Difference between revisions of "IoTGateway/BSP/Android/Gettingstarted/How to use CAN Bus"

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== ROM-3421 ==
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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 ====
  
 
{| border="1" cellspacing="1" cellpadding="1" style="width:500px;"
 
{| border="1" cellspacing="1" cellpadding="1" style="width:500px;"
 
|+ CAN0(CAN bus 0) CAN1(CAN bus 1)
 
|+ CAN0(CAN bus 0) CAN1(CAN bus 1)
 
|-
 
|-
−
| Pin
+
|  Pin
−
| Signal
+
|  Signal
−
| Pin
+
|  Pin
 
| Signal
 
| Signal
 
|-
 
|-
−
| 1
+
|  1
 
|  -
 
|  -
−
| 2
+
|  2
 
|  -
 
|  -
 
|-
 
|-
−
| 3
+
|  3
−
| CAN0_D-
+
|  CAN0_D-
−
| 4
+
|  4
 
|  -
 
|  -
 
|-
 
|-
−
| 5
+
|  5
−
| CAN0_D+
+
|  CAN0_D+
−
| 6
+
|  6
 
|  -
 
|  -
 
|-
 
|-
−
| 7
+
|  7
 
|  - 
 
|  - 
−
| 8
+
|  8
 
|  -
 
|  -
 
|-
 
|-
−
| 9
+
|  9
 
|  GND
 
|  GND
−
| 10
+
|  10
 
|  -
 
|  -
 
|}
 
|}
 +
 +
====  ROM-7421 ====
 +
 +
{| border="1" cellspacing="1" cellpadding="1" style="width:500px;"
 +
|+ CAN0(CAN bus 0)
 +
|-
 +
|  Pin
 +
|  Signal
 +
|  Pin
 +
|  Signal
 +
|-
 +
|  1
 +
|  -
 +
|  2
 +
|  CAN0_D-
 +
|-
 +
|  3
 +
| <br/>
 +
| &nbsp;4
 +
| &nbsp;-
 +
|-
 +
| &nbsp;5
 +
| &nbsp;GND<br/>
 +
| &nbsp;6
 +
| &nbsp;GND
 +
|-
 +
| &nbsp;7
 +
| &nbsp;CAN0_D+&nbsp;
 +
| &nbsp;8
 +
| &nbsp;-
 +
|-
 +
| &nbsp;9
 +
| &nbsp;
 +
| &nbsp;10
 +
| &nbsp;-
 +
|}
 +
 +
 +
 +
=== Configuration/Test ===
 +
 +
==== Configuration ====
 +
 +
Connect CAN0 to CAN1
 +
 +
<tt>CAN0_D+&nbsp;</tt>connect to <tt>CAN1_D+</tt>
 +
 +
<tt>CAN0_D-&nbsp;</tt>connect to <tt>CAN1_D-</tt>
 +
<pre># ip link set can0 up type can bitrate 125000
 +
# ip link set can1 up type can bitrate 125000</pre>
  
  
−
=== Configuration ===
 
  
−
=== Test ===
+
==== Test ====
  
 
*Test 1
 
*Test 1
 +
<pre># candump can1 &
 +
# cansend can0 12345678#123412341234
 +
</pre>
  
 +
The following shows the result
 +
<pre>can1  12345678  [6]  12 34 12 34 12 34
 +
</pre>
  
 +
*Test 2
 +
<pre># cansend can0 133#ababdede
 +
</pre>
  
−
&nbsp;
+
The following shows the result
 +
<pre>can1      133  [4]  AB AB DE DE
 +
</pre>

Latest revision as of 08:18, 3 February 2017

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
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