IoTGateway/BSP/Android/Gettingstarted/How to use CAN Bus

i.MX6 uses the internal FlexCAN(Flexible Controller Area Network) module implementing the CAN protocol according to the CAN 2.0B.

Pin Define

ROM-3420

CAN0(CAN bus 0) CAN1(CAN bus 1)

Pin	Signal	Pin	Signal
1	-	2	-
3	CAN0_D-	4	-
5	CAN0_D+	6	-
7	-	8	-
9	GND	10	-

 ROM-7421

CAN0(CAN bus 0)

Pin	Signal	Pin	Signal
1	-	2	CAN0_D-
3		4	-
5	GND	6	GND
7	CAN0_D+	8	-
9		10	-

Configuration/Test

Configuration

Connect CAN0 to CAN1

CAN0_D+ connect to CAN1_D+

CAN0_D- connect to CAN1_D-

# ip link set can0 up type can bitrate 125000
# ip link set can1 up type can bitrate 125000

Test

• Test 1

# candump can1 &
# cansend can0 12345678#123412341234

The following shows the result

can1  12345678   [6]  12 34 12 34 12 34

• Test 2

# cansend can0 133#ababdede

The following shows the result

can1       133   [4]  AB AB DE DE