2.2.1 Getting Started on CAN Protocol (CAN-FD) SAMA5D29 Curiosity Development Board

Description

This application transmits and receives CAN FD messages from MCAN0 to MCAN1 or vice versa. To run this application on SAMA5D29 Curiosity Development Board, two mikroBUS ATA6563 click boards (MCAN0 and MCAN1) are required. MCAN0 and MCAN1 acts as different nodes on the CAN bus. User can send and receive CAN-FD messages from/to respective CAN node through UART console on the PC.

Key Highlights of SAMA5D29 Curiosity Development Board

Modules/Technology Used

Hardware Used

Hardware Modifications to Enable MCAN Communications

Modified SAMA5D29 Curiosity Development Board

Software/Tools Used

• MPLAB® X IDE
• MPLAB® XC32 Compiler
• MPLAB® Code Configurator (MCC)

This project has been verified to work with the following versions of software tools:

Refer Project Manifest present in harmony-manifest-success.yml present in harmony-manifest-success.yml under the project folder firmware/src/config/sam_a5d29_cu to know the MPLAB® X IDE, MCC, libraries version.

Hardware Setup

Developing a CAN-FD demo application

• Open MPLAB® X IDE from the main menu.
• Create a New Project by clicking the New Project icon or by selecting File -> New Project.
• In the New Project window, under Projectschoose Application Project(s). and click Next.
• In the Select Device dialog window, fill in or select the information for below:
  1. Family: Fill configuration name as 32-bit MCUs (PIC32C/SAM).
  2. Device : From drop down list select SAMA2D29.

  

• In the Select Compiler window, for Compiler Toolchains select XC32 COMPILER, and Click Next.

  

• Enter Project Location , Project Folder and Project Name. Click Finish
• This creates an empty project and set this project as main project. If there are other projects open in the project explorer window, set this project as main project by right clicking on the project, choose Set as Main Project.

  

• After the project is created, MCC will be automatically launched. (To launch MCC manually, from main menu, click on Tools -> Embedded -> MPLAB® Code Configurator or click MCC button in the MPLAB® X IDE tool bar.) It will launch Content Manger Wizard. Then select MPLAB® Harmony.

  

• In addition to the required packages(csp, dev_packs), download the optional packages bsp, core and then click Finish. Content download will take some time. Wait till all the contents are downloaded.

  

• A project graph will be displayed. From Device Resource add Board Support Packages for SAM A5D29 Curiosity BSP to Project Graph.

  

• From Device Resource, Peripherals -> UART , add UART0 to the Project Graph. This helps to print the debug messages (console serial communication messages) via comm port.

  

• In the project graph, right click on UART in UART0 and then add consumers STDIO.

  

  

• From the project graph window, click the System and in the Configuration Options -> Clock (PMC) -> Generic Clock Menu -> Generic Clock for Peripheral UART0. Enable the Generic Clock for UART0. Select the MCK_CLK clock.

  

• From the project graph window, click the UART0 and in the Configuration Options -> Select Clock Source - MCK and Baud Rate - 115200.

  

• From Device Resource, Peripherals -> MCAN , add MCAN0 to the Project Graph.

  

• From the project graph window, click the System and in the Configuration Options -> Clock (PMC) -> Generic Clock Menu -> Generic Clock for Peripheral MCAN0. Enable the Generic Clock for MCAN0. Select the UPLL_CLK clock and set Generic Clock Division Ratio to 12.

  

• From Device Resource, Peripherals -> MCAN , add MCAN1 to the Project Graph.

  

• From the project graph window, click the System and in the Configuration Options -> Clock (PMC) -> Generic Clock Menu -> Generic Clock for Peripheral MCAN1. Enable the Generic Clock for MCAN1. Select the UPLL_CLK clock and set Generic Clock Division Ratio to 12.

  

• From the project graph window, click the MCAN0 and in the Configuration Options -> select MCAN Operation Mode to CAN-FD, Enable the Interrupt Mode, Normal Bit Timing, Data Bit Timing, Use RX FIFO 0, Use RX FIFO 1, Use Dedicated Rx Buffer, Use TX FIFO, Standard Filter, Extended Filter and Enable the Timestamp Enable.

  

• From the project graph window, click the MCAN1 and in the Configuration Options -> select MCAN Operation Mode to CAN-FD, Enable the Interrupt Mode, Normal Bit Timing, Data Bit Timing, Use RX FIFO 0, Use RX FIFO 1, Use Dedicated Rx Buffer, Use TX FIFO, Standard Filter, Extended Filter and Enable the Timestamp Enable.

  

• From the project graph window, click the plugins and select the Pin Configuration. Pin Setting window will open.

  

• Ensure all the pins are configured as below:

  Pin ID	Function
  PA7	LED_AH
  PA8	LED_AH
  PA9	LED_AH
  PA17	SWITCH_AL
  PB26	UART0_URXD0
  PC27	UART0_UTXD1
  PC10	MCAN0_CANTX0
  PC11	MCAN0_CANRX0
  PC26	MCAN1_CANTX1
  PC27	MCAN1_CANRX1

  

• From the project graph window, click the plugins and select the AIC Configuration. AIC window will open. Ensure MCAN0 and MCAN1 interrupt handlers are enabled.

  

  

• Save all and then click Generate Code. This will generate code for all the Device Resource that have been added in the project graph.

  

• Up to this point in the project creation process, the user used MPLAB Code Configurator(MCC) to configure and generate code to initialize the device (SAMA5D29) and initialize MACN0 and MCAN1.

  Refer reference_apps_sam_mpu\apps\sama5d29_curiosity_dev_board\sama5d29_curiosity_can_fd\firmware\src\config\sam_a5d29_cu\initialization.c to find all the device resource added in the project graph got initialized. All that is left is for the user to write the application code in the app.c file. Documentation for each of the peripheral libraries or diver libraries can be accessed as follows:

  1. Peripheral libraries APIs can be accessed as a HTML file (*.html) from the Harmony 3 Framework path. (/framework_path/csp/docs/index.html)
  2. BSP libraries APIs can be found in bsp.h
  3. MCAN APIs can be accessed as a HTML file (*.html) from the Harmony 3 Framework path. (/framework_path/csp/docs/GUID-FE4048B2-547B-4753-A6AD-63A3D937288F.html)
• APIs used for this application are as follows:
  • static void display_menu(void)
  • static void print_message(uint8_t numberOfMessage, MCAN_RX_BUFFER *rxBuf, uint8_t rxBufLen, uint8_t rxFifoBuf,uint8_t mcanID)
  • void MCAN0_MessageRAMConfigSet(uint8_t *msgRAMConfigBaseAddress)
  • void MCAN0_TxFifoCallbackRegister(MCAN_TX_FIFO_CALLBACK callback, uintptr_t contextHandle)
  • void MCAN0_RxFifoCallbackRegister(MCAN_RX_FIFO_NUM rxFifoNum, MCAN_RX_FIFO_CALLBACK callback, uintptr_t contextHandle)
  • void MCAN0_RxBuffersCallbackRegister(MCAN_TXRX_BUFFERS_CALLBACK callback, uintptr_t contextHandle)
  • bool MCAN0_MessageTransmitFifo(uint8_t numberOfMessage, MCAN_TX_BUFFER *txBuffer)
  • bool MCAN0_MessageReceiveFifo(MCAN_RX_FIFO_NUM rxFifoNum, uint8_t numberOfMessage, MCAN_RX_BUFFER *rxBuffer)
  • bool MCAN0_MessageReceive(uint8_t bufferNumber, MCAN_RX_BUFFER *rxBuffer)
  • LED_GREEN_On().
  • LED_GREEN_Off().
  • LED_RED_On().
  • LED_RED_Off().
• Right click on the project and click Properties. For Connected Hardware Tool -> select connected hardware debugger used, for Compiler Toolchain -> select XC32 and click Apply.

  

• From J-32/J-Link, Option categories choose Communication and for JTAG Method, select 4-wire JTAG.

  

• Select Bootstrap for Categories and select the Use Bootstrap checkbox. For bootstrap file -> select the at91bootstrap elf file (${ProjectDir}/at91bootstrap.elf) from reference_apps_sam_mpu\apps\sama5d29_curiosity_dev_board\sama5d29_curiosity_can_fd\firmware\sama5d29_cu.X. Click on Apply and OK.

  

• By default, MPLAB X only produces ELF and Hex format output files. To generate application output in binary format, a post build step needs to be added to the project properties. To do this project properties, building, click the check box Execute this line after build, then enter the below command.

  ${MP_CC_DIR}/xc32-objcopy -O binary ${DISTDIR}/${PROJECTNAME}.${IMAGE_TYPE}.elf ${DISTDIR}/harmony.bin

  

• Clean and build the project. The user should see a message on the output console that the project was successfully built. This completes the development of the MCAN getting started application.
• The harmony.bin binaries will be available at ./firmware/mcan_fd_operation_interrupt_timestamp_sam_a5d29_cu.X/dist/default/production.

Programming/Debugging Application Project on MPLAB® X IDE

• Open the project (sama5d29_curiosity_dev_board/mcan/firmware/mcan_fd_operation_interrupt_timestamp_sam_a5d29_cu.X) in MPLAB® X IDE.
• Right click on the project and click Properties. For Connected Hardware Tool -> select connected external hardware debugger, for Compiler Toolchain -> select XC32 and click Apply.

  

• From J-32/J-Link , in Option categories choose Communication and for JTAG Method, select 4-wire JTAG.

  

• Select Bootstrap for Categories and select the Use Bootstrap checkbox. For bootstrap file, select the at91bootstrap elf file from reference_apps_sam_mpu\apps\sama5d29_curiosity_dev_board\sama5d29_curiosity_can_fd\firmware\sama5d29_cu.X. Click on Apply and OK.

  

• Clean and build the project. The user should see a message on the output console that the project was successfully built.
• Debug the code by clicking on the Debug button in MPLAB® X IDE tool bar.
• Run the application by clicking Run button in MPLAB® X IDE tool bar.
• Open the Terminal application (Ex.: Tera term) on the computer.
• Connect to the DEBUG/J-link Virtual COM port and configure the serial settings as follows:
  • Baud Rate : 115200
  • Data : 8 Bits
  • Parity : None
  • Stop : 1 Bit
  • Flow Control : None
• In the console associated with MCAN0 and MCAN1, press "0" to transmit a CAN-FD standard message From MCAN0 to MCAN1.
• Transmitted message description and status will be displayed in the console window.
• Received message will be displayed in the console window.
• Follow the sequence below to send and receive different messages:
  • Press '1' on the UART console to transmit a CAN-FD standard message From MCAN0 to MCAN1.
  • Press '2' on the UART console to transmit a CAN-FD extended message From MCAN0 to MCAN1.
  • Press '3' on the UART console to transmit a CAN-FD extended message From MCAN0 to MCAN1.
  • Press '4' on the UART console to transmit a CAN-FD standard message From MCAN1 to MCAN0.
  • Press '5' on the UART console to transmit a CAN-FD standard message From MCAN1 to MCAN0.
  • Press '6' on the UART console to transmit a CAN-FD extended message From MCAN1 to MCAN0.
  • Press '7' on the UART console to transmit a CAN-FD extended message From MCAN1 to MCAN0.

  If the steps are executed in this sequence, the final output in the consoles will be as below:

  

  

  

  

Running the Pre-built Harmony Application from macro-SD Card

The pre-built application bin file can be programmed by following the below steps:

Comments

• This application demo builds and works by following the instructions above in Running the Demo section. If the user needs to enhance/customize this application demo, should use the MPLAB Harmony v3 Software framework. Refer links below to setup and build the applications using MPLAB Harmony.
  • How to Setup MPLAB Harmony v3 Software Development Framework
  • How to Build an Application by Adding a New PLIB, Driver, or Middleware to an Existing MPLAB Harmony v3 Project
  • SAMA5D2 Series Boot Process
  • MPLAB® Harmony v3 is also configurable through MPLAB® Code Configurator (MCC)- Refer to the below links for specific instructions to use MPLAB® Harmony v3 with MCC.
    • Getting Started with MPLAB® Harmony v3 Using MPLAB® Code Configurator
    • MPLAB® Code Configurator Content Manager for MPLAB® Harmony v3 Projects