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# 1.4 CAN FD Blocking

This example application shows how to use the CAN 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 evaluation 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 via 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 also be downloaded using content manager by following these instructions.

Path of the application within the repository is apps/can/can_fd_operation_blocking.

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

Project Name | Description
--- | ---
wbz653_curiosity.X | MPLABX Project for WBZ653 Curiosity Board

## Setting Up WBZ653 Curiosity Board

Hardware required

Name | Quantity
--- | ---
WBZ653 Curiosity Board | 2
ATA6563 click board | 2

Setting up the board

- Insert ATA6563 click board in the mikroBUS connector of each WBZ653 board.
- Connect ATA6563 click board to each other using DB9 serial cable as shown below.

- ATA6563 CLICK - 1 | ATA6563 CLICK - 2
  --- | ---
  PIN 2, CAN L | PIN 2, CAN L
  PIN 7, CAN H | PIN 7, CAN H
  PIN 3, GND | PIN 3, GND

- Connect the Debug USB port on the board to the computer using a micro USB cable.

## 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: