CANnectivity

Overview

CANnectivity is an open source firmware for Universal Serial Bus (USB) to Controller Area Network (CAN) adapters.

The firmware implements the Geschwister Schneider USB/CAN device protocol (often referred to as "gs_usb"). This protocol is supported by the Linux kernel SocketCAN gs_usb driver, by python-can, and by many other software packages.

The firmware, which is based on the Zephyr RTOS, allows turning your favorite microcontroller development board into a full-fledged USB to CAN adapter.

CANnectivity is licensed under the Apache-2.0 license.

Firmware Features

The CANnectivity firmware supports the following features, some of which depend on hardware support:

• CAN classic
• CAN FD (flexible data rate)
• Fast-speed and Hi-speed USB
• Multiple, independent CAN channels
• GPIO-controlled LEDs:
  • CAN channel state LEDs
  • CAN channel activity LEDs
  • Visual CAN channel identification
• GPIO-controlled CAN bus termination resistors
• Hardware timestamping of received and transmitted CAN frames
• CAN bus state reporting
• CAN bus error reporting
• Automatic gs_usb driver loading under Linux using custom udev rules
• Automatic WinUSB driver installation under Microsoft Windows 8.1 and newer
• USB Device Firmware Upgrade (DFU) mode

Hardware Requirements

Since the CANnectivity firmware is based on the Zephyr RTOS, it requires Zephyr support for the board it is to run on. The board configuration must support both an USB device driver and at least one CAN controller.

Check the list of supported boards in the Zephyr documentation to see if your board is already supported. If not, have a look at the instructions in the board porting guide.

Board Configuration

By default, CANnectivity relies on the devicetree zephyr,canbus chosen node property for specifying the CAN controller to use. If a devicetree alias for led0 is present, it is used as status LED. This means that virtually any Zephyr board configuration supporting USB device, a CAN controller, and an optional user LED will work without any further configuration.

Advanced board configuration (e.g. multiple CAN controllers, multiple LEDs, hardware timestamp counter) is also supported via devicetree overlays. Check the description for the cannectivity devicetree binding and example devicetree overlays.

Building and Running

Building the CANnectivity firmware requires a proper Zephyr development environment. Follow the official Zephyr Getting Started Guide to establish one.

Once a proper Zephyr development environment is established, inialize the workspace folder (here my-workspace). This will clone the CANnectivity firmware repository and download the necessary Zephyr modules:

west init -m https://github.com/CANnectivity/cannectivity --mr main my-workspace
cd my-workspace
west update

Next, build the CANnectivity firmware in its default configuration for your board (here lpcxpresso55s16) using west:

west build -b lpcxpresso55s16/lpc55s16 cannectivity/app/

To use the release configuration, which has reduced log levels, set FILE_SUFFIX=release:

west build -b lpcxpresso55s16/lpc55s16 cannectivity/app/ -- -DFILE_SUFFIX=release

Build configurations for using the experimental device_next USB device stack in Zephyr are also provided. These can be selected by setting either FILE_SUFFIX=usbd_next or FILE_SUFFIX=usbd_next_release.

After building, the firmware can be flashed to the board by running the west flash command.

USB Device Firmware Upgrade (DFU) Mode

CANnectivity supports USB Device Firmware Upgrade (DFU) via the MCUboot bootloader. This is intended for use with boards without an on-board programmer.

To build CANnectivity with MCUboot integration for USB DFU use sysbuild with the sysbuild-dfu.conf configuration file when building for your board (here frdm_k64f):

west build -b frdm_k64f/mk64f12  --sysbuild ../custom/cannectivity/app/ -- -DSB_CONF_FILE=sysbuild-dfu.conf

After building, MCUboot and the CANnectivity firmware can be flashed to the board by running the west flash command.

Subsequent CANnectivity firmware updates can be applied via USB DFU. In order to do so, the board must first be booted into USB DFU mode. If your board has a dedicated DFU button (identified by the mcuboot-button0 devicetree alias) press and hold it for 5 seconds or press and hold the button while powering up the board. If your board has a DFU LED (identified by the mcuboot-led0 devicetree alias), the LED will flash while the DFU button is being held and change to constant on once DFU mode is activated. Refer to your board documentation for further details.

Once in DFU mode, the CANnectivity firmware can be updated using dfu-util:

dfu-util -a 1 -D build/app/zephyr/zephyr.signed.bin.dfu

CANnectivity as a Zephyr Module

The CANnectivity firmware repository is a Zephyr module which allows for reuse of its components (i.e. the "gs_usb" protocol implementation) outside of the CANnectivity firmware application.

To pull in CANnectivity as a Zephyr module, either add it as a West project in the west.yaml file or pull it in by adding a submanifest (e.g. zephyr/submanifests/cannectivity.yaml) file with the following content and run west update:

manifest:
  projects:
    - name: cannectivity
      url: https://github.com/CANnectivity/cannectivity.git
      revision: main
      path: custom/cannectivity # adjust the path as needed