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# 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.](https://github.com/Infineon/mtb-example-ce239999-safety-canfd-test)
[Provide feedback on this code example.](https://cypress.co1.qualtrics.com/jfe/form/SV_1NTns53sK2yiljn?Q_EED=eyJVbmlxdWUgRG9jIElkIjoiQ0UyMzk5OTkiLCJTcGVjIE51bWJlciI6IjAwMi0zOTk5OSIsIkRvYyBUaXRsZSI6IkNsYXNzLUIgU2FmZXR5IFRlc3Q6IENBTiBGRCBsb29wYmFjayIsInJpZCI6InN1YnVkaGkiLCJEb2MgdmVyc2lvbiI6IjEuMC4wIiwiRG9jIExhbmd1YWdlIjoiRW5nbGlzaCIsIkRvYyBEaXZpc2lvbiI6Ik1DRCIsIkRvYyBCVSI6IklDVyIsIkRvYyBGYW1pbHkiOiJQU09DIn0=)
## Requirements
- [ModusToolbox™](https://www.infineon.com/modustoolbox) v3.2 or later (tested with v3.2)
- Board support package (BSP) minimum required version: v4.2.0
- Programming language: C
- Associated parts: [XMC7000 MCU](https://www.infineon.com/cms/en/product/microcontroller/32-bit-industrial-microcontroller-based-on-arm-cortex-m/) parts
## Supported toolchains (make variable 'TOOLCHAIN')
- GNU Arm® Embedded Compiler v11.3.1 (`GCC_ARM`) - Default value of `TOOLCHAIN`
## Supported kits (make variable 'TARGET')
- [XMC7200 Evaluation Kit](https://www.infineon.com/KIT_XMC72_EVK) (`KIT_XMC72_EVK`) – Default value of `TARGET`
- [XMC7200 Evaluation Kit](https://www.infineon.com/KIT_XMC72_EVK) (`KIT_XMC72_EVK_MUR_43439M2`)
- [XMC7100 Evaluation Kit](https://www.infineon.com/KIT_XMC71_EVK_LITE_V1) (`KIT_XMC71_EVK_LITE_V1`)
- [PSoC™ 62S4 Pioneer Kit](https://www.infineon.com/CY8CKIT-062S4) (`CY8CKIT-062S4`)
## 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](https://www.infineon.com/ModusToolboxInstallguide) 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](https://teratermproject.github.io/index-en.html).
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.
<details><summary><b>Use Project Creator GUI</b></summary>
1. 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](https://www.infineon.com/ModusToolboxProjectCreator) (locally available at *{ModusToolbox&trade; install directory}/tools_{version}/project-creator/docs/project-creator.pdf*).
2. On the **Choose Board Support Package (BSP)** page, select a kit supported by this code example. See [Supported kits](#supported-kits-make-variable-target).
> **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.
3. 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.
</details>
<details><summary><b>Use Project Creator CLI</b></summary>
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&trade; 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&trade; installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox&trade; 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](https://github.com/Infineon/mtb-example-ce239999-safety-canfd-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 <id> field of the [BSP](https://github.com/Infineon?q=bsp-manifest&type=&language=&sort=) manifest | Required
`--app-id` | Defined in the <id> field of the [CE](https://github.com/Infineon?q=ce-manifest&type=&language=&sort=) 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
<br>
> **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&trade; tools package user guide](https://www.infineon.com/ModusToolboxUserGuide) (locally available at {ModusToolbox&trade; install directory}/docs_{version}/mtb_user_guide.pdf).
</details>
### Open the project
After the project has been created, you can open it in your preferred development environment.
<details><summary><b>Eclipse IDE</b></summary>
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&trade; user guide](https://www.infineon.com/MTBEclipseIDEUserGuide) (locally available at *{ModusToolbox&trade; install directory}/docs_{version}/mt_ide_user_guide.pdf*).
</details>
<details><summary><b>Visual Studio (VS) Code</b></summary>
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&trade; user guide](https://www.infineon.com/MTBVSCodeUserGuide) (locally available at *{ModusToolbox&trade; install directory}/docs_{version}/mt_vscode_user_guide.pdf*).
</details>
<details><summary><b>Command line</b></summary>
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&trade; tools package user guide](https://www.infineon.com/ModusToolboxUserGuide) (locally available at *{ModusToolbox&trade; install directory}/docs_{version}/mtb_user_guide.pdf*).
</details>
## Operation
1. Connect the board to your PC using the provided USB cable through the KitProg3 USB connector.
2. Open a terminal program and select the KitProg3 COM port. Set the serial port parameters to 8N1 and 115200 baud.
3. Program the board using one of the following:
<details><summary><b>Using Eclipse IDE</b></summary>
1. Select the application project in the Project Explorer.
2. In the **Quick Panel**, scroll down, and click **\<Application Name> Program (KitProg3_MiniProg4)**.
</details>
<details><summary><b>In other IDEs</b></summary>
Follow the instructions in your preferred IDE.
</details>
<details><summary><b>Using CLI</b></summary>
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
```
</details>
4. 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**
![alt text](images/terminal_canfd.png)
## Debugging
You can debug the example to step through the code.
<details><summary><b>In Eclipse IDE</b></summary>
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&trade; user guide](https://www.infineon.com/MTBEclipseIDEUserGuide).
</details>
<details><summary><b>In other IDEs</b></summary>
Follow the instructions in your preferred IDE.
</details>
## 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](https://www.infineon.com/dgdl/Infineon-Getting_started_with_XMC7000_MCU_on_ModusToolbox_software-ApplicationNotes-v06_00-EN.pdf?fileId=8ac78c8c850f4bee0185a53e84147437) – Getting started with XMC7000 MCU on ModusToolbox&trade;
Code examples | [Using ModusToolbox&trade;](https://github.com/Infineon/Code-Examples-for-ModusToolbox-Software) on GitHub
Device documentation | [XMC7000 MCU datasheets](https://www.infineon.com/cms/en/product/microcontroller/32-bit-industrial-microcontroller-based-on-arm-cortex-m/) <br> [XMC7000 technical reference manuals](https://www.infineon.com/cms/en/product/microcontroller/32-bit-industrial-microcontroller-based-on-arm-cortex-m/)
Development kits | [XMC&trade; eval boards](https://www.infineon.com/cms/en/product/microcontroller/32-bit-industrial-microcontroller-based-on-arm-cortex-m/#boards)
Libraries on GitHub | [mtb-pdl-cat1](https://github.com/Infineon/mtb-pdl-cat1) – Peripheral Driver Library (PDL) <br> [mtb-hal-cat1](https://github.com/Infineon/mtb-hal-cat1) – Hardware Abstraction Layer (HAL) library <br> [retarget-io](https://github.com/Infineon/retarget-io) – Utility library to retarget STDIO messages to a UART port
Middleware on GitHub | [mcu-middleware](https://github.com/Infineon/modustoolbox-software) – Links to all MCU middleware
Tools | [ModusToolbox&trade;](https://www.infineon.com/modustoolbox) – ModusToolbox&trade; 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&trade; Industrial/IoT MCUs, AIROC&trade; Wi-Fi and Bluetooth&reg; connectivity devices, XMC&trade; Industrial MCUs, and EZ-USB&trade;/EZ-PD&trade; wired connectivity controllers. ModusToolbox&trade; incorporates a comprehensive set of BSPs, HAL, libraries, configuration tools, and provides support for industry-standard IDEs to fast-track your embedded application development.
<br>
## Other resources
Infineon provides a wealth of data at [www.infineon.com](https://www.infineon.com) to help you select the right device, and quickly and effectively integrate it into your design.
For XMC&trade; MCU devices, see [32-bit XMC&trade; industrial microcontroller based on Arm® Cortex®-M](https://www.infineon.com/cms/en/product/microcontroller/32-bit-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
All referenced product or service names and trademarks are the property of their respective owners.
The Bluetooth&reg; word mark and logos are registered trademarks owned by Bluetooth SIG, Inc., and any use of such marks by Infineon is under license.
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