XMC™ MCU: CAN receiver

This code example demonstrates how to receive CAN messages over the CAN bus using XMC™ MCU. This code example can be used together with the CAN transmitter example running on another board.

View this README on GitHub.

Provide feedback on this code example.

Requirements

ModusToolbox™ software v3.0
SEGGER J-Link software
Programming language: C
Associated parts: All XMC™ MCU parts

Supported toolchains (make variable 'TOOLCHAIN')

GNU Arm® embedded compiler v10.3.1 (GCC_ARM) - Default value of TOOLCHAIN

Supported kits (make variable 'TARGET')

XMC1400 boot kit (KIT_XMC14_BOOT_001) - Default value of TARGET
XMC4200 Platform2Go kit (KIT_XMC_PLT2GO_XMC4200)
XMC4300 relax EtherCAT kit (KIT_XMC43_RELAX_ECAT_V1)
XMC4400 Platform2Go kit (KIT_XMC_PLT2GO_XMC4400)
XMC4500 relax kit (KIT_XMC45_RELAX_V1)
XMC4700 relax kit (KIT_XMC47_RELAX_V1)
XMC4800 relax EtherCAT kit (KIT_XMC48_RELAX_ECAT_V1)

Hardware setup

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

Two XMC MCU boards are required to test this code example: one for the XMC™ MCU: CAN receiver application and the other for the XMC™ MCU: CAN transmitter application. See Supported kits.

Connect the CANH and CANL of one board to the CANH and CANL of the other board respectively to establish CAN communication between the transmitter and the receiver node. Also connect the ground pin of both boards together.

Table 1. CAN board connections

Development board	Signal name	Pin header in board
KIT_XMC14_BOOT_001	CANH	J102.H
	CANL	J102.L
KIT_XMC47_RELAX_V1	CANH	X2.33
	CANL	X2.35
KIT_XMC_PLT2GO_XMC4200	CANH	X3.7
	CANL	X3.2
KIT_XMC43_RELAX_ECAT_V1	CANH	X400.7
	CANL	X400.2
KIT_XMC_PLT2GO_XMC4400	CANH	X3.1
	CANL	X3.2
KIT_XMC45_RELAX_V1	CAN_TX	X2.13 (P1.12)
	CAN_RX	X2.12 (P1.13)
KIT_XMC48_RELAX_ECAT_V1	CANH	X2.33
	CANL	X2.35

Notes:

The KIT_XMC_PLT2GO_XMC4200 and KIT_XMC43_RELAX_ECAT_V1 kits provide the CAN interface via a D-Sub DE-9 connector. Therefore, you might need a DBP connector or DB9 to RS232/ RS485 convertor board to connect these boards.
The KIT_XMC45_RELAX_V1 kit does not have an external CAN transceiver. Therefore, you need to connect an external CAN transceiver to the CAN Tx and Rx pins.
The CAN bus lines (CANH and CANL signals) of the on-board transceiver in the KIT_XMC47_RELAX_V1 and KIT_XMC_PLT2GO_XMC4400 kits are not terminated by a 120 Ω resistor and must be terminated externally. Add a 120 Ω termination resistor between the CANH and CANL pins for proper operation of CAN.
The CAN bus lines (CANH and CANL signals) of the on-board transceiver in the KIT_XMC47_RELAX_V1 kit are not terminated by a 120 Ω resistor and must be terminated externally. Add a 120 Ω termination resistor between the CANH and CANL pins for proper operation of CAN as shown in Figure 1.

Figure 1. Hardware setup

Software setup

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 and open it using one of the following:

In Eclipse IDE for ModusToolbox™ software

Click the New Application link in the Quick Panel (or, use File > New > ModusToolbox™ Application). This launches the Project Creator tool.
Pick a kit supported by the code example from the list shown in the Project Creator - Choose Board Support Package (BSP) dialog.

When you select a supported kit, the example is reconfigured automatically to work with the kit. To work with a different supported kit later, use the Library Manager to choose the BSP for the supported kit. You can use the Library Manager to select or update the BSP and firmware libraries used in this application. To access the Library Manager, click the link from the Quick Panel.

You can also just start the application creation process again and select a different kit.

If you want to use the application 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.
In the Project Creator - Select Application dialog, choose the example by enabling the checkbox.
(Optional) Change the suggested New Application Name.
The Application(s) Root Path defaults to the Eclipse workspace which is usually the desired location for the application. If you want to store the application in a different location, you can change the Application(s) Root Path value. Applications that share libraries should be in the same root path.
Click Create to complete the application creation process.

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

In command-line interface (CLI)

ModusToolbox™ software provides the Project Creator as both a GUI tool and the command line tool, "project-creator-cli". The 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™ software 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™ software installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox™ software 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 "project-creator-cli" tool has the following arguments:

Argument	Description	Required/optional
`--board-id`	Defined in the `<id>` field of the BSP manifest	Required
`--app-id`	Defined in the `<id>` 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

The following example clones the XMC™ MCU: CAN receiver application with the desired name "CANReceiver" configured for the KIT_XMC14_BOOT_001 BSP into the specified working directory, C:/mtb_projects:

project-creator-cli --board-id KIT_XMC14_BOOT_001 --app-id mtb-example-xmc-can-receiver --user-app-name CANReceiver --target-dir "C:/mtb_projects"

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™ software user guide (locally available at {ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf).

To work with a different supported kit later, use the Library Manager to choose the BSP for the supported kit. You can invoke the Library Manager GUI tool from the terminal using make library-manager command or use the Library Manager CLI tool "library-manager-cli" to change the BSP.

The "library-manager-cli" tool has the following arguments:

Argument	Description	Required/optional
`--add-bsp-name`	Name of the BSP that should be added to the application	Required
`--set-active-bsp`	Name of the BSP that should be as active BSP for the application	Required
`--add-bsp-version`	Specify the version of the BSP that should be added to the application if you do not wish to use the latest from manifest	Optional
`--add-bsp-location`	Specify the location of the BSP (local/shared) if you prefer to add the BSP in a shared path	Optional

Following example adds the KIT_XMC47_RELAX_V1 BSP to the already created application and makes it the active BSP for the app:

library-manager-cli --project "C:/mtb_projects/CANReceiver" --add-bsp-name KIT_XMC47_RELAX_V1 --add-bsp-version "latest-v4.X" --add-bsp-location "local"

library-manager-cli --project "C:/mtb_projects/CANReceiver" --set-active-bsp APP_KIT_XMC47_RELAX_V1

In third-party IDEs

Use one of the following options:

Use the standalone Project Creator tool:
1. Launch Project Creator from the Windows Start menu or from {ModusToolbox™ software install directory}/tools_{version}/project-creator/project-creator.exe.
2. In the initial Choose Board Support Package screen, select the BSP, and click Next.
3. In the Select Application screen, select the appropriate IDE from the Target IDE drop-down menu.
4. Click Create and follow the instructions printed in the bottom pane to import or open the exported project in the respective IDE.

Use command-line interface (CLI):
1. Follow the instructions from the In command-line interface (CLI) section to create the application.
2. Export the application to a supported IDE using the make <ide> command.
3. Follow the instructions displayed in the terminal to create or import the application as an IDE project.

For a list of supported IDEs and more details, see the "Exporting to IDEs" section of the ModusToolbox™ software user guide (locally available at {ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf).

Operation

Connect the board to your PC using a micro-USB cable through the debug USB connector.
Program the board 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 (JLink).
Connect the second board running the CAN transmitter example as described in the Hardware setup section.
Confirm that User LED1 of the receiver board toggles, indicating that the CAN messages are received successfully.
Press the user button (BUTTON1) on the transmitter board and confirm that the User LED2 on the receiver board is updated accordingly.
To view the received CAN message in a serial terminal, open a terminal program and select the JLink CDC COM port. Set the serial port parameters to 8N1 and 115200 baud. Confirm that the received CAN message is displayed in the serial terminal as shown in Figure 2.

Figure 2. Log messages

Note: KIT_XMC45_RELAX_V1 kit does not have an onboard USB-UART bridge to view the terminal logs. Connect an external USB-UART bridge to the UART pins to view the log messages.

Debugging

You can debug the example to step through the code. In the IDE, use the <Application Name> Debug (JLink) configuration in the Quick Panel. For more details, see the "Program and debug" section in the Eclipse IDE for ModusToolbox™ software user guide.

Design and implementation

In this code example, the CAN Node 1 is linked with message object 0 (MO0), which is configured to receive a single byte over the CAN bus. A successful reception of the message is indicated by toggling user LED1. The incoming CAN messages can be seen in the serial terminal using UART communication. The status of the user LED2 is updated based on the incoming CAN message.

Figure 3. Firmware flow

Resources and settings

The project uses a custom design.modus file since the following settings were modified in the default design.modus file.

Figure 4. CAN RX pin settings

Figure 5. CAN TX pin settings

Figure 6. USIC (UART) settings

Figure 7. USIC interrupt settings

Figure 8. UART TX pin settings

Figure 9. UART RX pin settings

Related resources

Resources	Links
Code examples	Using ModusToolbox™ software on GitHub
Device documentation	XMC1000 family datasheets XMC1000 family technical reference manuals XMC4000 family datasheets XMC4000 family technical reference manuals
Development kits	XMC™ MCU eval boards
Libraries on GitHub	mtb-xmclib-cat3 – XMC™ MCU peripheral library (XMCLib)
Tools	Eclipse IDE for ModusToolbox™ software – ModusToolbox™ software is a collection of easy-to-use software and tools enabling rapid development with Infineon MCUs, covering applications from embedded sense and control to wireless and cloud-connected systems using AIROC™ Wi-Fi and Bluetooth® connectivity devices.

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: CE232627 - XMC™ MCU: CAN receiver

Version	Description of change
1.0.0	New code example
1.1.0	Added support for new kits
2.0.0	Updated to support ModusToolbox™ software v3.0. This CE is not backward compatible with previous version of ModusToolbox™ software.
2.1.0	Added support for CAN personality

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Infineon/mtb-example-xmc-can-receiver

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