ports/mimxrt: Add machine.CAN driver.

openmv · Dec 3, 2023 · 59b60d5 · 59b60d5
1 parent 93c6af9
commit 59b60d5
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Showing 8 changed files with 958 additions and 1 deletion.
diff --git a/ports/mimxrt/Makefile b/ports/mimxrt/Makefile
@@ -150,6 +150,10 @@ ifeq ($(MICROPY_PY_MACHINE_SDCARD),1)
 SRC_HAL_IMX_C += $(MCU_DIR)/drivers/fsl_usdhc.c
 endif
 
+ifeq ($(MCU_SERIES),$(filter $(MCU_SERIES), MIMXRT1021 MIMXRT1052 MIMXRT1062 MIMXRT1064 MIMXRT1176))
+SRC_HAL_IMX_C += $(MCU_DIR)/drivers/fsl_flexcan.c
+endif
+
 ifeq ($(MCU_SERIES),$(filter $(MCU_SERIES), MIMXRT1015 MIMXRT1021 MIMXRT1052 MIMXRT1062 MIMXRT1064 MIMXRT1176))
 SRC_HAL_IMX_C += \
 	$(MCU_DIR)/drivers/fsl_qtmr.c \
@@ -188,6 +192,7 @@ SRC_C += \
 	led.c \
 	machine_adc.c \
 	machine_bitstream.c \
+	machine_can.c \
 	machine_i2c.c \
 	machine_i2s.c \
 	machine_led.c \

diff --git a/ports/mimxrt/README.md b/ports/mimxrt/README.md
@@ -8,6 +8,7 @@ MIMXRT1064_EVK boards.
 Features:
   - REPL over USB VCP
   - machine.ADC
+  - machine.CAN
   - machine.I2C
   - machine.LED
   - machine.Pin
@@ -27,7 +28,7 @@ Features:
 Known issues:
 
 TODO:
-  - More peripherals (Counter, I2S, CAN, etc)
+  - More peripherals (Counter, I2S, etc)
   - More Python options
 
 ## Build Instructions

diff --git a/ports/mimxrt/boards/OPENMV_RT1060/mpconfigboard.h b/ports/mimxrt/boards/OPENMV_RT1060/mpconfigboard.h
@@ -17,6 +17,8 @@ extern void mimxrt_hal_bootloader(void);
 
 #define MICROPY_PY_NETWORK_HOSTNAME_DEFAULT "openmvrt1060"
 
+#define MICROPY_PY_MACHINE_CAN      (1)
+
 #define MICROPY_HW_USB_MSC          (1)
 #define MICROPY_HW_USB_VID          0x1209
 #define MICROPY_HW_USB_PID          0xabd1
@@ -134,6 +136,17 @@ extern void mimxrt_hal_bootloader(void);
     { 0 }, { 0 }, \
     { IOMUXC_GPIO_AD_B0_12_LPI2C4_SCL }, { IOMUXC_GPIO_AD_B0_13_LPI2C4_SDA },
 
+// Define the mapping hardware CAN # to logical CAN #
+// Bus      HW-CAN       Logical CAN
+// External FLEXCAN2 ->  0
+
+#define MICROPY_HW_CAN_INDEX { 2 }
+#define MICROPY_HW_NUM_CAN_IRQS (1)
+
+#define IOMUX_TABLE_CAN \
+    { 0 }, { 0 }, \
+    { IOMUXC_GPIO_AD_B0_02_FLEXCAN2_TX }, { IOMUXC_GPIO_AD_B0_03_FLEXCAN2_RX },
+
 #define USDHC_DUMMY_PIN NULL, 0
 #define MICROPY_USDHC1 \
     { \