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Merged
iabdalkader merged 1 commit into from
Jul 5, 2026
Merged

Kwabena/mimxrt can #142

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31 changes: 31 additions & 0 deletions docs/mimxrt/pinout.rst
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Expand Up @@ -477,3 +477,34 @@ assignment to the Encoder or Counter are:

Pins J3_14, J3_15, J4_19, J4_20, J5_15, J5_16, J5_17, J5_22, J5_23, J5_24, J5_25 and J5_26.
Pins J3_14 and J3_15 cannot be used for the match output.


.. _mimxrt_can_pinout:

|
|

Hardware CAN pin assignment
---------------------------

Pin assignments for a few MIMXRT boards. The list show the MCU TX/RX pins.

================= =========== =========== =======
Board CAN1 CAN2 CAN3
================= =========== =========== =======
Teensy 4.0 A8/A9 D1/D0 -
Teensy 4.1 A8/A9 D1/D0 D31/D30
Seeed Arch MIX J4_08/J4_09 J3_14/J3_15
MIMXRT1020_DEV Transceiver - -
MIMXRT1050_DEV Transceiver - -
MIMXRT1060_DEV Transceiver - -
MIMXRT1064_DEV Transceiver - -
MIMXRT1170_DEV Transceiver D4/D8 -
phyBOARD-RT1170 CAN port - -
================= =========== =========== =======

All supported MIMXRT Developments boards are equipped with a CAN transceiver
and do expose it's MCU pins. At the 3 pin transceiver connector
CAN_H is as pin 1, CAN_L at Pin 3. Pin 2 is connected to GND.
A documentation showing the CAN pin assignments of the phyBOARD-RT1170
does not seem to be accessible.
2 changes: 2 additions & 0 deletions extmod/machine_can.c
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Expand Up @@ -272,6 +272,7 @@ static void machine_can_init_helper(machine_can_obj_t *self, size_t n_args, cons
int brp = calculate_brp(bitrate_nom, f_clock, &tseg1, &tseg2, sample_point, false);

// Set up the hardware
self->bitrate = bitrate_nom;
self->tseg1 = tseg1;
self->tseg2 = tseg2;
self->brp = brp;
Expand Down Expand Up @@ -567,6 +568,7 @@ static mp_obj_t machine_can_set_filters(mp_obj_t self_in, mp_obj_t filters) {
);
}
}
machine_can_port_set_filter_done(self);

return mp_const_none;
}
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5 changes: 4 additions & 1 deletion extmod/machine_can_port.h
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Expand Up @@ -92,7 +92,7 @@ typedef struct {
typedef struct _machine_can_obj_t {
mp_obj_base_t base;
mp_uint_t can_idx;

uint32_t bitrate;
// Timing register settings
byte tseg1;
byte tseg2;
Expand Down Expand Up @@ -154,6 +154,9 @@ static mp_uint_t machine_can_port_max_data_len(mp_uint_t flags);
// CAN_MSG_FLAG_EXT_ID bit in 'flags' differentiates the type).
static void machine_can_port_set_filter(machine_can_obj_t *self, int filter_idx, mp_uint_t can_id, mp_uint_t mask, mp_uint_t flags);

// Report that the set of filters is complete for now.
static void machine_can_port_set_filter_done(machine_can_obj_t *self);

// Update interrupt configuration based on the new contents of 'self'
static void machine_can_update_irqs(machine_can_obj_t *self);

Expand Down
6 changes: 6 additions & 0 deletions ports/mimxrt/Makefile
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Expand Up @@ -185,6 +185,10 @@ endif
ifeq ($(MCU_SERIES),$(filter $(MCU_SERIES), MIMXRT1021 MIMXRT1052 MIMXRT1062 MIMXRT1064 MIMXRT1176))
SRC_HAL_IMX_C += $(MCUX_SDK_DIR)/drivers/usdhc/fsl_usdhc.c
INC_HAL_IMX += -I$(TOP)/$(MCUX_SDK_DIR)/drivers/usdhc

SRC_HAL_IMX_C += $(MCUX_SDK_DIR)/drivers/flexcan/fsl_flexcan.c
INC_HAL_IMX += -I$(TOP)/$(MCUX_SDK_DIR)/drivers/flexcan
MICROPY_PY_MACHINE_CAN = 1
endif

ifeq ($(MCU_SERIES),$(filter $(MCU_SERIES), MIMXRT1015 MIMXRT1021 MIMXRT1052 MIMXRT1062 MIMXRT1064 MIMXRT1176))
Expand Down Expand Up @@ -413,6 +417,7 @@ endif
# Set default values for optional variables
MICROPY_HW_SDRAM_AVAIL ?= 0
MICROPY_HW_SDRAM_SIZE ?= 0
MICROPY_PY_MACHINE_CAN ?= 0

# Configure default compiler flags
CFLAGS += \
Expand All @@ -434,6 +439,7 @@ CFLAGS += \
-DMICROPY_HW_FLASH_SIZE=$(MICROPY_HW_FLASH_SIZE) \
-DMICROPY_HW_SDRAM_AVAIL=$(MICROPY_HW_SDRAM_AVAIL) \
-DMICROPY_HW_SDRAM_SIZE=$(MICROPY_HW_SDRAM_SIZE) \
-DMICROPY_PY_MACHINE_CAN=$(MICROPY_PY_MACHINE_CAN) \
-DXIP_BOOT_HEADER_ENABLE=1 \
-DXIP_EXTERNAL_FLASH=1 \
-fdata-sections \
Expand Down
8 changes: 8 additions & 0 deletions ports/mimxrt/boards/MIMXRT1020_EVK/mpconfigboard.h
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Expand Up @@ -77,6 +77,14 @@
{ 0 }, { 0 }, \
{ IOMUXC_GPIO_SD_B1_02_LPI2C4_SCL }, { IOMUXC_GPIO_SD_B1_03_LPI2C4_SDA },

#define MICROPY_HW_CAN1_NAME "CAN1"
#define MICROPY_HW_NUM_CAN (1)
#define MICROPY_HW_CAN_INDEX { 1 }
#define MICROPY_HW_NUM_CAN_IRQS (1)

#define IOMUX_TABLE_CAN \
{ IOMUXC_GPIO_SD_B1_00_FLEXCAN1_TX }, { IOMUXC_GPIO_SD_B1_01_FLEXCAN1_RX },

#define MICROPY_PY_MACHINE_I2S (1)
#define MICROPY_HW_I2S_NUM (1)
#define I2S_CLOCK_MUX { 0, kCLOCK_Sai1Mux, kCLOCK_Sai2Mux }
Expand Down
9 changes: 9 additions & 0 deletions ports/mimxrt/boards/MIMXRT1050_EVK/mpconfigboard.h
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Expand Up @@ -65,6 +65,15 @@
{ 0 }, { 0 }, \
{ IOMUXC_GPIO_AD_B1_07_LPI2C3_SCL }, { IOMUXC_GPIO_AD_B1_06_LPI2C3_SDA },

#define MICROPY_HW_CAN1_NAME "CAN1"
#define MICROPY_HW_NUM_CAN (1)
#define MICROPY_HW_CAN_INDEX { 2 }
#define MICROPY_HW_NUM_CAN_IRQS (1)

#define IOMUX_TABLE_CAN \
{ 0 }, { 0 }, \
{ IOMUXC_GPIO_AD_B0_14_FLEXCAN2_TX }, { IOMUXC_GPIO_AD_B0_15_FLEXCAN2_RX },

#define MICROPY_PY_MACHINE_I2S (1)
#define MICROPY_HW_I2S_NUM (1)
#define I2S_CLOCK_MUX { 0, kCLOCK_Sai1Mux, kCLOCK_Sai2Mux }
Expand Down
9 changes: 9 additions & 0 deletions ports/mimxrt/boards/MIMXRT1060_EVK/mpconfigboard.h
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Expand Up @@ -65,6 +65,15 @@
{ 0 }, { 0 }, \
{ IOMUXC_GPIO_AD_B1_07_LPI2C3_SCL }, { IOMUXC_GPIO_AD_B1_06_LPI2C3_SDA },

#define MICROPY_HW_CAN1_NAME "CAN1"
#define MICROPY_HW_NUM_CAN (1)
#define MICROPY_HW_CAN_INDEX { 2 }
#define MICROPY_HW_NUM_CAN_IRQS (1)

#define IOMUX_TABLE_CAN \
{ 0 }, { 0 }, \
{ IOMUXC_GPIO_AD_B0_14_FLEXCAN2_TX }, { IOMUXC_GPIO_AD_B0_15_FLEXCAN2_RX },

#define MICROPY_PY_MACHINE_I2S (1)
#define MICROPY_HW_I2S_NUM (1)
#define I2S_CLOCK_MUX { 0, kCLOCK_Sai1Mux, kCLOCK_Sai2Mux }
Expand Down
9 changes: 9 additions & 0 deletions ports/mimxrt/boards/MIMXRT1064_EVK/mpconfigboard.h
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Expand Up @@ -65,6 +65,15 @@
{ 0 }, { 0 }, \
{ IOMUXC_GPIO_AD_B1_07_LPI2C3_SCL }, { IOMUXC_GPIO_AD_B1_06_LPI2C3_SDA },

#define MICROPY_HW_CAN1_NAME "CAN1"
#define MICROPY_HW_NUM_CAN (1)
#define MICROPY_HW_CAN_INDEX { 2 }
#define MICROPY_HW_NUM_CAN_IRQS (1)

#define IOMUX_TABLE_CAN \
{ 0 }, { 0 }, \
{ IOMUXC_GPIO_AD_B0_14_FLEXCAN2_TX }, { IOMUXC_GPIO_AD_B0_15_FLEXCAN2_RX },

#define MICROPY_PY_MACHINE_I2S (1)
#define MICROPY_HW_I2S_NUM (1)
#define I2S_CLOCK_MUX { 0, kCLOCK_Sai1Mux, kCLOCK_Sai2Mux }
Expand Down
11 changes: 11 additions & 0 deletions ports/mimxrt/boards/MIMXRT1170_EVK/mpconfigboard.h
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Expand Up @@ -103,6 +103,17 @@
{ IOMUXC_GPIO_LPSR_05_LPI2C5_SCL }, { IOMUXC_GPIO_LPSR_04_LPI2C5_SDA }, \
{ IOMUXC_GPIO_LPSR_11_LPI2C6_SCL }, { IOMUXC_GPIO_LPSR_10_LPI2C6_SDA },

#define MICROPY_HW_CAN1_NAME "CAN1"
#define MICROPY_HW_CAN2_NAME "CAN2"
#define MICROPY_HW_NUM_CAN (2)
#define MICROPY_HW_CAN_INDEX { 3, 1 }
#define MICROPY_HW_NUM_CAN_IRQS (2)

#define IOMUX_TABLE_CAN \
{ IOMUXC_GPIO_AD_06_FLEXCAN1_TX }, { IOMUXC_GPIO_AD_07_FLEXCAN1_RX }, \
{ 0 }, { 0 }, \
{ IOMUXC_GPIO_LPSR_00_FLEXCAN3_TX }, { IOMUXC_GPIO_LPSR_01_FLEXCAN3_RX },

#define MICROPY_PY_MACHINE_I2S (1)
#define MICROPY_HW_I2S_NUM (1)
#define I2S_CLOCK_MUX { 0, kCLOCK_Root_Sai1, kCLOCK_Root_Sai2, kCLOCK_Root_Sai3, kCLOCK_Root_Sai4 }
Expand Down
2 changes: 2 additions & 0 deletions ports/mimxrt/boards/OPENMV_RT1060/mpconfigboard.h
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Expand Up @@ -156,6 +156,8 @@ extern void mimxrt_hal_bootloader(void);
// Bus HW-CAN Logical CAN
// External FLEXCAN2 -> 0

#define MICROPY_HW_CAN1_NAME "CAN1"
#define MICROPY_HW_NUM_CAN (1)
#define MICROPY_HW_CAN_INDEX { 2 }
#define MICROPY_HW_NUM_CAN_IRQS (1)

Expand Down
10 changes: 10 additions & 0 deletions ports/mimxrt/boards/PHYBOARD_RT1170/mpconfigboard.h
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Expand Up @@ -107,6 +107,16 @@
{ IOMUXC_GPIO_LPSR_08_LPI2C5_SDA }, { IOMUXC_GPIO_LPSR_09_LPI2C5_SCL }, \
{ 0 }, { 0 },

#define MICROPY_HW_CAN1_NAME "CAN1"
#define MICROPY_HW_NUM_CAN (1)
#define MICROPY_HW_CAN_INDEX { 3 }
#define MICROPY_HW_NUM_CAN_IRQS (1)

#define IOMUX_TABLE_CAN \
{ 0 }, { 0 }, \
{ 0 }, { 0 }, \
{ IOMUXC_GPIO_LPSR_00_FLEXCAN3_TX }, { IOMUXC_GPIO_LPSR_01_FLEXCAN3_RX },

#define MICROPY_PY_MACHINE_I2S (1)
#define MICROPY_HW_I2S_NUM (1)
#define I2S_CLOCK_MUX { 0, kCLOCK_Root_Sai1, kCLOCK_Root_Sai2, kCLOCK_Root_Sai3, kCLOCK_Root_Sai4 }
Expand Down
9 changes: 9 additions & 0 deletions ports/mimxrt/boards/SEEED_ARCH_MIX/mpconfigboard.h
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Expand Up @@ -77,6 +77,15 @@
{ IOMUXC_GPIO_B0_04_LPI2C2_SCL }, { IOMUXC_GPIO_B0_05_LPI2C2_SDA }, \
{ IOMUXC_GPIO_AD_B1_07_LPI2C3_SCL }, { IOMUXC_GPIO_AD_B1_06_LPI2C3_SDA }

#define MICROPY_HW_CAN1_NAME "CAN1"
#define MICROPY_HW_NUM_CAN (2)
#define MICROPY_HW_CAN_INDEX { 1, 2 }
#define MICROPY_HW_NUM_CAN_IRQS (2)

#define IOMUX_TABLE_CAN \
{ IOMUXC_GPIO_AD_B1_08_FLEXCAN1_TX }, { IOMUXC_GPIO_AD_B1_09_FLEXCAN1_RX }, \
{ IOMUXC_GPIO_AD_B0_14_FLEXCAN2_TX }, { IOMUXC_GPIO_AD_B0_15_FLEXCAN2_RX },

#define MICROPY_PY_MACHINE_I2S (1)
#define MICROPY_HW_I2S_NUM (1)
#define I2S_CLOCK_MUX { 0, kCLOCK_Sai1Mux }
Expand Down
10 changes: 10 additions & 0 deletions ports/mimxrt/boards/TEENSY40/mpconfigboard.h
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Expand Up @@ -68,6 +68,16 @@
{ IOMUXC_GPIO_AD_B1_07_LPI2C3_SCL }, { IOMUXC_GPIO_AD_B1_06_LPI2C3_SDA }, \
{ IOMUXC_GPIO_AD_B0_12_LPI2C4_SCL }, { IOMUXC_GPIO_AD_B0_13_LPI2C4_SDA },

#define MICROPY_HW_CAN1_NAME "CAN1"
#define MICROPY_HW_CAN2_NAME "CAN2"
#define MICROPY_HW_NUM_CAN (2)
#define MICROPY_HW_CAN_INDEX { 1, 2 }
#define MICROPY_HW_NUM_CAN_IRQS (2)

#define IOMUX_TABLE_CAN \
{ IOMUXC_GPIO_AD_B1_08_FLEXCAN1_TX }, { IOMUXC_GPIO_AD_B1_09_FLEXCAN1_RX }, \
{ IOMUXC_GPIO_AD_B0_02_FLEXCAN2_TX }, { IOMUXC_GPIO_AD_B0_03_FLEXCAN2_RX },

#define MICROPY_PY_MACHINE_I2S (1)
#define MICROPY_HW_I2S_NUM (2)
#define I2S_CLOCK_MUX { 0, kCLOCK_Sai1Mux, kCLOCK_Sai2Mux }
Expand Down
12 changes: 12 additions & 0 deletions ports/mimxrt/boards/TEENSY41/mpconfigboard.h
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Expand Up @@ -70,6 +70,18 @@
{ IOMUXC_GPIO_AD_B1_07_LPI2C3_SCL }, { IOMUXC_GPIO_AD_B1_06_LPI2C3_SDA }, \
{ IOMUXC_GPIO_AD_B0_12_LPI2C4_SCL }, { IOMUXC_GPIO_AD_B0_13_LPI2C4_SDA },

#define MICROPY_HW_CAN1_NAME "CAN1"
#define MICROPY_HW_CAN2_NAME "CAN2"
#define MICROPY_HW_CAN3_NAME "CAN3"
#define MICROPY_HW_NUM_CAN (3)
#define MICROPY_HW_CAN_INDEX { 1, 2, 3 }
#define MICROPY_HW_NUM_CAN_IRQS (3)

#define IOMUX_TABLE_CAN \
{ IOMUXC_GPIO_AD_B1_08_FLEXCAN1_TX }, { IOMUXC_GPIO_AD_B1_09_FLEXCAN1_RX }, \
{ IOMUXC_GPIO_AD_B0_02_FLEXCAN2_TX }, { IOMUXC_GPIO_AD_B0_03_FLEXCAN2_RX }, \
{ IOMUXC_GPIO_EMC_36_FLEXCAN3_TX }, { IOMUXC_GPIO_EMC_37_FLEXCAN3_RX },

#define MICROPY_PY_MACHINE_I2S (1)
#define MICROPY_HW_I2S_NUM (2)
#define I2S_CLOCK_MUX { 0, kCLOCK_Sai1Mux, kCLOCK_Sai2Mux }
Expand Down
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