The CANopen Slave protocol stack for the MIMXRT1170 runs on a bit-rate of 500 kBit/s on interface CAN1.

Board

How to build

Create a local build directory and start the build process within this directory. Make sure to pass the correct toolchain (i.e. GNU Arm Embedded Toolchain) to the CMake process via the parameter -DCMAKE_TOOLCHAIN_FILE. The following examples assume a GNU Arm Embedded Toolchain version 13.2.1.

Debug build

mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=../../../../../../cmake/module/toolchain-gcc-13.2.1.cmake -DCMAKE_BUILD_TYPE=Debug ..
cmake --build .

NRL support build

NRL support is configured by setting the symbol NRLto 1:

mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=../../../../../../cmake/module/toolchain-gcc-13.2.1.cmake -DNRL=1 -DCMAKE_BUILD_TYPE=Debug ..
cmake --build .