main.c

/******************************************************************************
* File Name:   main.c
*
* Description: This is the source code for the XMC MCU: CAN Loopback example
*              for ModusToolbox. One CAN node sends the CAN frame for every
*              one second which is received by the second CAN node in loopback
*              mode.
*
* Related Document: See README.md
*
******************************************************************************
*
* Copyright (c) 2022, Infineon Technologies AG
* All rights reserved.
*
* Boost Software License - Version 1.0 - August 17th, 2003
*
* Permission is hereby granted, free of charge, to any person or organization
* obtaining a copy of the software and accompanying documentation covered by
* this license (the "Software") to use, reproduce, display, distribute,
* execute, and transmit the Software, and to prepare derivative works of the
* Software, and to permit third-parties to whom the Software is furnished to
* do so, all subject to the following:
*
* The copyright notices in the Software and this entire statement, including
* the above license grant, this restriction and the following disclaimer,
* must be included in all copies of the Software, in whole or in part, and
* all derivative works of the Software, unless such copies or derivative
* works are solely in the form of machine-executable object code generated by
* a source language processor.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
* SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
* FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
* ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
* DEALINGS IN THE SOFTWARE.
*
*****************************************************************************/

#include "cybsp.h"
#include "cy_utils.h"
#include "cy_retarget_io.h"
#include <stdio.h>

/*******************************************************************************
* Defines
*******************************************************************************/

/* Declarations for System timer timing */
#define TICKS_PER_SECOND         1000                /* Tick per second */
#define TICKS_WAIT_MS            1000                /* 1000 milliseconds */

#if (UC_SERIES == XMC14)
/* XMC 1400 device */
#define IRQ_NUMBER               CAN0_0_IRQn         /* Interrupt number */
#define CAN_IRQ_HANDLER          CAN0_0_IRQHandler   /* CAN Interrupt Handler */
#else
/* XMC 4000 family */
#define IRQ_NUMBER               CAN0_7_IRQn         /* Interrupt number */
#define CAN_IRQ_HANDLER          CAN0_7_IRQHandler   /* CAN Interrupt Handler */
#endif

#define DATA0_IDX                0                   /* Data0 index */
#define DATA1_IDX                1                   /* Data1 index */
#define DATA_LENGTH              2                   /* Data length */

/* Define macro to enable/disable printing of debug messages */
#define ENABLE_XMC_DEBUG_PRINT              (0)

/* Define macro to set the loop count before printing debug messages */
#if ENABLE_XMC_DEBUG_PRINT
#define DEBUG_LOOP_COUNT_MAX                (1U)
#endif

/*******************************************************************************
* Variables
*******************************************************************************/
/* Variable to indicate that CAN frame is received */
volatile bool frame_received = false;
/* Variable to hold the CAN data to be sent */
uint32_t message_data[DATA_LENGTH] = {0x10000000, 0x20000000};

/* Variable for keeping track of Interrupt */
static volatile bool timer_interrupt_flag = false;

/*******************************************************************************
* Function Name: SysTick_Handler
********************************************************************************
* Summary:
* Function called by system timer every millisecond.
*
* Parameters:
*  void
*
* Return:
*  void
*
*******************************************************************************/
void SysTick_Handler(void)
{
    static uint32_t ticks = 0;

    ticks++;
    if (TICKS_WAIT_MS == ticks)
    {
        /* Update CAN message */
        CAN_NODE_TX_LMO_0.can_data[DATA0_IDX] = message_data[DATA0_IDX]++;
        CAN_NODE_TX_LMO_0.can_data[DATA1_IDX] = message_data[DATA1_IDX]++;

        /* Configure data to be transmitted and data length code */
        XMC_CAN_MO_UpdateData(&CAN_NODE_TX_LMO_0);

        /* Send data in CAN_NODE_TX_LMO_0 */
        XMC_CAN_MO_Transmit(&CAN_NODE_TX_LMO_0);

        /* Timer interrupt occurs, set the flag to true  */
        timer_interrupt_flag = true;

        ticks = 0;
    }
}

/*******************************************************************************
* Function Name: CAN_IRQ_HANDLER
********************************************************************************
* Summary:
* This is the interrupt handler function for the CAN node
*
* Parameters:
*  void
*
* Return:
*  void
*
*******************************************************************************/
void CAN_IRQ_HANDLER(void)
{
    /* Receive the message in the CAN_NODE_RX_LMO_0 MO*/
    XMC_CAN_MO_Receive(&CAN_NODE_RX_LMO_0);

    /* Toggle User LED1 to indicate that the requested message is received*/
    XMC_GPIO_ToggleOutput(CYBSP_USER_LED_PORT, CYBSP_USER_LED_PIN);

    /* Set the frame received flag to true */
    frame_received = true;
}

/*******************************************************************************
* Function Name: main
********************************************************************************
* Summary:
* This is the main function. This function performs
*  - initial setup of device
*  - initialize CAN transmit and receive nodes in loopback mode
*  - transmits a CAN frame every 1 second
*  - prints the received CAN message in the serial terminal
*
* Parameters:
*  none
*
* Return:
*  int
*
*******************************************************************************/
int main(void)
{
    cy_rslt_t result;

    #if ENABLE_XMC_DEBUG_PRINT
    /* Assign false to disable printing of debug messages*/
    static volatile bool debug_printf = true;
    /* Initialize the current rx loop count to zero */
    static uint32_t debug_loop_rx_count = 0;
    #endif

    /* Initialize the device and board peripherals */
    result = cybsp_init();
    if (result != CY_RSLT_SUCCESS)
    {
        CY_ASSERT(0);
    }

    /* Initialize printf retarget */
    cy_retarget_io_init(CYBSP_DEBUG_UART_HW);

    #if ENABLE_XMC_DEBUG_PRINT
    printf("Initialization done\r\n");
    #else
    printf("\r\n*********************************\r\n");
    printf("CAN Loopback Example project\n\r");
    printf("*********************************\r\n");
    #endif

    /*Enable NVIC node*/
    NVIC_EnableIRQ(IRQ_NUMBER);

    /* Enable system timer */
    SysTick_Config(SystemCoreClock / TICKS_PER_SECOND);

    for(;;)
    {
        #if ENABLE_XMC_DEBUG_PRINT
        if(timer_interrupt_flag == true && debug_printf == true)
        {
            printf("Send CAN frame in CAN_NODE_TX\r\n");
            debug_printf = false;
        }
        #endif

        /* CAN Frame is received */
        if(frame_received)
        {
            #if ENABLE_XMC_DEBUG_PRINT
            debug_loop_rx_count++;
            #endif

            #if ENABLE_XMC_DEBUG_PRINT
            if(debug_loop_rx_count == DEBUG_LOOP_COUNT_MAX)
            {
                printf("Received CAN frame in CAN_NODE_RX\r\n");
            }
            #else
            /* Print the received frame in serial terminal */
            printf("Received CAN frame\n\r");
            printf( "Data1: %"PRIx32"\n\r", CAN_NODE_RX_LMO_0.can_data[DATA0_IDX]);
            printf( "Data2: %"PRIx32"\n\r", CAN_NODE_RX_LMO_0.can_data[DATA1_IDX]);
            #endif


            /* Reset flag */
            frame_received = false;
        }
    }
}

/* [] END OF FILE */