CAN
====

This guide will show you how to connect and test CAN on the phyCORE-i.MX8X development kit. The development kit provides a single CAN interface (CAN1) located at connector X100.

.. image:: ../../images/phycore-imx8x/pcm-065_can_callout.webp
   :width: 800px
   :alt: CAN


.. note:: UART2 (X99) and CAN1 (X100) cannot be used at the same time.

Requirements
--------------

*  DB9 Male 2x5 to RS232 Female Cable (Included in development kit)
* `PCAN-USB Adapter <https://phytools.com/collections/usb-interfaces/products/pcan-usb-adapter>`_
* `CAN Cable <https://phytools.com/products/pcan-cable-2-w-120-ohm-termination>`_
* `PCAN-View Software <https://phytools.com/products/pcan-view-free-can-software>`_

Setting Up Hardware
-----------------------

* Make sure the development kit is powered off.

* Make sure the configuration switch (S6) is set to the OFF position.

  .. image:: ../../images/phycore-imx8x/pcm-065_S6-callout.webp
     :width: 500px

* Connect the DB9 to 2X5 connector cable to the connector X100 on the development kit and one end of the CAN cable.

* Connect the other end of the CAN cable to the PCAN-USB Adapter and the USB side of the adapter to your host PC.

  .. note:: If you cannot find your device in the listed hardware, ensure that you have the correct driver installed on your host PC. You can obtain the driver `here <https://www.peak-system.com/quick/DrvSetup>`_.

Setting Up Host PC with PCAN-View
-----------------------------------

* Download PCAN-View from the link above.

* Extract the files to a desired location and run the executable. Windows may decide the file is a risk but clicking "More info" will allow you to run the program.

  .. image:: ../../images/phycore-imx8x/pcm-065_can-pcan-setup.webp
     :width: 400px


  .. image:: ../../images/phycore-imx8x/pcm-065_can-pcan-setup2.webp
     :width: 400px

* Once PCAN-View is open you should see your device in the list of available hardware. Set the "Bit rate:" field to 1MBit/s and click OK.

  .. image:: ../../images/phycore-imx8x/pcm-065_can-pcan-setup3.webp
     :width: 500px


Setting the Bitrate
---------------------

* Double check the CAN cable connections, switch S6, and that PCAN-View detects your PCAN-USB device.

* Power on the kit to get into the Linux console.

* Configure the CAN interface with the same bit rate (1MBit/s) as the PCAN-View software.

  .. code-block:: none
    :caption: Target (Linux)

    ip link set can0 down
    ip link set can0 up type can bitrate 1000000
    ip link set can0 up

Sending CAN Messages
----------------------

* Use the "cansend" command to send data over the CAN bus.

  .. code-block:: none
    :caption: Target (Linux)

    cansend can0 000#DE.AD.BE.EF.CA.FE.BA.BE

* Verify that the data appears correctly in the "Receive" window of the PCAN-View software.

  .. image:: ../../images/phycore-imx8x/pcm-065_can-send.webp
     :width: 500px

Receiving CAN Messages
-----------------------

* Set up the test message in PCAN-View by going to the "Transmit" tab and selecting "New Message".

* Enter in "DEADBEEFCAFEBABE" as the hex data and then click OK.

  .. image:: ../../images/phycore-imx8x/pcm-065_can-receive.webp
     :width: 500px

* Use the "candump" command to allow the development kit to listen for incoming data from the CAN bus.

  .. code-block:: none
     :caption: Target (Linux)

     candump can0

* Select the message in the PCAN-View software and press space-bar to send the message.

* The message should print to the development kit console.

  .. code-block:: none
     :caption: Expected Output

     root@imx8qxpmek:~# candump can0
     can0  000   [8]  DE AD BE ED CA FE BA BE

* Press Ctrl + C to stop the candump command.