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CAN (Controller Area Network) on Colibri Module

 

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Article updated at 14 May 2020
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Colibri Modules

CAN on Colibri iMX6

Colibri iMX6 features two Controller Area Network (CAN) interfaces. The interface is provided by secondary functions on the SODIMM pins. The interface is therefore not compatible with all the modules in the Colibri family. The following table shows the location of the pins:

SODIMM PinColibri Signal Namei.MX6 Signal NameDescription
63
186
PS2 SCL1
ADDRESS17
FLEXCAN1_RXCAN receive pin
55
184
PS2 SDA1
ADDRESS18
FLEXCAN1_TXCAN transmit pin
188ADDRESS16FLEXCAN2_RXCAN receive pin
178DATA30FLEXCAN2_TXCAN transmit pin

If only one CAN interface is required, the interface on Pin 63/55 is preferable since it is compatible with other NXP based Colibri modules.

CAN on Colibri iMX6ULL

Colibri iMX6ULL features two Controller Area Network (CAN) interfaces. The interface is provided by secondary functions on the SODIMM pins. The interface is therefore not compatible with all the modules in the Colibri family. The following table shows the location of the pins:

SODIMM PinColibri Signal Namei.MX6ULL Signal NameDescription
63
48
49
186
PS2 SCL1
LCD RGB Data<9>
SDCard DAT<1>
ADDRESS17
can1.RXCAN receive pin
55
62
100
192
PS2 SDA1
LCD RGB Data<8>
Keypad_Out<1>
SDCard DAT<0>
can1.TXCAN transmit pin
188
34
50
53
ADDRESS16
UART_B RTS
LCD RGB Data<11>
SDCard DAT<3>
can2.RXCAN receive pin
178
32
51
74
DATA30
UART_B CTS
SDCard DAT<2>
LCD RGB Data<10>
can2.TXCAN transmit pin

If only one CAN interface is required, the interface on Pin 63/55 is preferable since it is compatible with other NXP based Colibri modules.

CAN on Colibri VFxx

Colibri VFxx features two Controller Area Network (CAN) interfaces. The interface is provided by secondary functions on the SODIMM pins. The interface is therefore not compatible with all the modules in the Colibri family. The following table shows the location of the pins:

SODIMM PinColibri Signal NameVybrid Signal NameDescription
63GPIOCAN1_RXCAN receive pin
55GPIOCAN1_TXCAN transmit pin
196I2C SCLCAN0_RXCAN receive pin
194I2C SDACAN0_TXCAN transmit pin

If only one CAN interface is required, the interface on Pin 63/55 is preferable since it is compatible with other NXP based Colibri modules.

CAN on Colibri i.MX7

Colibri i.MX7 features two Controller Area Network (CAN) interfaces. The interface is provided by secondary functions on the SODIMM pins. The interface is therefore not compatible with all the modules in the Colibri family. The following table shows the location of the pins:

SODIMM PinColibri Signal Namei.MX7 Signal NameDescription
63
90
169
PS2 SCL1
SPI RXD
DATA10
can1.RXCAN receive pin
55
92
PS2 SDA1
SPI TXD
can1.TXCAN transmit pin
188
196
81
ADDRESS16
I2C SCL
Camera Input VSYNC
can2.RXCAN receive pin
178
194
94
DATA30
I2C SDA
Camera Input HSYNC
can2.TXCAN transmit pin

If only one CAN interface is required, the interface on Pin 63/55 is preferable since it is compatible with other NXP based Colibri modules.

CAN on Colibri iMX8X

Colibri i.MX8 features three Controller Area Network (CAN) interfaces, the one located at pin 63/55 is compatible with Colibri iMX6, Colibri iMX6ULL, Colibri iMX7, and the Colibri VFxx modules. When it comes to the 34/22 interface, it is only compatible with Colibri iMX6ULL.

The following table shows the location of the pins:

SODIMM Pin Colibri Signal Name i.MX8X Signal Name Description
63
19
PS2 SCL1
UART_C RXD
ADMA.FLEXCAN1.RX Can receive pin
55
21
PS2 SDA1
UART_C TXD
ADMA.FLEXCAN1.TX Can transmit pin
34
36
UART_B RTS
UART_B RXD
ADMA.FLEXCAN0.RX Can receive pin
32
38
UART_B CTS
UART_B TXD
ADMA.FLEXCAN0.TX Can transmit pin
33 UART_X RXD ADMA.FLEXCAN2.RX Can receive pin
35 UART_A TXD ADMA.FLEXCAN2.TX Can transmit pin

CAN on Colibri PXAxxx, Txx

Other Colibri modules do not feature a native CAN interface. If CAN is required, a CAN controller can be attached on the SPI or parallel system bus to such modules. The Colibri Evaluation Board features such an external CAN controller. Please refer to the schematic of the Colibri Evaluation Board for more details.

Colibri Carrier Boards

CAN on Colibri Evaluation Board

The Colibri Evaluation Board has an SPI to CAN controller (MCP2515), Electrical Isolator and a CAN Transceiver on board. The SPI to CAN controller is compatible with every Colibri module and we provide drivers for it.

CAN on Iris

The Iris Carrier board does not have a CAN chip or CAN transceivers on board, however you can use the CAN interfaces of the Colibri i.MX7 as 3.3V CAN interface.

  • X16 pin 10 and 11, this pins are by default used fo SPI interface.

CAN on Viola V1.2

The Viola Carrier board does not have a CAN chip or CAN transceivers on board, however you can use the CAN interfaces of the Colibri i.MX7, i.MX6 and Vybrid as 3.3V CAN interface.

  • X19 pin 17, 16 CAN1 on i.MX7, i.MX6 and Vybrid
  • X19 pin 5, 6 CAN2 on VFxx and i.MX7, these pins are by default used for I2C
  • X10 pin 8, 9 CAN2 on i.MX7