TRAVEO™ T2G: CAN FD TopFIFO PCAN

This code example demonstrates how to use the RX TOP FIFO callback mechanism in TRAVEO™ T2G devices to send a user defined CAN message to PCAN and when a CAN message is received, an interrupt-driven callback reads the frame from the RX TOP FIFO, increments the received message ID by 1, and transmits the frame back to the PCAN interface. The original and transmitted messages can be monitored over PCAN-View.

View this README on GitHub.

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Requirements

ModusToolbox™ v3.7 or later (tested with v3.7)
Board support package (BSP) minimum required version: 3.0.0
Programming language: C
Associated parts: TRAVEO™ T2G family cluster series, TRAVEO™ T2G family body high CYT4BF series and TRAVEO™ T2G family body entry CYT2BL series

Supported toolchains (make variable 'TOOLCHAIN')

GNU Arm® Embedded Compiler v14.2.1 (GCC_ARM) – Default value of TOOLCHAIN
Arm® Compiler v6.22 (ARM)
IAR C/C++ Compiler v9.50.2 (IAR)

Supported kits (make variable 'TARGET')

TRAVEO™ T2G Body High Evaluation Kit (KIT_T2G-B-H_LITE) - Default value of TARGET
TRAVEO™ T2G Body Entry Evaluation Kit (KIT_T2G-B-E_LITE)
TRAVEO™ T2G Cluster 6M Lite Kit (KIT_T2G_C-2D-6M_LITE)

Hardware setup

This example uses the board's default configuration. See the kit user guide to ensure that the board is configured correctly. This code example requires one kit. A kit listed in the Supported kits section runs this example and a PCAN analyzer

Use jumper wires to establish a connection between TRAVEO™ T2G device and PCAN analyzer. Pin assignments for the supported kits are as follows:

Table 1. Pin assignments for the supported kits

Development kit	CANL	CANH	Ground
KIT_T2G-B-H_LITE	J5.1	J5.2	GND
KIT_T2G-B-E_LITE	J5.1	J5.2	GND
KIT_T2G_C-2D-6M_LITE	X801.1	X801.3	GND

For TRAVEO™ T2G Body High Evaluation Kit and for TRAVEO™ T2G Body Entry Evaluation Kit:

Connect CANL (J5[1]) pin of TRAVEO™ T2G device and PCAN analyzer using jumper wires
Connect CANH (J5[2]) pin of TRAVEO™ T2G device and PCAN analyzer using jumper wires

Figure 1. Circuit schematic (KIT_T2G-B-H_LITE and KIT_T2G-B-E_LITE )

For TRAVEO™ T2G Cluster 6M Lite Kit:

Connect CANL (X801[1]) pin of TRAVEO™ T2G device and PCAN analyzer using jumper wires
Connect CANH (X801[3]) pin of TRAVEO™ T2G device and PCAN analyzer using jumper wires

Figure 2. Circuit schematic (KIT_T2G_C-2D-6M_LITE)

Software setup

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

Install PCAN-View if you do not have one. Instructions in this document use PCAN-View

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 "mtb-example-ce242487-canfd-top-fifo-pcan" application with the desired name "MyCANFD_TopFIFO_PCAN" configured for the KIT_T2G-B-H_LITE BSP into the specified working directory, C:/mtb_projects:

project-creator-cli --board-id KIT_T2G-B-H_LITE --app-id mtb-example-ce242487-canfd-top-fifo-pcan --user-app-name CANFD_topFIFO_PCAN --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).

Arm® Keil® µVision®

Double-click the generated {project-name}.cprj file to launch the Keil® µVision® IDE.

For more details, see the Arm® Keil® µVision® for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_uvision_user_guide.pdf).

IAR Embedded Workbench

Open IAR Embedded Workbench manually, and create a new project. Then select the generated {project-name}.ipcf file located in the project directory.

For more details, see the IAR Embedded Workbench for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_iar_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 CAN pins of the Supported kits using the instructions in the Hardware setup section
Connect the board to your PC using the provided USB cable through the KitProg3 USB connector
Program the board using one of the following:
Using Eclipse IDE for ModusToolbox™ software
1. Select the application project in the Project Explorer
2. In the Quick Panel, scroll down, and click <Application Name> Program (KitProg3_MiniProg4)
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 and targets are specified in the application's Makefile but you can override those values manually:
```
make program TARGET=<BSP> TOOLCHAIN=<toolchain>
```
Example:
```
make program TARGET=KIT_T2G-B-H_LITE TOOLCHAIN=GCC_ARM
```
Connect the PCAN analyzer to your PC
Select the right channel in the PCAN-View window based on the connection made
Make the following settings in PCAN-View:
- Set the Mode to ISO CAN FD and the Clock Frequency to 40 MHz
- Set the Bit Rate Preset to None
In Nominal Bit Rate section:
- Set the Database Entry to None
- Set Bit Rate (kbit/s) to 500
- Set Sample Point (%) to 75.0
- Set Prescalar to 10, TSEG1 to 5, TSEG2 to 2, and Sync Jump Width to 2
In Data Bit Rate section:
- Set the Database Entry to None
- Set Bit Rate (kbit/s) to 1000
- Set Sample Point (%) to 75.0
- Set Prescalar to 5, TSEG1 to 5, TSEG2 to 2, and Sync Jump Width to 2

After making the necessary settings in the PCAN-View and programming the lite kit, USER LED1 turns ON indicating a successful transmission of the CANFD frame to the PCAN
User can create a new CAN FD message with the message ID range from 0x010 to 0x020 and send it to the TRAVEO™ T2G MCU using PCAN, and USER LED2 turns ON when the program transmits the received CANFD message by incrementing the message ID by 1

Observe the results in the PCAN-View window.

Figure 3. Sample output with the CAN FD data transmission and reception on PCAN-View window

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

The design utilizes the controller area network FD (CAN FD) peripheral to transmit and receive CAN messages. The CAN FD peripheral is configured to work with the RX TOP FIFO.

To handle the reception of CAN FD frames, the RX TOP FIFO callback mechanism is employed. This callback, named CAN_RxFifoWithTopCallback, is triggered when a CAN message is received and stored in the RX TOP FIFO. The callback reads the frame from the RX TOP FIFO, increments the received message ID by 1, and transmits the frame back to the PCAN interface.

The system also uses two LEDs, USER LED1 and USER LED2 to provide visual feedback. USER LED1 is used to indicate a successful transmission of the CAN FD frame to the PCAN, while USER LED2 is used to indicate when the program transmits the received CAN FD message by incrementing the message ID by 1.

The CAN FD peripheral is configured to work within a specific message ID range, from 0x010 to 0x020, allowing you to create and send new CAN FD messages to the TRAVEO™ T2G MCU using PCAN. Both the original and transmitted messages can be monitored using PCAN-View to observe the results of the design in real time.

Resources and settings

Table 2. Application resources

Resource	Alias/object	Purpose
Controller Area Network FD (CAN FD) 0	CANFD	For CAN message transmission and reception
RX TOP FIFO	CAN_RxFifoWithTopCallback	Handles reception of CANFD frames
Led 1 (BSP)	CYBSP_USER_LED1	User LED to show output
Led 2 (BSP)	CYBSP_USER_LED2	User LED to show output

Resource settings

CAN FD channel configuration

Figure 4. CAN FD channel configuration for KIT_T2G-B-H_LITE and KIT_T2G-B-E_LITE

The CAN FD 0 Channel 2 is clocked by a 16-bit divider 0 clock and CAN FD mode is enabled in the case of KIT_T2G-B-H_LITE and KIT_T2G-B-E_LITE. The bitrate settings are as follows: Nominal Prescaler is set to 10, Nominal Time Segment 1 is set to 5, Nominal Time Segment 2 is set to 2 and Nominal Synchronization Jump Width is set to 2, with the Nominal Rit Rate being 500 kbps and the Nominal Sampling Point of 75%.

Under the Fast Bitrate Setting: the Data Prescalar is set to 5, Data Time Segment 1 is set to 5, Data Time Segment 2 is set 2 and Data Synchronization Jump Width to 2, with the Data Bit Rate being 1000 kbs and Data Sampling Point of 75%.

Figure 5. CAN FD channel configuration for KIT_T2G_C-2D-6M_LITE

In case of KIT_T2G_C-2D-6M_LITE, CAN FD 0 Channel 1 is used and is clocked by a 24.5 bit divider 0 clock with the CAN FD mode being enabled. The Bitrate and the Fast Bitrate settings remain same as of the KIT_T2G-B-H_LITE and KIT_T2G-B-E_LITE.

Figure 6.CAN transceiver SLP pin configuration in KIT_T2G_C-2D-6M_LITE

The CAN transceiver, TLE9350VSJ used in KIT_T2G_C-2D-6M_LITE uses SLP/enable logic and the CAN0_1_SLP pin is routed to GPIO pin P5.4 requires the following configuration, where the initial drive state is to be set to Low(0) for normal operating mode. KIT_T2G-B-H_LITE and KIT_T2G-B-E_LITE does not require any configurations for CAN transceiver (TLE9251VSJ) as it uses STB pin that is hardwired to ground from which the STB pin's drive state is Low (0).

Related resources

Resources	Links
Application notes	AN235305 - Getting started with TRAVEO™ T2G family MCUs in ModusToolbox™ AN220278 - How to Use CAN FD in TRAVEO™ II Family
Training	TRAVEO™ T2G CAN FD controller
Code examples	TRAVEO™ T2G MCU examples on GitHub
Device documentation	TRAVEO™ T2G body high family MCUs datasheets TRAVEO™ T2G body high family MCUs architecture/registers reference manuals TRAVEO™ T2G cluster family MCUs datasheets for CYT4DN TRAVEO™ T2G cluster family MCUs architecture/registers reference manuals for CYT4DN TRAVEO™ T2G body entry family MCUs datasheets TRAVEO™ T2G body entry family MCUs architecture/registers reference manuals
Libraries on GitHub	mtb-pdl-cat1 – Peripheral driver library (PDL) mtb-hal-cat1 – Hardware abstraction layer (HAL) library
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.

Document history

Document title: CE242487 - TRAVEO™ T2G: CAN FD TopFIFO PCAN

Version	Description of change
1.0.0	New code example

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Infineon/mtb-example-ce242487-canfd-top-fifo-pcan

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