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# 1.16 MCAN FD Blocking

This example shows how to use the MCAN module to transmit and receive CAN FD messages in Polling mode.

## Description

This application transmits and receives CAN FD messages on the CAN bus. To run this application, two Curiosity boards of same type are required. These boards acts as different nodes on the CAN bus. Same application is programmed onto both the boards. Boards are connected to PC through UART. While running the application, user can send and receive CAN FD messages between the boards using UART console applications running on the PC.

## Downloading and Building the Application

To clone or download this application from Github, go to the main page of this repository and then click Clone button to clone this repository or download as zip file. This content can be downloaded using content manager by following these instructions.

Path of the application within the repository is apps/mcan/mcan_fd_operation_blocking/firmware.

To build the application, refer to the following table and open the project using its IDE.

Project Name | Description
--- | ---
sam_9x75_curiosity.X | MPLABX project for SAM9X75 Curiosity Development Board
sam_9x75_curiosity_pro.X | MPLABX project for SAM9X75 Curiosity Pro Development Board

## Setting Up AT91Bootstrap Loader

To load the application binary onto the target device, the user needs to use at91bootstrap loader. Refer to the at91bootstrap loader documentation for details on how to configure, build and run bootstrap loader project and use it to bootstrap the application binaries.

## Setting Up the Hardware

The following table shows the target hardware for the application projects.

Project Name | Description
--- | ---
sam_9x75_curiosity.X | SAM9X75 Curiosity Development Board
sam_9x75_curiosity_pro.X | SAM9X75 Curiosity Pro Development Board

### Setting Up SAM9X75 Curiosity Development Board

Hardware required:

Name | Quantity
--- | ---
SAM9X75 Curiosity Development Board | 2
ATA6563 click Board | 2

Setting up the board:

- Insert ATA6563 click Board in the mikroBUS slot
- Connect two SAM9X75 Curiosity Development Board to each other through ATA6563 click Board as per the pin connections shown below:

  SAM9X75 Curiosity Development Board-1 | SAM9X75 Curiosity Development Board-2
  --- | ---
  CAN1_H | CAN1_H
  CAN1_L | CAN1_L
  GND | GND

- Connect the UART DEBUG J35 on board to the computer using a UART-FTDI cable (to enable debug com port)
- Connect the USB port J2 on board to the computer using a micro USB cable (to power the board)

### Setting Up SAM9X75 Curiosity Pro Development Board

Hardware required:

Name | Quantity
--- | ---
SAM9X75 Curiosity Pro Development Board | 2
ATA6563 click Board | 2

Setting up the board:

- Insert ATA6563 click Board in the mikroBUS 2 slot
- Connect two SAM9X75 Curiosity Pro Development Board to each other through ATA6563 click Board as per the pin connections shown below:

  SAM9X75 Curiosity Pro Development Board-1 | SAM9X75 Curiosity Pro Development Board-2
  --- | ---
  CAN1_H | CAN1_H
  CAN1_L | CAN1_L
  GND | GND

- Connect the UART DEBUG J63 on board to the computer using a UART-FTDI cable (to enable debug com port)
- Connect the port J1 on board to the computer using a Type-C USB cable (to power the board)

## Running the Application

1. Build the application using its IDE.
2. Open the Terminal application (Ex.:Tera term) on the computer.
3. Connect to the (USB to Serial) COM port and configure the serial settings as follows:
   - Baud: 115200
   - Data: 8 Bits
   - Parity: None
   - Stop: 1 Bit
   - Flow Control: None
4. In the console associated with board 1, press ‘0’ to transmit a CAN FD message.
5. Transmitted message description and status will be displayed in the console window of board 1.
6. Received message will be displayed in the console window of board 2.
7. Follow the sequence below to send and receive different messages:
   - Press ‘1’ on board 1
   - Press ‘2’ on board 1
   - Press ‘3’ on board 1
   - Press ‘4’ on board 1
   - Press ‘0’ on board 2
   - Press ‘1’ on board 2
   - Press ‘2’ on board 2
   - Press ‘3’ on board 2
   - Press ‘4’ on board 2
8. If the steps are executed in this sequence, the final output in the consoles will be as below:

Rev: E