/* Copyright (C) 2023 Alif Semiconductor - All Rights Reserved. * Use, distribution and modification of this code is permitted under the * terms stated in the Alif Semiconductor Software License Agreement * * You should have received a copy of the Alif Semiconductor Software * License Agreement with this file. If not, please write to: * contact@alifsemi.com, or visit: https://alifsemi.com/license * */ /****************************************************************************** * @file CANFD_BlockingMode.c * @author Shreehari H K * @email shreehari.hk@alifsemi.com * @version V1.0.0 * @date 22-Feb-2024 * @brief Baremetal demo application for CANFD. * - Performs Blocking (Polling) mode test. * - External loopback communication is done. * @bug None * @Note The Hardware connection to be done as per External Loopback Test ******************************************************************************/ #include #include #include #include CMSIS_device_header #include "pinconf.h" #include "Driver_CAN.h" #if defined(RTE_Compiler_IO_STDOUT) #include "retarget_stdout.h" #endif /* RTE_Compiler_IO_STDOUT */ #include "se_services_port.h" /* It is recommended to use the bit rate and bit segments * as specified in the Hardware reference manual for proper communication. * * Nominal bit rate 500kbps, Fast bit rate 2Mbps, 20MHz CANFD clock are set * for this example */ #define CANFD_NOMINAL_BITRATE 500000U #define CANFD_BIT_TIME_PROP_SEG 2U #define CANFD_BIT_TIME_SEG1 30U #define CANFD_BIT_TIME_SEG2 8U #define CANFD_BIT_TIME_SJW 8U #define CANFD_FAST_BITRATE 2000000U #define CANFD_FAST_BIT_TIME_PROP_SEG 1U #define CANFD_FAST_BIT_TIME_SEG1 7U #define CANFD_FAST_BIT_TIME_SEG2 2U #define CANFD_FAST_BIT_TIME_SJW 2U #define CANFD_TRANSCEIVER_TX_DELAY_COMP 8U #define CANFD_NOMINAL_BITTIME_SEGMENTS ((CANFD_BIT_TIME_PROP_SEG << 0U) | \ (CANFD_BIT_TIME_SEG1 << 8U) | \ (CANFD_BIT_TIME_SEG2 << 16U) | \ (CANFD_BIT_TIME_SJW << 24U)) #define CANFD_FAST_BITTIME_SEGMENTS ((CANFD_FAST_BIT_TIME_PROP_SEG << 0U) | \ (CANFD_FAST_BIT_TIME_SEG1 << 8U) | \ (CANFD_FAST_BIT_TIME_SEG2 << 16U) | \ (CANFD_FAST_BIT_TIME_SJW << 24U)) /* Object filter settings */ #define CANFD_OBJECT_FILTER_CODE_1 0x5A5U #define CANFD_OBJECT_FILTER_CODE_2 0x01FF5A5AU #define CANFD_OBJECT_FILTER_MASK 0U #define CANFD_MAX_MSG_SIZE 64U /* Application Message Frame types */ typedef enum _CANFD_FRAME { CANFD_FRAME_STD_ID_CLASSIC_DATA, CANFD_FRAME_STD_ID_RTR, CANFD_FRAME_STD_ID_FD_DATA, CANFD_FRAME_EXT_ID_RTR, CANFD_FRAME_EXT_ID_CLASSIC_DATA, CANFD_FRAME_EXT_ID_FD_DATA, CANFD_FRAME_OVER }CANFD_FRAME; /* CANFD instance object */ extern ARM_DRIVER_CAN Driver_CANFD; static ARM_DRIVER_CAN* CANFD_instance = &Driver_CANFD; /* File Global variables */ static bool stop_execution = false; static uint8_t tx_obj_id = 255U; static uint8_t rx_obj_id = 255U; static ARM_CAN_MSG_INFO tx_msg_header; static ARM_CAN_MSG_INFO rx_msg_header; static uint8_t tx_msg_size = 0U; static volatile uint8_t rx_msg_size = 0U; static uint8_t tx_data[CANFD_MAX_MSG_SIZE + 1U] = "!!!!!!***** CANFD TESTAPP Message Communication Test *****!!!!!!"; static uint8_t rx_data[CANFD_MAX_MSG_SIZE + 1U]; /* A map between Data length code to the payload size */ static const uint8_t canfd_len_dlc_map[0x10U] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U}; /* Support functions */ static void canfd_process_rx_message(void); static void canfd_transmit_message(const CANFD_FRAME msg_type); static void canfd_check_error(void); /** * @fn static int32_t pinmux_config(void) * @brief CANFD Rx and Tx pinmux configuration. * @note none * @param none * @retval execution status. */ static int32_t pinmux_config(void) { int32_t ret_val = 0U; /* pinmux configurations for CANFD pins */ ret_val = pinconf_set(PORT_7, PIN_0, PINMUX_ALTERNATE_FUNCTION_7, (PADCTRL_READ_ENABLE | PADCTRL_OUTPUT_DRIVE_STRENGTH_2MA)); if(ret_val) { printf("ERROR: Failed to configure PINMUX for CANFD Rx \r\n"); return ret_val; } ret_val = pinconf_set(PORT_7, PIN_1, PINMUX_ALTERNATE_FUNCTION_7, PADCTRL_OUTPUT_DRIVE_STRENGTH_2MA); if(ret_val) { printf("ERROR: Failed to configure PINMUX for CANFD Tx \r\n"); return ret_val; } ret_val = pinconf_set(PORT_7, PIN_3, PINMUX_ALTERNATE_FUNCTION_7, PADCTRL_OUTPUT_DRIVE_STRENGTH_2MA); if(ret_val) { printf("ERROR: Failed to configure PINMUX for CANFD Standby \r\n"); return ret_val; } return ret_val; } /** * @fn static void canfd_blocking_mode_demo(void) * @brief CANFD Blocking mode demo with the * help of External Loopback * @note none * @param none * @retval none */ static void canfd_blocking_mode_demo(void) { CANFD_FRAME msg_type = CANFD_FRAME_STD_ID_CLASSIC_DATA; int32_t ret_val = ARM_DRIVER_OK; ARM_CAN_CAPABILITIES can_capabilities; ARM_CAN_OBJ_CAPABILITIES can_obj_capabilities; uint8_t iter = 0U; uint32_t error_code = 0U; uint32_t service_error_code = 0U; /* Initialize the SE services */ se_services_port_init(); /* Enables the HFOSC clock */ error_code = SERVICES_clocks_enable_clock(se_services_s_handle, CLKEN_HFOSC, true, &service_error_code); if(error_code) { printf("SE Error: HFOSC clk enable = %d\n", (int)error_code); return; } /* Enables the 160MHz clock */ error_code = SERVICES_clocks_enable_clock(se_services_s_handle, CLKEN_CLK_160M, true, &service_error_code); if(error_code) { printf("SE Error: 160 MHz clk enable = %d\n", (int)error_code); return; } printf("*** CANFD Blocking Mode Demo app is starting ***\n"); ret_val = pinmux_config(); if(ret_val != ARM_DRIVER_OK) { printf("Error in pin-mux configuration\n"); return; } /* Get CANFD capabilities */ can_capabilities = CANFD_instance->GetCapabilities(); printf("Num of objects supported: %d\r\n", can_capabilities.num_objects); /* Initializing CANFD Access struct. * Passing NULL for callbacks as it is not required */ ret_val = CANFD_instance->Initialize(NULL, NULL); if(ret_val != ARM_DRIVER_OK) { printf("ERROR: Failed to initialize the CANFD \n"); return; } /* Powering up CANFD */ ret_val = CANFD_instance->PowerControl(ARM_POWER_FULL); if(ret_val != ARM_DRIVER_OK) { printf("ERROR: Failed to Power up the CANFD \n"); goto uninitialise_canfd; } /* Setting CANFD to FD mode */ if(can_capabilities.fd_mode == 1U) { CANFD_instance->Control(ARM_CAN_SET_FD_MODE, ENABLE); if(ret_val != ARM_DRIVER_OK) { printf("ERROR: CANFD Enabling FD mode failed\r\n"); goto power_off_canfd; } } /* Initializing up CANFD module */ ret_val = CANFD_instance->SetMode(ARM_CAN_MODE_INITIALIZATION); if(ret_val != ARM_DRIVER_OK) { printf("ERROR: Failed to set CANFD to INIT mode \r\n"); goto power_off_canfd; } /* Setting bit rate for CANFD */ ret_val = CANFD_instance->SetBitrate(ARM_CAN_BITRATE_NOMINAL, CANFD_NOMINAL_BITRATE, CANFD_NOMINAL_BITTIME_SEGMENTS); if(ret_val != ARM_DRIVER_OK) { printf("ERROR: Failed to set CANFD Nominal Bitrate\r\n"); goto power_off_canfd; } /* Setting bit rate for CANFD */ if(can_capabilities.fd_mode == 1U) { ret_val = CANFD_instance->SetBitrate(ARM_CAN_BITRATE_FD_DATA, CANFD_FAST_BITRATE, CANFD_FAST_BITTIME_SEGMENTS); if(ret_val != ARM_DRIVER_OK) { printf("ERROR: Failed to set CANFD Fast Bitrate\r\n"); goto power_off_canfd; } /* Sets below Transceiver's Transmitter Delay Compensation value * for Fast bit rate of 2Mbps when CANFD clock is 20MHz */ ret_val = CANFD_instance->Control(ARM_CAN_SET_TRANSCEIVER_DELAY, CANFD_TRANSCEIVER_TX_DELAY_COMP); if(ret_val != ARM_DRIVER_OK) { printf("ERROR: Failed to set CANFD TDC \r\n"); goto power_off_canfd; } } /* Assign IDs to Tx and Rx objects */ for(iter = 0U; iter < can_capabilities.num_objects; iter++) { can_obj_capabilities = CANFD_instance->ObjectGetCapabilities(iter); if((can_obj_capabilities.tx == 1U) && (tx_obj_id == 255U)) { tx_obj_id = iter; } else if((can_obj_capabilities.rx == 1U) && (rx_obj_id == 255U)) { rx_obj_id = iter; } } ret_val = CANFD_instance->ObjectConfigure(tx_obj_id, ARM_CAN_OBJ_TX); if(ret_val != ARM_DRIVER_OK) { printf("ERROR: Object Tx configuration failed\r\n"); goto power_off_canfd; } ret_val = CANFD_instance->ObjectConfigure(rx_obj_id, ARM_CAN_OBJ_RX); if(ret_val != ARM_DRIVER_OK) { printf("ERROR: Object Rx configuration failed\r\n"); goto power_off_canfd; } /* Setting Object filter of CANFD */ ret_val = CANFD_instance->ObjectSetFilter(rx_obj_id, ARM_CAN_FILTER_ID_EXACT_ADD, CANFD_OBJECT_FILTER_CODE_1, CANFD_OBJECT_FILTER_MASK); if(ret_val == ARM_DRIVER_ERROR_SPECIFIC) { printf("ERROR: No free Filter available\r\n"); } else if(ret_val != ARM_DRIVER_OK) { printf("ERROR: Failed to set CANFD Object filter\r\n"); goto power_off_canfd; } /* Setting Object filter of CANFD */ ret_val = CANFD_instance->ObjectSetFilter(rx_obj_id, ARM_CAN_FILTER_ID_EXACT_ADD, CANFD_OBJECT_FILTER_CODE_2, CANFD_OBJECT_FILTER_MASK); if(ret_val == ARM_DRIVER_ERROR_SPECIFIC) { printf("ERROR: No free Filter available\r\n"); } else if(ret_val != ARM_DRIVER_OK) { printf("ERROR: Failed to set CANFD Object filter\r\n"); goto power_off_canfd; } /* Setting CANFD to Normal mode */ ret_val = CANFD_instance->SetMode(ARM_CAN_MODE_LOOPBACK_EXTERNAL); if(ret_val != ARM_DRIVER_OK) { printf("ERROR: Failed to set CANFD to External Loopback mode\r\n"); goto power_off_canfd; } while(!(stop_execution)) { /* Invoke the below function to prepare and send a message */ canfd_transmit_message(msg_type++); /* Invoke the below function to check on errors */ canfd_check_error(); /* Invoke the below function to process the received message */ canfd_process_rx_message(); /* Invoke the below function to check on errors */ canfd_check_error(); } power_off_canfd: /* Powering OFF CANFD module */ if(CANFD_instance->PowerControl(ARM_POWER_OFF) != ARM_DRIVER_OK) { printf("ERROR in CANFD power off\r\n"); } uninitialise_canfd: /* Un-initialising CANFD module */ if(CANFD_instance->Uninitialize() != ARM_DRIVER_OK) { printf("ERROR in CANFD un-initialization\r\n"); } /* Disables the HFOSC clock */ error_code = SERVICES_clocks_enable_clock(se_services_s_handle, CLKEN_HFOSC, false, &service_error_code); if(error_code) { printf("SE Error: HFOSC clk disable = %d\n", (int)error_code); return; } /* Disables the 160MHz clock */ error_code = SERVICES_clocks_enable_clock(se_services_s_handle, CLKEN_CLK_160M, false, &service_error_code); if(error_code) { printf("SE Error: 160 MHz clk disable = %d\n", (int)error_code); return; } printf("*** CANFD Blocking Mode Demo is ended ***\r\n"); } /** * @fn int main() * @brief main function of the CANFD Application * @note none * @param none * @retval software execution status */ int main() { #if defined(RTE_Compiler_IO_STDOUT_User) int32_t ret; ret = stdout_init(); if(ret != ARM_DRIVER_OK) { while(1) { } } #endif #if RTE_CANFD_BLOCKING_MODE_ENABLE canfd_blocking_mode_demo(); #else #error "CANFD Blocking mode is not enabled in RTE_Device.h" #endif return 0; } /** * @fn static void canfd_process_rx_message(void) * @brief Processes the received messages * @note none * @param none * @retval none */ static void canfd_process_rx_message(void) { uint8_t iter = 0U; /* Reading arrived CAN Message */ if(CANFD_instance->MessageRead(rx_obj_id, &rx_msg_header, rx_data, rx_msg_size) != ARM_DRIVER_OK) { printf("Error in reading message \r\n"); } else { /* Checking if a new message is received. If yes * performs the below operations */ if(rx_msg_header.rtr == 1U) { printf("Rx msg:\r\n Type:Remote frame, Id:%lu", (rx_msg_header.id & (~ARM_CAN_ID_IDE_Msk))); } else { printf("Rx msg:\r\n Type:Data frame, "); /* Checks if expected Rx msg length is equal to actual length */ if(rx_msg_size == canfd_len_dlc_map[rx_msg_header.dlc]) { /* If transmitted message is matching with received message: * performs the following operation */ if(memcmp(tx_data, rx_data, rx_msg_size) == 0U) { /* If any error is present in the Rx message */ if(rx_msg_header.esi) { printf("\r\n Error Occurred in Rx message \r\n"); return; } printf("Id:%lu, Len:%d:\r\n Data:", (rx_msg_header.id & (~ARM_CAN_ID_IDE_Msk)), rx_msg_size); for(iter = 0; iter < rx_msg_size; iter++) { printf("%c", rx_data[iter]); } } else { printf("\r\n Error: Tx and Rx message mismatch \r\n"); } } else { printf("\r\n Error: Rx msg length is not as expected\r\n"); } } printf("\r\n"); } } /** * @fn static void canfd_check_error(void) * @brief Checks for the errors in CANFD * @note none * @param none * @retval none */ static void canfd_check_error(void) { ARM_CAN_STATUS cur_sts; /* Getting the current CANFD status. * The Last error code contains info of last occurred error */ cur_sts = CANFD_instance->GetStatus(); if(cur_sts.unit_state == ARM_CAN_UNIT_STATE_BUS_OFF) { printf("Error: CANFD Bus OFF:\r\n"); } if(cur_sts.last_error_code) { printf("Error in CANFD-->Error Code:%d\r\n", cur_sts.last_error_code); } } /** * @fn static void canfd_transmit_message(void) * @brief Prepares and sends message * @note none * @param none * @retval none */ static void canfd_transmit_message(const CANFD_FRAME msg_type) { int32_t status = ARM_DRIVER_OK; uint8_t iter = 0U; switch(msg_type) { case CANFD_FRAME_STD_ID_CLASSIC_DATA: /* Sending Classic CAN DATA message of * length 5 bytes with Message Id 0x5A5 */ tx_msg_header.brs = 0x0U; tx_msg_header.dlc = 0x5U; tx_msg_header.id = 0x5A5U; tx_msg_header.rtr = 0x0U; tx_msg_header.edl = 0x0U; tx_msg_size = 0x5U; break; case CANFD_FRAME_STD_ID_RTR: /* Sending Classic CAN Remote request message * with Message Id 0x5A5 */ tx_msg_header.brs = 0x0U; tx_msg_header.dlc = 0x0U; tx_msg_header.id = 0x5A5U; tx_msg_header.rtr = 0x1U; tx_msg_header.edl = 0x0U; tx_msg_size = 0x0U; break; case CANFD_FRAME_STD_ID_FD_DATA: /* Sending FD CAN DATA message of * length 64 bytes with Message Id 0x5A5 */ tx_msg_header.brs = 0x1U; tx_msg_header.dlc = 0xFU; tx_msg_header.id = 0x5A5U; tx_msg_header.rtr = 0x0U; tx_msg_header.edl = 0x1U; tx_msg_size = 0x40U; break; case CANFD_FRAME_EXT_ID_RTR: /* Sending Classic CAN Remote request message * with Extended Message Id 0x1FF5A5AU */ tx_msg_header.brs = 0x0U; tx_msg_header.dlc = 0x0U; tx_msg_header.id = 0x81FF5A5AU; tx_msg_header.rtr = 0x1U; tx_msg_header.edl = 0x0U; tx_msg_size = 0x0U; break; case CANFD_FRAME_EXT_ID_CLASSIC_DATA: /* Sending Classic CAN data message of * length 8 bytes with Extended Message Id 0x1FF5A5AU */ tx_msg_header.brs = 0x0U; tx_msg_header.dlc = 0x8U; tx_msg_header.id = 0x81FF5A5AU; tx_msg_header.rtr = 0x0U; tx_msg_header.edl = 0x0U; tx_msg_size = 0x8U; break; case CANFD_FRAME_EXT_ID_FD_DATA: /* Sending FD CAN message of length 16 bytes * with Extended Message Id 0x1FF5A5AU */ tx_msg_header.brs = 0x1U; tx_msg_header.dlc = 0xAU; tx_msg_header.id = 0x81FF5A5AU; tx_msg_header.rtr = 0x0U; tx_msg_header.edl = 0x1U; tx_msg_size = 0x10U; stop_execution = true; break; default: stop_execution = true; return; } /* Sends the message to CAN HAL Driver */ status = CANFD_instance->MessageSend(tx_obj_id, &tx_msg_header, tx_data, tx_msg_size); if(status == ARM_DRIVER_OK) { rx_msg_size = tx_msg_size; printf("Tx Msg:\r\n Id:%lu, Len:%d: \r\n Data:", (tx_msg_header.id & (~ARM_CAN_ID_IDE_Msk)), tx_msg_size); for(iter = 0; iter < tx_msg_size; iter++) { printf("%c", tx_data[iter]); } printf("\r\n"); } else { printf("Error: Failed to send message \n"); } }