Class-B Safety Test: CAN FD loopback

This code example demonstrates proper message filtering and reception functionality in CAN FD using loopback mode. The test sequence for verifying CAN FD functionality with loopback mode involves enabling loopback and configuring the FIFOs, setting CAN FD to accept message IDs in the range 0x50 to 0x55, and transmitting messages to validate filtering. A message with ID 0x60 is sent to ensure the RX FIFO remains empty, confirming it is outside the accepted range. Then, a message with ID 0x50 is transmitted and verified to be correctly received in the RX FIFO. If the CAN bus fails, the device should enter a fail-safe state to ensure safety and reliability.

View this README on GitHub.

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Requirements

ModusToolbox™ v3.3 or later (tested with v3.3)
Board support package (BSP) minimum required version: v4.2.0
Programming language: C
Associated parts: XMC7000 MCU parts

Supported toolchains (make variable 'TOOLCHAIN')

GNU Arm® Embedded Compiler v11.3.1 (GCC_ARM) - Default value of TOOLCHAIN
Arm® Compiler v6.22 (ARM)
IAR C/C++ Compiler v9.50.2 (IAR)

Supported kits (make variable 'TARGET')

XMC7200 Evaluation Kit (KIT_XMC72_EVK) – Default value of TARGET
XMC7200 Evaluation Kit (KIT_XMC72_EVK_MUR_43439M2)
XMC7100 Evaluation Kit (KIT_XMC71_EVK_LITE_V1)
PSoC™ 62S4 Pioneer Kit (CY8CKIT-062S4)
PSoC™ 62S3 Wi-Fi Bluetooth® Prototyping Kit (CY8CPROTO-062S3-4343W)

Hardware setup

This example uses the board's default configuration. See the kit user guide to ensure that the board is configured correctly.

Software setup

See the ModusToolbox™ tools package installation guide for information about installing and configuring the tools package.

Install a terminal emulator if you don't have one. Instructions in this document use Tera Term.

This example requires no additional software or tools.

Using the code example

Create the project

The ModusToolbox™ tools package provides the Project Creator as both a GUI tool and a command line tool.

Use Project Creator GUI

Open the Project Creator GUI tool.

There are several ways to do this, including launching it from the dashboard or from inside the Eclipse IDE. For more details, see the Project Creator user guide (locally available at {ModusToolbox™ install directory}/tools_{version}/project-creator/docs/project-creator.pdf).
On the Choose Board Support Package (BSP) page, select a kit supported by this code example. See Supported kits.

Note: To use this code example for a kit not listed here, you may need to update the source files. If the kit does not have the required resources, the application may not work.
On the Select Application page:

a. Select the Applications(s) Root Path and the Target IDE.

Note: Depending on how you open the Project Creator tool, these fields may be pre-selected for you.

b. Select this code example from the list by enabling its check box.

Note: You can narrow the list of displayed examples by typing in the filter box.

c. (Optional) Change the suggested New Application Name and New BSP Name.

d. Click Create to complete the application creation process.

Use Project Creator CLI

The 'project-creator-cli' tool can be used to create applications from a CLI terminal or from within batch files or shell scripts. This tool is available in the {ModusToolbox™ install directory}/tools_{version}/project-creator/ directory.

Use a CLI terminal to invoke the 'project-creator-cli' tool. On Windows, use the command-line 'modus-shell' program provided in the ModusToolbox™ installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox™ tools. You can access it by typing "modus-shell" in the search box in the Windows menu. In Linux and macOS, you can use any terminal application.

The following example clones the "CAN FD loopback test" application with the desired name "CANFD" configured for the KIT_XMC72_EVK BSP into the specified working directory, C:/mtb_projects:

project-creator-cli --board-id KIT_XMC72_EVK --app-id mtb-example-ce239999-safety-canfd-test --user-app-name CANFD --target-dir "C:/mtb_projects"

The 'project-creator-cli' tool has the following arguments:

Argument	Description	Required/optional
`--board-id`	Defined in the field of the BSP manifest	Required
`--app-id`	Defined in the field of the CE manifest	Required
`--target-dir`	Specify the directory in which the application is to be created if you prefer not to use the default current working directory	Optional
`--user-app-name`	Specify the name of the application if you prefer to have a name other than the example's default name	Optional

Note: The project-creator-cli tool uses the git clone and make getlibs commands to fetch the repository and import the required libraries. For details, see the "Project creator tools" section of the ModusToolbox™ tools package user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mtb_user_guide.pdf).

Open the project

After the project has been created, you can open it in your preferred development environment.

Eclipse IDE

If you opened the Project Creator tool from the included Eclipse IDE, the project will open in Eclipse automatically.

For more details, see the Eclipse IDE for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_ide_user_guide.pdf).

Visual Studio (VS) Code

Launch VS Code manually, and then open the generated {project-name}.code-workspace file located in the project directory.

For more details, see the Visual Studio Code for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_vscode_user_guide.pdf).

Command line

If you prefer to use the CLI, open the appropriate terminal, and navigate to the project directory. On Windows, use the command-line 'modus-shell' program; on Linux and macOS, you can use any terminal application. From there, you can run various make commands.

For more details, see the ModusToolbox™ tools package user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mtb_user_guide.pdf).

Operation

Connect the board to your PC using the provided USB cable through the KitProg3 USB connector.
Open a terminal program and select the KitProg3 COM port. Set the serial port parameters to 8N1 and 115200 baud.
Program the board using one of the following:
Using Eclipse IDE
1. Select the application project in the Project Explorer.
2. In the Quick Panel, scroll down, and click <Application Name> Program (KitProg3_MiniProg4).
In other IDEs

Follow the instructions in your preferred IDE.
Using CLI

From the terminal, execute the make program command to build and program the application using the default toolchain to the default target. The default toolchain is specified in the application's Makefile but you can override this value manually:
```
make program TOOLCHAIN=<toolchain>
```
Example:
```
make program TOOLCHAIN=GCC_ARM
```
After programming, the application starts automatically. Confirm that Class-B CANFD test: is displayed on the UART terminal.

Figure 1. Terminal output on program startup

Debugging

You can debug the example to step through the code.

In Eclipse IDE

Use the <Application Name> Debug (KitProg3_MiniProg4) configuration in the Quick Panel. For details, see the "Program and debug" section in the Eclipse IDE for ModusToolbox™ user guide.

In other IDEs

Follow the instructions in your preferred IDE.

Design and implementation

	ID	DLC	Data
Node	0x01	0x15	0x0 0x0 0x0 0x0 0x0 0x0 0x77777777 0x88888888 0x99999999 0xAAAAAAAA 0xBBBBBBBB 0xCCCCCCCC 0xDDDDDDDD 0xEEEEEEEE 0xFFFFFFFF 0x12121212

Resources and settings

In this code example, the CAN FD block is configured. The CAN FD block is tested using the internal loopback capability.

Table 2. Application resources

Resource	Alias/object	Purpose
Controller Area Network FD (CAN FD) 0	CAN FD	To generate CAN frames

Related resources

Resources	Links
Application notes	AN234334 – Getting started with XMC7000 MCU on ModusToolbox™
Code examples	Using ModusToolbox™ on GitHub
Device documentation	XMC7000 MCU datasheets XMC7000 technical reference manuals
Development kits	XMC™ eval boards
Libraries on GitHub	mtb-pdl-cat1 – Peripheral Driver Library (PDL) mtb-hal-cat1 – Hardware Abstraction Layer (HAL) library retarget-io – Utility library to retarget STDIO messages to a UART port
Middleware on GitHub	mcu-middleware – Links to all MCU middleware
Tools	ModusToolbox™ – ModusToolbox™ software is a collection of easy-to-use libraries and tools enabling rapid development with Infineon MCUs for applications ranging from wireless and cloud-connected systems, edge AI/ML, embedded sense and control, to wired USB connectivity using PSoC™ Industrial/IoT MCUs, AIROC™ Wi-Fi and Bluetooth® connectivity devices, XMC™ Industrial MCUs, and EZ-USB™/EZ-PD™ wired connectivity controllers. ModusToolbox™ incorporates a comprehensive set of BSPs, HAL, libraries, configuration tools, and provides support for industry-standard IDEs to fast-track your embedded application development.

Other resources

Infineon provides a wealth of data at www.infineon.com to help you select the right device, and quickly and effectively integrate it into your design.

For XMC™ MCU devices, see 32-bit XMC™ industrial microcontroller based on Arm® Cortex®-M.

Document history

Document title: CE239999 - Class-B Safety Test: CAN FD loopback

Version	Description of change
1.0.0	New code example
1.1.0	Added Support for IAR and ARM compiler

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Infineon/mtb-example-ce239999-safety-canfd-test

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