FDCAN internal peripheral

Applicable for

STM32MP13x lines, STM32MP15x lines, STM32MP21x lines, STM32MP23x lines, STM32MP25x lines

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1. Article purpose

The purpose of this article is to:

• briefly introduce the FDCAN peripheral and its main features,
• indicate the peripheral instances assignment at boot time and their assignment at runtime (including whether instances can be allocated to secure contexts),
• list the software frameworks and drivers managing the peripheral,
• explain how to configure the peripheral.

2. Peripheral overview

The FDCAN peripheral handles data communication in a Controller Area Network (CAN) bus system using message-based protocol originally designed for in-vehicle communication. The CAN subsystem consists of several CAN modules (2 for STM32MP1 series and 3 for STM32MP2 series), a shared message RAM and a clock calibration unit.

All FDCAN instances are compliant with classic CAN protocol and CAN FD (CAN with Flexible Data-Rate) protocol. In addition, the first CAN module FDCAN1 supports time triggered CAN (TTCAN).

All FDCAN modules share a dedicated 10-Kbyte CAN RAM for message transfers.

Refer to the STM32 MPU reference manuals for the complete list of features, and to the software frameworks and drivers, introduced below, to see which features are implemented.

3. Peripheral usage

This chapter is applicable in the scope of the OpenSTLinux BSP running on the Arm^® Cortex^®-A processor(s), and the STM32CubeMPU Package running on the Arm^® Cortex^®-M processor.

3.1. Boot time assignment

3.1.1. On STM32MP1 series

The FDCAN peripheral is not used at boot time.

3.1.2. On STM32MP21x lines 

Click on to expand or collapse the legend...

Check boxes illustrate the possible peripheral allocations supported by OpenSTLinux BSP:

• ⬚ means that the peripheral can be assigned to the given boot time context, but this configuration is not supported in OpenSTLinux BSP.
• ☐ means that the peripheral can be assigned to the given boot time context.
• ☑ means that the peripheral is assigned by default to the given boot time context and that the peripheral is mandatory for the OpenSTLinux BSP.
• ✓ is used for system peripherals that cannot be unchecked because they are hardware connected in the device.

The present chapter describes STMicroelectronics recommendations or choice of implementation. Additional possibilities might be described in STM32 MPU reference manuals.

Domain	Peripheral	Boot time allocation				Comment
		Instance	Cortex-A35 secure (ROM code)	Cortex-A35 secure (TF-A BL2)	Cortex-A35 nonsecure (U-Boot)
Networking	FDCAN	FDCAN1			⬚
		FDCAN2			⬚

3.1.3. On STM32MP23x lines 

Click on to expand or collapse the legend...

Check boxes illustrate the possible peripheral allocations supported by OpenSTLinux BSP:

• ⬚ means that the peripheral can be assigned to the given boot time context, but this configuration is not supported in OpenSTLinux BSP.
• ☐ means that the peripheral can be assigned to the given boot time context.
• ☑ means that the peripheral is assigned by default to the given boot time context and that the peripheral is mandatory for the OpenSTLinux BSP.
• ✓ is used for system peripherals that cannot be unchecked because they are hardware connected in the device.

The present chapter describes STMicroelectronics recommendations or choice of implementation. Additional possibilities might be described in STM32 MPU reference manuals.

Domain	Peripheral	Boot time allocation				Comment
		Instance	Cortex-A35 secure (ROM code)	Cortex-A35 secure (TF-A BL2)	Cortex-A35 nonsecure (U-Boot)
Networking	FDCAN	FDCAN1			⬚
		FDCAN2			⬚

3.1.4. On STM32MP25x lines 

Click on to expand or collapse the legend...

Check boxes illustrate the possible peripheral allocations supported by OpenSTLinux BSP:

• ⬚ means that the peripheral can be assigned to the given boot time context, but this configuration is not supported in OpenSTLinux BSP.
• ☐ means that the peripheral can be assigned to the given boot time context.
• ☑ means that the peripheral is assigned by default to the given boot time context and that the peripheral is mandatory for the OpenSTLinux BSP.
• ✓ is used for system peripherals that cannot be unchecked because they are hardware connected in the device.

The present chapter describes STMicroelectronics recommendations or choice of implementation. Additional possibilities might be described in STM32 MPU reference manuals.

Domain	Peripheral	Boot time allocation				Comment
		Instance	Cortex-A35 secure (ROM code)	Cortex-A35 secure (TF-A BL2)	Cortex-A35 nonsecure (U-Boot)
Networking	FDCAN	FDCAN1			⬚
		FDCAN2			⬚
		FDCAN3			⬚

3.2. Runtime assignment

3.2.1. On STM32MP13x lines 

Click on to expand or collapse the legend...

STM32MP13 internal peripherals

Check boxes illustrate the possible peripheral allocations supported by STM32 MPU Embedded Software:

• ⬚ means that the peripheral can be assigned to the given runtime context, but this configuration is not supported in STM32 MPU Embedded Software distribution.
• ☐ means that the peripheral can be assigned to the given runtime context.
• ☑ means that the peripheral is assigned by default to the given runtime context and that the peripheral is mandatory for the STM32 MPU Embedded Software distribution.
• ✓ is used for system peripherals that cannot be unchecked because they are hardware connected in the device.

Refer to How to assign an internal peripheral to an execution context for more information on how to assign peripherals manually or via STM32CubeMX.
The present chapter describes STMicroelectronics recommendations or choice of implementation. Additional possibilities might be described in STM32MP13 reference manuals.

Domain	Peripheral	Runtime allocation			Comment
		Instance	Cortex-A7 secure (OP-TEE)	Cortex-A7 non-secure (Linux)
Networking	FDCAN	FDCAN1		☐
		FDCAN2		☐

3.2.2. On STM32MP15x lines 

Click on to expand or collapse the legend...

STM32MP15 internal peripherals

Check boxes illustrate the possible peripheral allocations supported by STM32 MPU Embedded Software:

• ⬚ means that the peripheral can be assigned to the given runtime context, but this configuration is not supported in STM32 MPU Embedded Software distribution.
• ☐ means that the peripheral can be assigned to the given runtime context.
• ☑ means that the peripheral is assigned by default to the given runtime context and that the peripheral is mandatory for the STM32 MPU Embedded Software distribution.
• ✓ is used for system peripherals that cannot be unchecked because they are hardware connected in the device.

Refer to How to assign an internal peripheral to an execution context for more information on how to assign peripherals manually or via STM32CubeMX.
The present chapter describes STMicroelectronics recommendations or choice of implementation. Additional possiblities might be described in STM32MP15 reference manuals.

Domain	Peripheral	Runtime allocation				Comment
		Instance	Cortex-A7 secure (OP-TEE)	Cortex-A7 non-secure (Linux)	Cortex-M4 (STM32Cube)
Networking	FDCAN	FDCAN1		☐	☐	Assignment (single choice)
		FDCAN2		☐	☐	Assignment (single choice)

3.2.3. On STM32MP21x lines 

Click on to expand or collapse the legend...

STM32MP21 internal peripherals

Check boxes illustrate the possible peripheral allocations supported by OpenSTLinux BSP:

• ⬚ means that the peripheral can be assigned to the given runtime context, but this configuration is not supported in OpenSTLinux BSP.
• ☐ means that the peripheral can be assigned to the given runtime context.
• ☑ means that the peripheral is assigned by default to the given runtime context and that the peripheral is mandatory for the OpenSTLinux BSP.
• ✓ is used for system peripherals that cannot be unchecked because they are hardware connected in the device.

Refer to How to assign an internal peripheral to an execution context for more information on how to assign peripherals manually or via STM32CubeMX.
The present chapter describes STMicroelectronics recommendations or choice of implementation. Additional possibilities might be described in STM32MP21 reference manuals.

Domain	Peripheral	Runtime allocation					Comment
		Instance	Cortex-A35 secure (OP-TEE / TF-A BL31)	Cortex-A35 nonsecure (Linux)	Cortex-M33 secure (TF-M)	Cortex-M33 nonsecure (STM32Cube)
Networking	FDCAN	FDCAN1	⬚OP-TEE	☐	⬚	☐
		FDCAN2	⬚OP-TEE	☐	⬚	☐

3.2.4. On STM32MP23x lines 

Click on to expand or collapse the legend...

STM32MP23 internal peripherals

Check boxes illustrate the possible peripheral allocations supported by OpenSTLinux BSP:

• ⬚ means that the peripheral can be assigned to the given runtime context, but this configuration is not supported in OpenSTLinux BSP.
• ☐ means that the peripheral can be assigned to the given runtime context.
• ☑ means that the peripheral is assigned by default to the given runtime context and that the peripheral is mandatory for the OpenSTLinux BSP.
• ✓ is used for system peripherals that cannot be unchecked because they are hardware connected in the device.

Refer to How to assign an internal peripheral to an execution context for more information on how to assign peripherals manually or via STM32CubeMX.
The present chapter describes STMicroelectronics recommendations or choice of implementation. Additional possibilities might be described in STM32MP23 reference manuals.

Domain	Peripheral	Runtime allocation					Comment
		Instance	Cortex-A35 secure (OP-TEE / TF-A BL31)	Cortex-A35 nonsecure (Linux)	Cortex-M33 secure (TF-M)	Cortex-M33 nonsecure (STM32Cube)
Networking	FDCAN	FDCAN1	⬚OP-TEE	☐	⬚	☐
		FDCAN2	⬚OP-TEE	☐	⬚	☐

3.2.5. On STM32MP25x lines 

Click on to expand or collapse the legend...

STM32MP25 internal peripherals

Check boxes illustrate the possible peripheral allocations supported by OpenSTLinux BSP:

• ⬚ means that the peripheral can be assigned to the given runtime context, but this configuration is not supported in OpenSTLinux BSP.
• ☐ means that the peripheral can be assigned to the given runtime context.
• ☑ means that the peripheral is assigned by default to the given runtime context and that the peripheral is mandatory for the OpenSTLinux BSP.
• ✓ is used for system peripherals that cannot be unchecked because they are hardware connected in the device.

Refer to How to assign an internal peripheral to an execution context for more information on how to assign peripherals manually or via STM32CubeMX.
The present chapter describes STMicroelectronics recommendations or choice of implementation. Additional possibilities might be described in STM32MP25 reference manuals.

Domain	Peripheral	Runtime allocation						Comment
		Instance	Cortex-A35 secure (OP-TEE / TF-A BL31)	Cortex-A35 nonsecure (Linux)	Cortex-M33 secure (TF-M)	Cortex-M33 nonsecure (STM32Cube)	Cortex-M0+ (STM32Cube)
Networking	FDCAN	FDCAN1	⬚OP-TEE	☐	⬚	☐
		FDCAN2	⬚OP-TEE	☐	⬚	☐
		FDCAN3	⬚OP-TEE	☐	⬚	☐

4. Software frameworks and drivers

Below are listed the software frameworks and drivers managing the FDCAN peripheral for the embedded software components listed in the above tables.

• Linux^®: networking overview and CAN framework
• STM32Cube: FDCAN HAL driver and header file of FDCAN HAL module

5. How to assign and configure the peripheral

The peripheral assignment can be done via the STM32CubeMX graphical tool (and manually completed if needed).
This tool also helps to configure the peripheral:

• partial device trees (pin control and clock tree) generation for the OpenSTLinux software components,
• HAL initialization code generation for the STM32CubeMPU Package.

The configuration is applied by the firmware running in the context in which the peripheral is assigned.

When the FDCAN peripheral is assigned to the Linux^® OS, it is configured through the device tree according to the information given in the FDCAN device tree configuration article.

Controller area network (robust bus mainly used for automotive applications)

Random access memory (Early computer memories generally hadserial access. Memories where any given address can be accessed when desired were then called "random access" to distinguish them from the memories where contents can only be accessed in a fixed order. The term is used today for volatile random-acces ssemiconductor memories.)

Board support package

Arm^® is a registered trademark of Arm Limited (or its subsidiaries) in the US and/or elsewhere.

Cortex^®

Read only memory

Trusted firmware for Arm^® Cortex^®-A

Boot loader stage 2

Das U-Boot -- the universal boot loader (see U-Boot)

Open portable trusted execution environment

Linux^® is a registered trademark of Linus Torvalds.

Hardware abstraction layer

Operating system

Arm^® is a registered trademark of Arm Limited (or its subsidiaries) in the US and/or elsewhere.

Cortex^®

Das U-Boot -- the universal boot loader (see U-Boot)

Linux^® is a registered trademark of Linus Torvalds.