CANBed RP2040

Overview

The Longan Labs CANBed RP2040 [1] board is based on the RP2040 microcontroller from Raspberry Pi Ltd. The board has a CAN bus controller and an I2C connector for easy sensor usage. It has a micro USB connector.

Hardware

Microcontroller Raspberry Pi RP2040, with a max frequency of 133 MHz
Dual ARM Cortex M0+ cores
264 kByte SRAM
2 Mbyte QSPI flash
13 GPIO pins
4 ADC pins
I2C
SPI
UART
Micro USB connector
Reset and boot buttons
Blue user LED
Grove I2C connector, compatible with Qwiic/Stemma QT if using adapter cable
Grove UART connector
CAN bus controller MCP2515
CAN bus transceiver SN65HVD230

Default Zephyr Peripheral Mapping

Label	Pin	Default pin mux
LED	GPIO18

Main header (sorted according to schematic pin numbering):

Label	Pin	Default pin mux	Also in connector
GND
24	GPIO24
23	GPIO23
22	GPIO22
21	GPIO21
SCL	GPIO7	I2C1 SCL	I2C connector
SDA	GPIO6	I2C1 SDA	I2C connector
TX	GPIO0	UART0 TX	UART connector
RX	GPIO1	UART0 RX	UART connector
10	GPIO10
19	GPIO19
20	GPIO20
A3	GPIO29	ADC3
25	GPIO25
A0	GPIO26	ADC0
A1	GPIO27	ADC1
A2	GPIO28	ADC2
3V3

Grove I2C connector (pins also available in the main header):

Label	Pin	Default pin mux
SCL	GPIO7	I2C1 SCL
SDA	GPIO6	I2C1 SDA
3V3
GND

Grove UART connector (pins also available in the main header):

Label	Pin	Default pin mux
RX	GPIO1	UART0 RX
TX	GPIO0	UART0 TX
3V3
GND

SPI header:

Label	Pin	Default pin mux
MISO	GPIO4	SPI0 MISO
SCK	GPIO2	SPI0 SCK
8	GPIO8
GND
MOSI	GPIO3	SPI0 MOSI
3V3

CAN controller:

Label	Pin	Default pin mux
CANCS	GPIO9
INT	GPIO11

The CAN controller is also connected to the SPI0 pins SCK, MOSI and MISO (see above).

Supported Features

The canbed_rp2040 board supports the hardware features listed below.

on-chip / on-board: Feature integrated in the SoC / present on the board.
2 / 2: Number of instances that are enabled / disabled.
Click on the label to see the first instance of this feature in the board/SoC DTS files.
vnd,foo: Compatible string for the Devicetree binding matching the feature.
Click on the link to view the binding documentation.

`canbed_rp2040/rp2040` target

Type	Location	Description	Compatible
CPU	on-chip	ARM Cortex-M0+ CPU2	`arm,cortex-m0+`
ADC	on-chip	Raspberry Pi Pico ADC1	`raspberrypi,pico-adc`
CAN	on-board	MCP2515 SPI CAN controller1	`microchip,mcp2515`
Clock control	on-chip	Raspberry Pi Pico clock controller node1	`raspberrypi,pico-clock-controller`
	on-chip	The representation of Raspberry Pi Pico’s clock11 2	`raspberrypi,pico-clock`
	on-chip	The representation of Raspberry Pi Pico’s PLL2	`raspberrypi,pico-pll`
	on-chip	The representation of Raspberry Pi Pico ring oscillator1	`raspberrypi,pico-rosc`
	on-chip	The representation of Raspberry Pi Pico external oscillator1	`raspberrypi,pico-xosc`
Counter	on-chip	Raspberry Pi Pico timer1	`raspberrypi,pico-timer`
DMA	on-chip	Raspberry Pi Pico DMA1	`raspberrypi,pico-dma`
Flash controller	on-chip	Raspberry Pi Pico flash controller1	`raspberrypi,pico-flash-controller`
GPIO & Headers	on-chip	Raspberry Pi Pico GPIO1	`raspberrypi,pico-gpio`
	on-chip	Raspberry Pi Pico GPIO Port1	`raspberrypi,pico-gpio-port`
	on-board	STEMMA QT is a 4-pin JST-SH connector for I2C devices1	`stemma-qt-connector`
I2C	on-chip	Raspberry Pi Pico I2C1 1	`raspberrypi,pico-i2c`
Interrupt controller	on-chip	ARMv6-M NVIC (Nested Vectored Interrupt Controller) controller1	`arm,v6m-nvic`
LED	on-board	Group of GPIO-controlled LEDs1	`gpio-leds`
Miscellaneous	on-chip	Raspberry Pi Pico PIO2	`raspberrypi,pico-pio`
MTD	on-chip	Flash node1	`soc-nv-flash`
MTD	on-board	Fixed partitions of a flash (or other non-volatile storage) memory1	`fixed-partitions`
Pin control	on-chip	Raspberry Pi Pico Pin Controller1	`raspberrypi,pico-pinctrl`
PWM	on-chip	Raspberry Pi Pico PWM1	`raspberrypi,pico-pwm`
Regulator	on-chip	Raspberry Pi Pico core supply regurator1	`raspberrypi,core-supply-regulator`
Reset controller	on-chip	Raspberry Pi Pico Reset Controller1	`raspberrypi,pico-reset`
RTC	on-chip	Raspberry Pi Pico RTC1	`raspberrypi,pico-rtc`
Sensors	on-chip	Raspberry Pi Pico family temperature sensor node1	`raspberrypi,pico-temp`
Serial controller	on-chip	Raspberry Pi Pico UART1 1	`raspberrypi,pico-uart`
SPI	on-chip	Raspberry Pi Pico SPI1 1	`raspberrypi,pico-spi`
SRAM	on-chip	Generic on-chip SRAM1	`mmio-sram`
Timer	on-chip	ARMv6-M System Tick1	`arm,armv6m-systick`
USB	on-chip	Raspberry Pi Pico USB Device Controller1	`raspberrypi,pico-usbd`
Watchdog	on-chip	Raspberry Pi Pico Watchdog1	`raspberrypi,pico-watchdog`

Programming and Debugging

The canbed_rp2040 board supports the runners and associated west commands listed below.

	flash	debug	rtt	attach	debugserver
blackmagicprobe	✅	✅		✅
jlink	✅	✅	✅	✅	✅
openocd	✅	✅ (default)	✅	✅	✅
pyocd	✅	✅	✅	✅	✅
uf2	✅ (default)

By default programming is done via the USB connector. Press and hold the BOOT button, and then press the RST button, and the device will appear as a USB mass storage unit. Building your application will result in a build/zephyr/zephyr.uf2 file. Drag and drop the file to the USB mass storage unit, and the board will be reprogrammed.

It is also possible to program and debug the board via the SWDIO and SWCLK pins. Then a separate programming hardware tool is required, and for example the openocd software is used. Typically the OPENOCD and OPENOCD_DEFAULT_PATH values should be set when building, and the --runner openocd argument should be used when flashing. For more details on programming RP2040-based boards, see Programming and Debugging.

Flashing

To run the Blinky sample:

# From the root of the zephyr repository
west build -b canbed_rp2040 samples/basic/blinky/
west flash

Try also the Hello World, Analog-to-Digital Converter (ADC) with devicetree and Controller Area Network (CAN) counter samples.

The use of the Grove/Qwiic/Stemma QT I2C connector is demonstrated using the Generic Light Sensor Polling sample and a separate shield:

# From the root of the zephyr repository
west build -b canbed_rp2040 --shield adafruit_veml7700 samples/sensor/light_polling
west flash