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boards: shields: Add support for Canis Labs CANPico Shield
Add support for shields based on the Microchip MCP251xFD CAN Bus controllers, along with the Canis Automotive Labs CANPico shield for the Raspberry Pi Pico. Updated to focus on only the CANPico shield. Use alternate image for shield. Corrected image file extension. Signed-off-by: Steve Boylan <[email protected]>
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‎boards/shields/canis_canpico/Kconfig.shield‎

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# Copyright (c) 2025 Steve Boylan
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# SPDX-License-Identifier: Apache-2.0
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config SHIELD_CANIS_CANPICO
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def_bool $(shields_list_contains,canis_canpico)

‎boards/shields/canis_canpico/canis_canpico.overlay‎

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/*
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* Copyright (c) 2025 Steve Boylan
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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&pico_spi {
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status = "okay";
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cs-gpios = <&pico_header 6 GPIO_ACTIVE_LOW>;
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pinctrl-0 = <&spi1_canpico>;
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pinctrl-names = "default";
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mcp251xfd_canis_canpico: can@0 {
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compatible = "microchip,mcp251xfd";
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spi-max-frequency = <1000000>;
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int-gpios = <&pico_header 5 GPIO_ACTIVE_LOW>;
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status = "okay";
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reg = <0x0>;
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osc-freq = <16000000>;
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can-transceiver {
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max-bitrate = <1000000>;
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};
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};
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};
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&pinctrl {
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spi1_canpico: spi1_canpico {
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group1 {
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pinmux = <SPI1_SCK_P10>, <SPI1_TX_P11>;
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};
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group2 {
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pinmux = <SPI1_RX_P8>;
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input-enable;
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};
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};
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};
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/ {
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chosen {
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zephyr,canbus = &mcp251xfd_canis_canpico;
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};
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};

‎boards/shields/canis_canpico/doc/canis_canpico.webp‎

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‎boards/shields/canis_canpico/doc/index.rst‎

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.. _canis_canpico:
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Canis Labs CANPico Shield
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#########################
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Overview
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********
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The Canis Labs CANPico shield supports the Microchip MCP2517FD or MCP2518FD
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stand-alone CAN controller and Microchip MCP2562FD high-speed CAN FD
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transceiver. The CANPico is a carrier board in a ‘sock’ format for a
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Raspberry Pi Pico family.
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.. figure:: canis_canpico.webp
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:align: center
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:alt: Canis_Labs_CANPico_SHIELD
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Hardware
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********
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- MCP2517/2518FD
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- External CAN FD Controller with Serial Peripheral Interface (SPI)
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- Arbitration Bit Rate up to 1 Mbps
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- Data Bit Rate up to 8 Mbps
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- CAN FD Controller modes: CAN 2.0B Mode or Mixed CAN 2.0B and CAN FD Mode
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- Conforms to ISO 11898-1:2015
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- MCP2562FD
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- Optimized for CAN FD (Flexible Data rate) at 2, 5 and 8 Mbps Operation
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- Maximum Propagation Delay: 120 ns
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- Implements ISO-11898-2 and ISO-11898-5 Standard Physical Layer Requirements
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- Very Low Standby Current (5 µA, typical)
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- VIO Supply Pin to Interface Directly to CAN Controllers and Microcontrollers with 1.8V to 5.5V I/O
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- Connectivity
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- Jumper header to enable a 120W CAN bus termination resistor
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- Jumper header to enable the CAN TX line to the transceiver
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- Screw terminal connector to CAN bus
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- CAN controller interrupt and Start-of-Frame inputs to GPIO pins
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- Direct access via GPIO pins to the CAN transceiver Tx and Rx pins
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- Test instrument header (for an oscilloscope or logic analyzer)
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+-------+-----------------------+---------------------------+
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| Name | Function | Usage |
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+=======+=======================+===========================+
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| GP0 | None | |
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+-------+-----------------------+---------------------------+
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| GP1 | None | |
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+-------+-----------------------+---------------------------+
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| GP2 | TRIG | Programmable trigger |
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+-------+-----------------------+---------------------------+
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| GP3 | STBY | Transceiver standby |
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+-------+-----------------------+---------------------------+
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| GP4 | SOF | Clock/SOF |
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+-------+-----------------------+---------------------------+
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| GP5 | IRQ | Transceiver interrupt |
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+-------+-----------------------+---------------------------+
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| GP6 | None | SPI CS |
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+-------+-----------------------+---------------------------+
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| GP7 | None | |
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+-------+-----------------------+---------------------------+
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| GP8 | SPI1_Rx | SPI Rx |
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+-------+-----------------------+---------------------------+
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| GP9 | None | |
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+-------+-----------------------+---------------------------+
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| GP10 | SPI1_SCK | SPI clock |
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+-------+-----------------------+---------------------------+
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| GP11 | SPI1_Tx | SPI Tx |
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+-------+-----------------------+---------------------------+
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| GP12 | None | |
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+-------+-----------------------+---------------------------+
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| GP13 | None | |
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+-------+-----------------------+---------------------------+
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| GP14 | None | |
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+-------+-----------------------+---------------------------+
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| GP15 | None | |
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+-------+-----------------------+---------------------------+
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| GP16 | None | |
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+-------+-----------------------+---------------------------+
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| GP17 | None | |
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+-------+-----------------------+---------------------------+
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| GP18 | None | |
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+-------+-----------------------+---------------------------+
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| GP19 | None | |
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+-------+-----------------------+---------------------------+
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| GP20 | None | |
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+-------+-----------------------+---------------------------+
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| GP21 | Rx | CAN Rx data |
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+-------+-----------------------+---------------------------+
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| GP22 | Tx | CAN Tx data |
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+-------+-----------------------+---------------------------+
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| GP23 | None | |
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+-------+-----------------------+---------------------------+
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| GP24 | None | |
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+-------+-----------------------+---------------------------+
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| GP25 | None | |
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+-------+-----------------------+---------------------------+
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| GP26 | None | |
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+-------+-----------------------+---------------------------+
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| GP27 | None | |
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+-------+-----------------------+---------------------------+
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| GP28 | None | |
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+-------+-----------------------+---------------------------+
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- Test header
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- TRIG: Programmable trigger output
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- Tx: Logic-level CAN Tx data
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- Rx: Logic-level CAN Rx data
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- H: Raw CAN-Hi signal
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- L: Raw CAN-Low signal
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- Power Supply
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- 3.3V ~ 5V
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- Components
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- Tx Enable jumper
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- 120 ohm terminator jumper
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For more information about the Canis Labs CANPico shield:
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- `Canis Labs Website`_
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- `CANPico CAN Bus Shield`_
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- `MCP2517FD Datasheet`_
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- `MCP2518FD Datasheet`_
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- `MCP2562FD Datasheet`_
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Programming
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***********
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Set ``--shield canis-canpico`` when you invoke ``west build`` or ``cmake``
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in your Zephyr application. For example:
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.. zephyr-app-commands::
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:zephyr-app: samples/drivers/can/counter
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:tool: all
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:board: rpi_pico
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:shield: canpico
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:goals: build flash
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.. _Canis Labs Website:
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https://canislabs.com/
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.. _CANPico CAN Bus Shield:
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https://canislabs.com/canpico/
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.. _MCP2517FD:
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https://www.microchip.com/en-us/product/MCP2518FD
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.. _MCP2517FD Datasheet:
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https://ww1.microchip.com/downloads/aemDocuments/documents/OTH/ProductDocuments/DataSheets/MCP2517FD-External-CAN-FD-Controller-with-SPI-Interface-20005688B.pdf
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.. _MCP2518FD:
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https://www.microchip.com/en-us/product/MCP2518FD
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.. _MCP2518FD Datasheet:
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https://ww1.microchip.com/downloads/aemDocuments/documents/OTH/ProductDocuments/DataSheets/External-CAN-FD-Controller-with-SPI-Interface-DS20006027B.pdf
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.. _MCP2562FD Datasheet:
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https://ww1.microchip.com/downloads/aemDocuments/documents/OTH/ProductDocuments/DataSheets/20005284A.pdf

‎boards/shields/canis_canpico/shield.yml‎

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shields:
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- name: canis_canpico
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full_name: Canis Labs CANPico
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vendor: canis
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supported_features:
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- can

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