AM64x MCU+ SDK  08.03.00
MCAN External Loopback Interrupt

Table of Contents

Introduction

This example is a multi core application which demonstrates the CAN message communication between the MCAN instances. Instance MCAN1 is designated as 'TX' and the other instance MCAN0 is designated as 'RX'.

The MCAN1 instance initiates the transmission by sending a message. The MCAN0 instance receives the same message. Message is transmitted with the following configuration.

  • CAN FD Message Format.
  • Message ID Type is Standard, Message Id is defined as 0xC0.
  • MCAN is configured in Interrupt Mode.
  • MCAN Interrupt Line Number 0.
  • Arbitration Bit Rate 1Mbps.
  • Data Bit Rate 5Mbps.
  • Buffer mode is used for both TX/RX to send/receive message in message RAM.

This example runs for 10 iterations and in each iteration the received message id and the data is compared with the transmitted one. After 10 iterations the example is completed. This is a example CAN communication, user can configure different message formats as needed for their applications.

These 2 MCAN instances are connected externally. Below are the connection details.

  • All pins are on the base board.
  • Pin number 1 starts from the triangular arrow mark.
    MCAN0 MCAN1
    MCAN0_H(Pin 1 of J31) MCAN1_H(Pin 1 of J32)
    MCAN0_L(Pin 3 of J31) MCAN1_L(Pin 3 of J32)

Supported Combinations

Parameter Value
CPU + OS r5fss0-0 freertos
r5fss0-1 nortos
Toolchain ti-arm-clang
Board am64x-evm
Example folder examples/drivers/mcan/mcan_external_loopback_interrupt
Note
MCAN transceiver is enabled in RX application via mcan_enableTransceiver() function. To enable transceiver, I2C1 should be configured in SYSCFG.

Steps to Run the Example

  • When using CCS projects to build, import the CCS project for the required combination and build it using the CCS project menu (see Using SDK with CCS Projects).
  • When using makefiles to build, note the required combination and build using make command (see Using SDK with Makefiles)
  • Launch a CCS debug session and run the executable, see CCS Launch, Load and Run
  • This is a multi-core example. Hence the executables should be loaded and run for all the above mentioned cores
  • The application has a sync mechanism at the start which waits for all cores to start before doing the test. Hence the cores can be loaded and run in any sequence.

See Also

MCAN

Sample Output

Shown below is a sample output when the application is run,

[MCAN] RX Application, Interrupt mode started ...
[r5f0-1] 0.000446s : [MCAN] TX Application, Interrupt mode started ...
All tests have passed!!
[r5f0-1] 0.013952s : [MCAN]TX test passed!!