcan USB adapter and Python script:

Retrieved from "https://wiki.neelanurseries.com/index.php?title=CAN&oldid=8506"