Merge pull request #9982 from SamantazFox/teensy-can

canio: Add support for i.MX 10xx series of chips
adafruit · Jan 21, 2025 · 04d9c53 · 04d9c53
2 parents 25ef665 + 69c88eb
commit 04d9c53
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Showing 15 changed files with 814 additions and 2 deletions.
diff --git a/locale/circuitpython.pot b/locale/circuitpython.pot
@@ -1019,6 +1019,7 @@ msgstr ""
 
 #: ports/atmel-samd/common-hal/canio/Listener.c
 #: ports/espressif/common-hal/canio/Listener.c
+#: ports/mimxrt10xx/common-hal/canio/Listener.c
 #: ports/stm/common-hal/canio/Listener.c
 msgid "Filters too complex"
 msgstr ""
@@ -2140,6 +2141,10 @@ msgstr ""
 msgid "Unable to read color palette data"
 msgstr ""
 
+#: ports/mimxrt10xx/common-hal/canio/CAN.c
+msgid "Unable to send CAN Message: all Tx message buffers are busy"
+msgstr ""
+
 #: ports/espressif/common-hal/mdns/Server.c
 #: ports/raspberrypi/common-hal/mdns/Server.c
 msgid "Unable to start mDNS query"

diff --git a/ports/mimxrt10xx/Makefile b/ports/mimxrt10xx/Makefile
@@ -126,6 +126,10 @@ SRC_SDK +=	drivers/adc_12b1msps_sar/fsl_adc.c \
 	drivers/tempmon/fsl_tempmon.c
 endif
 
+ifeq ($(CIRCUITPY_CANIO), 1)
+SRC_SDK +=	drivers/flexcan/fsl_flexcan.c
+endif
+
 ifeq ($(CHIP_FAMILY), MIMXRT1176)
 SRC_SDK += devices/$(CHIP_FAMILY)/drivers/fsl_anatop_ai.c \
 	devices/$(CHIP_FAMILY)/drivers/fsl_dcdc.c \

diff --git a/ports/mimxrt10xx/boards/teensy41/mpconfigboard.mk b/ports/mimxrt10xx/boards/teensy41/mpconfigboard.mk
@@ -7,5 +7,6 @@ CHIP_VARIANT = MIMXRT1062DVJ6A
 CHIP_FAMILY = MIMXRT1062
 FLASH = W25Q64JV
 CIRCUITPY__EVE = 1
+CIRCUITPY_CANIO = 1
 CIRCUITPY_USB_HOST = 1
 CIRCUITPY_SETTABLE_PROCESSOR_FREQUENCY = 1
diff --git a/ports/mimxrt10xx/boards/teensy41/pins.c b/ports/mimxrt10xx/boards/teensy41/pins.c
@@ -179,5 +179,23 @@ static const mp_rom_map_elem_t board_module_globals_table[] = {
     {MP_OBJ_NEW_QSTR(MP_QSTR_TX7), MP_ROM_PTR(&pin_GPIO_EMC_31)},
     {MP_OBJ_NEW_QSTR(MP_QSTR_RX8), MP_ROM_PTR(&pin_GPIO_B1_13)},
     {MP_OBJ_NEW_QSTR(MP_QSTR_TX8), MP_ROM_PTR(&pin_GPIO_B1_12)},
+
+    // CAN and CAN-FD
+    {MP_OBJ_NEW_QSTR(MP_QSTR_CAN1_RX),  MP_ROM_PTR(&pin_GPIO_AD_B1_09)},
+    {MP_OBJ_NEW_QSTR(MP_QSTR_CAN1_TX),  MP_ROM_PTR(&pin_GPIO_AD_B1_08)},
+
+    {MP_OBJ_NEW_QSTR(MP_QSTR_CAN2_RX),  MP_ROM_PTR(&pin_GPIO_AD_B0_03)},
+    {MP_OBJ_NEW_QSTR(MP_QSTR_CAN2_TX),  MP_ROM_PTR(&pin_GPIO_AD_B0_02)},
+
+    {MP_OBJ_NEW_QSTR(MP_QSTR_CAN3_RX),  MP_ROM_PTR(&pin_GPIO_EMC_37)},
+    {MP_OBJ_NEW_QSTR(MP_QSTR_CAN3_TX),  MP_ROM_PTR(&pin_GPIO_EMC_36)},
+
+    // "CAN" is an alias for CAN1
+    {MP_OBJ_NEW_QSTR(MP_QSTR_CAN_RX),  MP_ROM_PTR(&pin_GPIO_AD_B1_09)},
+    {MP_OBJ_NEW_QSTR(MP_QSTR_CAN_TX),  MP_ROM_PTR(&pin_GPIO_AD_B1_08)},
+
+    // "CANFD" is an alias for CAN3
+    {MP_OBJ_NEW_QSTR(MP_QSTR_CANFD_RX),  MP_ROM_PTR(&pin_GPIO_EMC_37)},
+    {MP_OBJ_NEW_QSTR(MP_QSTR_CANFD_TX),  MP_ROM_PTR(&pin_GPIO_EMC_36)},
 };
 MP_DEFINE_CONST_DICT(board_module_globals, board_module_globals_table);