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Add support for the Canis Labs CANPico shield for the Raspberry Pi Pico #97653

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76bf4fc
dts: bindings: vendor-prefixes: Add canis prefix
ThreeEights Oct 15, 2025
7e1e021
boards: shields: Add support for Canis Labs CANPico Shield
ThreeEights Oct 15, 2025
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5 changes: 5 additions & 0 deletions boards/shields/canis_canpico/Kconfig.shield
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# Copyright (c) 2025 Steve Boylan
# SPDX-License-Identifier: Apache-2.0

config SHIELD_CANIS_CANPICO
def_bool $(shields_list_contains,canis_canpico)
44 changes: 44 additions & 0 deletions boards/shields/canis_canpico/canis_canpico.overlay
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/*
* Copyright (c) 2025 Steve Boylan
*
* SPDX-License-Identifier: Apache-2.0
*/

&pico_spi {
status = "okay";
cs-gpios = <&pico_header 6 GPIO_ACTIVE_LOW>;
pinctrl-0 = <&spi1_canpico>;
pinctrl-names = "default";

mcp251xfd_canis_canpico: can@0 {
compatible = "microchip,mcp251xfd";
spi-max-frequency = <1000000>;
int-gpios = <&pico_header 5 GPIO_ACTIVE_LOW>;
status = "okay";
reg = <0x0>;
osc-freq = <16000000>;

can-transceiver {
max-bitrate = <1000000>;
};
};
};

&pinctrl {
spi1_canpico: spi1_canpico {
group1 {
pinmux = <SPI1_SCK_P10>, <SPI1_TX_P11>;
};

group2 {
pinmux = <SPI1_RX_P8>;
input-enable;
};
};
};

/ {
chosen {
zephyr,canbus = &mcp251xfd_canis_canpico;
};
};
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165 changes: 165 additions & 0 deletions boards/shields/canis_canpico/doc/index.rst
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.. _canis_canpico:

Canis Labs CANPico Shield
#########################

Overview
********

The Canis Labs CANPico shield supports the Microchip MCP2517FD or MCP2518FD
stand-alone CAN controller and Microchip MCP2562FD high-speed CAN FD
transceiver. The CANPico is a carrier board in a ‘sock’ format for a
Raspberry Pi Pico family.

.. figure:: canis_canpico.webp
:align: center
:alt: Canis_Labs_CANPico_SHIELD

Hardware
********

- MCP2517/2518FD

- External CAN FD Controller with Serial Peripheral Interface (SPI)
- Arbitration Bit Rate up to 1 Mbps
- Data Bit Rate up to 8 Mbps
- CAN FD Controller modes: CAN 2.0B Mode or Mixed CAN 2.0B and CAN FD Mode
- Conforms to ISO 11898-1:2015

- MCP2562FD

- Optimized for CAN FD (Flexible Data rate) at 2, 5 and 8 Mbps Operation
- Maximum Propagation Delay: 120 ns
- Implements ISO-11898-2 and ISO-11898-5 Standard Physical Layer Requirements
- Very Low Standby Current (5 µA, typical)
- VIO Supply Pin to Interface Directly to CAN Controllers and Microcontrollers with 1.8V to 5.5V I/O

- Connectivity

- Jumper header to enable a 120W CAN bus termination resistor
- Jumper header to enable the CAN TX line to the transceiver
- Screw terminal connector to CAN bus
- CAN controller interrupt and Start-of-Frame inputs to GPIO pins
- Direct access via GPIO pins to the CAN transceiver Tx and Rx pins
- Test instrument header (for an oscilloscope or logic analyzer)

+-------+-----------------------+---------------------------+
| Name | Function | Usage |
+=======+=======================+===========================+
| GP0 | None | |
+-------+-----------------------+---------------------------+
| GP1 | None | |
+-------+-----------------------+---------------------------+
| GP2 | TRIG | Programmable trigger |
+-------+-----------------------+---------------------------+
| GP3 | STBY | Transceiver standby |
+-------+-----------------------+---------------------------+
| GP4 | SOF | Clock/SOF |
+-------+-----------------------+---------------------------+
| GP5 | IRQ | Transceiver interrupt |
+-------+-----------------------+---------------------------+
| GP6 | None | SPI CS |
+-------+-----------------------+---------------------------+
| GP7 | None | |
+-------+-----------------------+---------------------------+
| GP8 | SPI1_Rx | SPI Rx |
+-------+-----------------------+---------------------------+
| GP9 | None | |
+-------+-----------------------+---------------------------+
| GP10 | SPI1_SCK | SPI clock |
+-------+-----------------------+---------------------------+
| GP11 | SPI1_Tx | SPI Tx |
+-------+-----------------------+---------------------------+
| GP12 | None | |
+-------+-----------------------+---------------------------+
| GP13 | None | |
+-------+-----------------------+---------------------------+
| GP14 | None | |
+-------+-----------------------+---------------------------+
| GP15 | None | |
+-------+-----------------------+---------------------------+
| GP16 | None | |
+-------+-----------------------+---------------------------+
| GP17 | None | |
+-------+-----------------------+---------------------------+
| GP18 | None | |
+-------+-----------------------+---------------------------+
| GP19 | None | |
+-------+-----------------------+---------------------------+
| GP20 | None | |
+-------+-----------------------+---------------------------+
| GP21 | Rx | CAN Rx data |
+-------+-----------------------+---------------------------+
| GP22 | Tx | CAN Tx data |
+-------+-----------------------+---------------------------+
| GP23 | None | |
+-------+-----------------------+---------------------------+
| GP24 | None | |
+-------+-----------------------+---------------------------+
| GP25 | None | |
+-------+-----------------------+---------------------------+
| GP26 | None | |
+-------+-----------------------+---------------------------+
| GP27 | None | |
+-------+-----------------------+---------------------------+
| GP28 | None | |
+-------+-----------------------+---------------------------+

- Test header

- TRIG: Programmable trigger output
- Tx: Logic-level CAN Tx data
- Rx: Logic-level CAN Rx data
- H: Raw CAN-Hi signal
- L: Raw CAN-Low signal

- Power Supply

- 3.3V ~ 5V

- Components

- Tx Enable jumper
- 120 ohm terminator jumper

For more information about the Canis Labs CANPico shield:

- `Canis Labs Website`_
- `CANPico CAN Bus Shield`_
- `MCP2517FD Datasheet`_
- `MCP2518FD Datasheet`_
- `MCP2562FD Datasheet`_

Programming
***********

Set ``--shield canis-canpico`` when you invoke ``west build`` or ``cmake``
in your Zephyr application. For example:

.. zephyr-app-commands::
:zephyr-app: samples/drivers/can/counter
:tool: all
:board: rpi_pico
:shield: canpico
:goals: build flash

.. _Canis Labs Website:
https://canislabs.com/

.. _CANPico CAN Bus Shield:
https://canislabs.com/canpico/

.. _MCP2517FD:
https://www.microchip.com/en-us/product/MCP2518FD

.. _MCP2517FD Datasheet:
https://ww1.microchip.com/downloads/aemDocuments/documents/OTH/ProductDocuments/DataSheets/MCP2517FD-External-CAN-FD-Controller-with-SPI-Interface-20005688B.pdf

.. _MCP2518FD:
https://www.microchip.com/en-us/product/MCP2518FD

.. _MCP2518FD Datasheet:
https://ww1.microchip.com/downloads/aemDocuments/documents/OTH/ProductDocuments/DataSheets/External-CAN-FD-Controller-with-SPI-Interface-DS20006027B.pdf

.. _MCP2562FD Datasheet:
https://ww1.microchip.com/downloads/aemDocuments/documents/OTH/ProductDocuments/DataSheets/20005284A.pdf
6 changes: 6 additions & 0 deletions boards/shields/canis_canpico/shield.yml
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shields:
- name: canis_canpico
full_name: Canis Labs CANPico
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Suggested change
full_name: Canis Labs CANPico
full_name: CANPico

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That change is not consistent with other shields. A selection:

./sparkfun_sara_r4/shield.yml:  full_name: Sparkfun Sara R4
./waveshare_epaper/shield.yml:    full_name: WAVESHARE e-Paper GDEH029A1
./st_b_cams_omv_mb1683/shield.yml:  full_name: ST B-CAMS-OMV MB1683 Camera Shield
./adafruit_vcnl4040/shield.yml:  full_name: Adafruit VCNL4040 Proximity and Lux Sensor Shield
./rk043fn02h_ct/shield.yml:  full_name: RK043FN02H-CT 4.3" LCD Panel
./mikroe_eth3_click/shield.yml:  full_name: ETH3 Click
./lmp90100_evb/shield.yml:  full_name: LMP90100 Sensor AFE Evaluation Board
./nrf7002ek/shield.yml:    full_name: nRF7002 Evaluation Kit Shield
./npm6001_ek/shield.yml:  full_name: nPM6001 EK
./x_nucleo_iks02a1/shield.yml:    full_name: X-NUCLEO-IKS02A1 (Standard / Mode 1)
./arduino_modulino_thermo/shield.yml:  full_name: Arduino Modulino Thermo

Do you insist on this change?

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@ThreeEights
If i need to fight or insist for every request change I think you can agree that this will quickly become exhausting.

Most shields (and boards for that matter) do not have vendor in their name. When they do, it's typically because that's the official / most prominent product name one would find on vendor website, or e.g. in the top results in their favourite search engine.
See e.g. https://www.adafruit.com/product/4161?srsltid=AfmBOooXOsEAM1UFkhs34iq4Nq9wEXZHGZqhDfg3-VhPQAMyL8Xm6Pwm, https://www.sparkfun.com/sparkfun-micromod-asset-tracker-carrier-board.html. Sometiemes it's also to help disambiguate synonyms.

In the case of CANPico, I think you can safely get rid of it but I certainly don't want to spend another 10 minutes justifying my choice or "insisting" for you to agree to apply it :|

image

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FWIW I also took the liberty to make that comment because I knew you were coming back to this PR anyway. Not sure I understand the rationale of not applying the change while you were there fixing the image file name but oh well :|
Thanks for the PR anyway, this is really cool to see so many new shields added in this release :)

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@kartben - Please have pity on us poor mortals who don't live and breathe Zephyr. I'm not trying to create problems or extra work for anyone here. Try to understand how frustrating this week has been for me: First was the problem with the image. After I corrected it, I was asked to replace it. Alas, I'd not heard of the webp format; asking around our team, two people had heard of it but not used it. Now I've learned that it's the cat's pajamas, the bee's knees, and seems to be the preferred format for Zephyr in the future.

Then came the request to reorganize the files to focus only on the CANPico. I had originally followed the time-honored practice of copying the existing structure for the mcp2815 shields, assuming it would be nice to accommodate other products based on the newer chips. But, of course, pointing that out did not change the opinions of the reviewers.

Now this latest request, which appears to me to be incorrect. I failed to follow your explanation in this case; the two specific examples you mention seem to contradict your explanation:

sparkfun_carrier_asset_tracker/shield.yml:  full_name: SparkFun MicroMod Asset Tracker Shield
adafruit_vcnl4040/shield.yml:  full_name: Adafruit VCNL4040 Proximity and Lux Sensor Shield

I don't want to waste any more of your time, but please let me know if the current full_name might possibly be acceptable, or can you enlighten me further so my future pull requests will meet the high standards expected for contributions to Zephyr?

And thank you for investing so much effort on this one little piece of this grand edifice!

Steve

vendor: canis
supported_features:
- can
1 change: 1 addition & 0 deletions dts/bindings/vendor-prefixes.txt
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# Device tree binding vendor prefix registry. Keep this list in

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dts/bindings/vendor-prefixes.txt:1 File has no SPDX-FileCopyrightText header, consider adding one.

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# alphabetical order.
#
# This isn't an exhaustive list, but you should add new prefixes to it
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calxeda Calxeda
canaan Canaan, Inc.
caninos Caninos Loucos Program
canis Canis Automotive Labs
capella Capella Microsystems, Inc
cascoda Cascoda, Ltd.
catalyst Catalyst Semiconductor, Inc.
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