Feather RP2040 CAN bus

Overview

The Adafruit RP2040 CANBUS Feather [1] board is based on the RP2040 microcontroller from Raspberry Pi Ltd. The board has a CAN bus controller, and a Stemma QT connector for easy sensor usage. It is compatible with the Feather board form factor, and has a USB type C connector.

Hardware

Microcontroller Raspberry Pi RP2040, with a max frequency of 133 MHz
Dual ARM Cortex M0+ cores
264 kByte SRAM
8 Mbyte QSPI flash
17 GPIO pins
4 ADC pins
I2C
SPI
UART
USB type C connector
Reset and boot buttons
Red LED
RGB LED (Neopixel)
Stemma QT I2C connector
CAN bus controller
Built-in lithium ion battery charger

Default Zephyr Peripheral Mapping

A0 ADC0 : GPIO26
A1 ADC1 : GPIO27
A2 ADC2 : GPIO28
A3 ADC3 : GPIO29
D24 : GPIO24
D25 : GPIO25
SCK SPI1 SCK : GPIO14
MO SPI1 MOSI : GPIO15
MI SPI1 MISO : GPIO8
RX UART0 : GPIO1
TX UART0 : GPIO0
D4 : GPIO4
SDA I2C1 : GPIO2
SCL I2C1 : GPIO3
D5 : GPIO5
D6 : GPIO6
D9 : GPIO9
D10 : GPIO10
D11 : GPIO11
D12 : GPIO12
D13 and red LED : GPIO13
Button BOOT : GPIO7
RGB LED (Neopixel) signal : GPIO21
RGB LED (Neopixel) power : GPIO20
CAN controller CS : GPIO19
CAN controller INTERRUPT : GPIO22
CAN controller RESET (not used) : GPIO18
CAN controller STANDBY (not used) : GPIO16
CAN controller TX0RTS (not used) : GPIO17
CAN controller RX0BF (not used) : GPIO23

The CAN controller is also connected to the SPI1 pins SCK, MOSI and MISO.

Supported Features

The adafruit_feather_canbus_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.

`adafruit_feather_canbus_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	GPIO pins exposed on Adafruit Feather headers1	`adafruit-feather-header`
	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`
Input	on-board	Group of GPIO-bound input keys1	`gpio-keys`
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`
LED strip	on-board	The pio node configured for ws28121	`worldsemi,ws2812-rpi_pico-pio`
Miscellaneous	on-chip	Raspberry Pi Pico PIO1 1	`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 adafruit_feather_canbus_rp2040 board supports the runners and associated west commands listed below.

	flash	debug
uf2	✅ (default)

The Adafruit RP2040 CANBUS Feather board does not expose the SWDIO and SWCLK pins, so programming must be done via the USB port. 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.

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 adafruit_feather_canbus_rp2040 samples/basic/blinky/
west flash

Try also the LED strip, Input dump, Console over USB CDC ACM and Analog-to-Digital Converter (ADC) with devicetree samples.

To run the Controller Area Network (CAN) counter CAN sample:

# From the root of the zephyr repository
west build -b adafruit_feather_canbus_rp2040 -o -DCONFIG_LOOPBACK_MODE=n samples/drivers/can/counter
west flash

Connect the other end of the CAN cable to a CAN interface connected to your laptop. If you are using a Linux laptop, receive the CAN frames by:

sudo ip link set can0 up type can bitrate 125000
candump can0

Send CAN frames to control the LED on the board:

cansend can0 010#00
cansend can0 010#01