Controller Area Network¶
This sample demonstrates how to use the Controller Area Network (CAN) API. Messages with standard and extended identifiers are sent over the bus. Messages are received using message-queues and work-queues. Reception is indicated by blinking the LED (if present) and output to the console.
Building and Running¶
In loopback mode, the board receives its own messages. This could be used for standalone testing.
The LED output pin is defined in the board’s devicetree.
The sample can be built and executed for boards with a SoC that have an integrated CAN controller or for boards with a SoC that has been augmented with a stand alone CAN controller.
Integrated CAN controller¶
For the NXP TWR-KE18F board:
# From the root of the zephyr repository west build -b twr_ke18f samples/drivers/CAN west flash
Stand alone CAN controller¶
For the nrf52dk_nrf52832 board combined with the DFRobot CAN bus V2.0 shield that provides the MCP2515 CAN controller:
# From the root of the zephyr repository west build -b nrf52dk_nrf52832 samples/drivers/CAN -- -DSHIELD=dfrobot_can_bus_v2_0 -DCONF_FILE=prj.mcp2515.conf west flash
Change LED filter ID: 0 Finished init. Counter filter id: 4 uart:~$ Counter received: 0 Counter received: 1 Counter received: 2 Counter received: 3
The values shown above might differ.