canfd6  2.0.0.0
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CAN FD 6 click

CAN FD 6 Click is a compact add-on board containing a CAN transceiver that supports CAN and CAN FD protocols. This board features the TCAN4550, a CAN FD controller that provides an interface between the CAN bus and the CAN protocol controller up to 5 megabits per second (Mbps) from Texas Instruments.

click Product page


Click library

  • Author : Stefan Nikolic
  • Date : feb 2021.
  • Type : SPI type

Software Support

We provide a library for the CANFD6 Click as well as a demo application (example), developed using MikroElektronika compilers. The demo can run on all the main MikroElektronika development boards.

Package can be downloaded/installed directly from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on mikroE github account.

Library Description

This library contains API for CANFD6 Click driver.

Standard key functions :

Example key functions :

Example Description

This application presents the capabilities of the CAN FD 6 click board. The board can be used both as a receiver and a transmitter. Use def directive to define the receive or transmit app.

The demo application is composed of two sections :

Application Init

The app starts by initializing the UART LOG and SPI drivers. The default cfg function performs the mandatory settings of the device. The user's default configuration can be modified ( for more information about device configuration, check the datasheet ). Additionally, the app writes two messages to the FIFO buffer and sends them if the transmit buffer content event is triggered.

void application_init ( void ) {
log_cfg_t log_cfg;
canfd6_cfg_t canfd6_cfg;
LOG_MAP_USB_UART( log_cfg );
log_init( &logger, &log_cfg );
log_info( &logger, " Application Init " );
// Click initialization.
canfd6_cfg_setup( &canfd6_cfg );
CANFD6_MAP_MIKROBUS( canfd6_cfg, MIKROBUS_1 );
err_t init_flag = canfd6_init( &canfd6, &canfd6_cfg );
if ( init_flag == SPI_MASTER_ERROR ) {
log_error( &logger, " Application Init Error. " );
log_info( &logger, " Please, run program again... " );
for ( ; ; );
}
canfd6_default_cfg( &canfd6 );
Delay_ms( 100 );
#ifdef DEMO_APP_TRANSMITTER
canfd6_mcan_tx_header_t canfd6_header = { 0 };
uint8_t data_send_buf[ 64 ] = { 0 };
strcpy ( data_send_buf, "MIKROE" );
canfd6_header.DLC = CANFD6_MCAN_DLC_6B;
canfd6_header.ID = 0x123;
canfd6_header.FDF = 1;
canfd6_header.BRS = 1;
canfd6_header.EFC = 0;
canfd6_header.MM = 0;
canfd6_header.RTR = 0;
canfd6_header.XTD = 0;
canfd6_header.ESI = 0;
canfd6_mcan_write_txbuffer( &canfd6, CANFD6_FIRST_MSG, &canfd6_header, data_send_buf );
strcpy ( data_send_buf, "CAN FD 6 click board" );
canfd6_header.DLC = CANFD6_MCAN_DLC_20B;
canfd6_header.ID = 0x456;
canfd6_header.FDF = 1;
canfd6_header.BRS = 1;
canfd6_header.EFC = 0;
canfd6_header.MM = 0;
canfd6_header.RTR = 0;
canfd6_header.XTD = 0;
canfd6_header.ESI = 0;
canfd6_mcan_write_txbuffer( &canfd6, CANFD6_SECOND_MSG, &canfd6_header, data_send_buf );
log_printf( &logger, " Application Mode: Transmitter\r\n" );
#else
log_printf( &logger, " Application Mode: Receiver\r\n" );
#endif
log_info( &logger, " Application Task " );
}

Application Task

Depending on the defined app option, the application task performs the following procedure. If the transmitter is preferred, the application task triggers the transmit buffer contents event of the first message and, later on, the second message. On the other hand, the receiver waits for the CAN FD interrupt, where the payload is read along with the header ID.

void application_task ( void ) {
#ifdef DEMO_APP_TRANSMITTER
log_printf( &logger, " Transmit first message\r\n" );
Delay_ms( 2000 );
log_printf( &logger, " Transmit second message\r\n" );
Delay_ms( 2000 );
#else
uint8_t cnt = 0;
if ( !canfd6_get_int_pin( &canfd6 ) ) {
canfd6_device_interrupts_t canfd6_dev_ir = { 0 };
canfd6_mcan_interrupts_t canfd6_mcan_ir = { 0 };
canfd6_device_read_interrupts( &canfd6, &canfd6_dev_ir );
canfd6_mcan_read_interrupts( &canfd6, &canfd6_mcan_ir );
if ( canfd6_dev_ir.SPIERR ) {
}
if ( canfd6_mcan_ir.RF0N ) {
canfd6_mcan_rx_header_t canfd6_msg_header = { 0 };
uint8_t num_bytes = 0;
uint8_t data_payload[ 64 ] = { 0 };
canfd6_mcan_clear_interrupts( &canfd6, &canfd6_mcan_ir );
num_bytes = canfd6_mcan_read_nextfifo( &canfd6, CANFD6_RXFIFO0, &canfd6_msg_header, data_payload );
log_printf( &logger, " Message received ID[ 0x%X ]: ", canfd6_msg_header.ID );
while ( cnt < 64 ) {
if ( data_payload[ cnt ] ) {
log_printf( &logger, "%c", data_payload[ cnt ] );
cnt++;
} else {
log_printf( &logger, "\r\n" );
cnt = 64;
}
}
}
}
#endif
}

The full application code, and ready to use projects can be installed directly from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on mikroE github account.

Other mikroE Libraries used in the example:

  • MikroSDK.Board
  • MikroSDK.Log
  • Click.CANFD6

Additional notes and informations

Depending on the development board you are using, you may need USB UART click, USB UART 2 Click or RS232 Click to connect to your PC, for development systems with no UART to USB interface available on the board. The terminal available in all Mikroelektronika compilers, or any other terminal application of your choice, can be used to read the message.


canfd6_mcan_tx_header_t::EFC
uint8_t EFC
Definition: canfd6.h:1393
CANFD6_SECOND_MSG
#define CANFD6_SECOND_MSG
Definition: main.c:44
canfd6_mcan_tx_header_t::ID
uint32_t ID
Definition: canfd6.h:1385
canfd6_device_interrupts_t
CAN FD 6 Click device interrupt bit field struct.
Definition: canfd6.h:1457
canfd6_device_clear_spierr
void canfd6_device_clear_spierr(canfd6_t *ctx)
CAN FD 6 device clear spierr function.
canfd6_cfg_setup
void canfd6_cfg_setup(canfd6_cfg_t *cfg)
CAN FD 6 configuration object setup function.
canfd6_mcan_tx_header_t::FDF
uint8_t FDF
Definition: canfd6.h:1391
canfd6_mcan_read_interrupts
void canfd6_mcan_read_interrupts(canfd6_t *ctx, canfd6_mcan_interrupts_t *ir)
CAN FD 6 read interrupts function.
canfd6_mcan_write_txbuffer
uint32_t canfd6_mcan_write_txbuffer(canfd6_t *ctx, uint8_t buf_index, canfd6_mcan_tx_header_t *header, uint8_t data_payload[])
CAN FD 6 write tx buffer function.
canfd6_mcan_interrupts_t
CAN FD 6 Click MCAN interrupts.
Definition: canfd6.h:1272
canfd6_device_read_interrupts
void canfd6_device_read_interrupts(canfd6_t *ctx, canfd6_device_interrupts_t *ir)
CAN FD 6 device read interrupts function.
canfd6_mcan_transmit_buffer_contents
err_t canfd6_mcan_transmit_buffer_contents(canfd6_t *ctx, uint8_t buf_index)
CAN FD 6 transmit buffer contents function.
canfd6_device_interrupts_t::SPIERR
uint8_t SPIERR
Definition: canfd6.h:1466
application_task
void application_task(void)
Definition: main.c:112
canfd6_mcan_tx_header_t
CAN FD 6 Click CAN message header for transmitted messages.
Definition: canfd6.h:1384
canfd6_mcan_interrupts_t::RF0N
uint8_t RF0N
Definition: canfd6.h:1278
canfd6_init
err_t canfd6_init(canfd6_t *ctx, canfd6_cfg_t *cfg)
CAN FD 6 initialization function.
canfd6_mcan_read_nextfifo
uint8_t canfd6_mcan_read_nextfifo(canfd6_t *ctx, canfd6_mcan_fifo_enum_t fifo_def, canfd6_mcan_rx_header_t *header, uint8_t data_payload[])
CAN FD 6 read next fifo function.
CANFD6_FIRST_MSG
#define CANFD6_FIRST_MSG
Definition: main.c:43
canfd6_mcan_tx_header_t::MM
uint8_t MM
Definition: canfd6.h:1394
CANFD6_MAP_MIKROBUS
#define CANFD6_MAP_MIKROBUS(cfg, mikrobus)
MikroBUS pin mapping.
Definition: canfd6.h:881
canfd6_mcan_tx_header_t::ESI
uint8_t ESI
Definition: canfd6.h:1388
canfd6_cfg_t
CAN FD 6 Click configuration object.
Definition: canfd6.h:923
canfd6_mcan_tx_header_t::DLC
uint8_t DLC
Definition: canfd6.h:1389
canfd6_mcan_fifo_enum_t
canfd6_mcan_fifo_enum_t
CAN FD 6 Click RX FIFO enum.
Definition: canfd6.h:973
canfd6_mcan_rx_header_t::ID
uint32_t ID
Definition: canfd6.h:1365
CANFD6_MCAN_DLC_20B
#define CANFD6_MCAN_DLC_20B
Definition: canfd6.h:214
canfd6_get_int_pin
uint8_t canfd6_get_int_pin(canfd6_t *ctx)
CAN FD 6 get int pin function.
canfd6_mcan_tx_header_t::RTR
uint8_t RTR
Definition: canfd6.h:1386
canfd6_t
CAN FD 6 Click context object.
Definition: canfd6.h:899
application_init
void application_init(void)
Definition: main.c:49
canfd6_mcan_rx_header_t
CAN FD 6 Click CAN message header.
Definition: canfd6.h:1364
CANFD6_MCAN_DLC_6B
#define CANFD6_MCAN_DLC_6B
Definition: canfd6.h:209
CANFD6_RXFIFO0
@ CANFD6_RXFIFO0
Definition: canfd6.h:974
canfd6_default_cfg
void canfd6_default_cfg(canfd6_t *ctx)
CAN FD 6 default configuration function.
canfd6_mcan_tx_header_t::BRS
uint8_t BRS
Definition: canfd6.h:1390
canfd6_mcan_tx_header_t::XTD
uint8_t XTD
Definition: canfd6.h:1387
canfd6_mcan_clear_interrupts
void canfd6_mcan_clear_interrupts(canfd6_t *ctx, canfd6_mcan_interrupts_t *ir)
CAN FD 6 clear interrupts function.