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

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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

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