AURA SOM/AURA Hardware/Peripherals/CAN

History
Issue Date	Notes
2023/09/12	First release

Peripheral CAN

The CAN interface available on AURA is based on i.MX93 SoC. The SOC includes two instances of CAN-FD Controllers (CAN-FD1 is in AONMIX and CAN-FD2 is in WAKEUPMIX).

The FlexCAN module is a full implementation of the CAN with Flexible Data Rate (CAN FD) protocol specification and CAN protocol specification, Version 2.0 B compliant with the ISO 11898-1:2015 standard

Description

The FlexCAN module includes these distinctive features:

• Flexible mailboxes configurable to store 0 to 8, 16, 32, or 64 bytes data length
  • Each mailbox configurable as receive or transmit, all supporting standard and extended messages
• Individual Rx Mask registers per mailbox
• Full-featured
  • legacy Rx FIFO with storage capacity for up to six frames and automatic internal pointer handling with DMA support
  • enhanced Rx FIFO with storage capacity for up to 20 CAN FD frames
• Transmission abort capability
• Flexible message buffers (MBs), totaling 96 message buffers of 8 bytes data length each, configurable as Rx or Tx
• Programmable
  • Loop-Back mode supporting self-test operation
  • Programmable transmission priority scheme: lowest ID, lowest buffer number, or highest priority
• Time stamp based on 32-bit free running timer, with an optional external time tick
• Short latency time due to an arbitration scheme for high-priority messages
• Low power modes, with programmable wakeup on bus activity
• Powerful
  • legacy Rx FIFO ID filtering, capable of matching incoming IDs against either 128 extended, 256 standard, or 512 partial (8 bit) IDs, with up to 32 individual masking capability
  • Enhanced Rx FIFO ID filtering, capable of matching incoming IDs against either 64 extended or 128 standard ID filter elements with three filtering schemes: mask + filter, range, and two filters without mask

Pin mapping

The Pin mapping is described in the Pinout table section

---