SLAAEJ2 December 2023 MSPM0G3507
This subsystem demonstrates how to build a CAN-UART bridge. CAN-UART bridge allows a device to send or receive information on one interface and receive or send the information on the other interface Download the code for this example.
Figure 1-1 shows a functional diagram of this subsystem.
This application requires CANFD and UART.
Sub-block Functionality | Peripheral Use | Notes |
---|---|---|
CAN interface | (1x) CANFD | Called MCAN0_INST in code |
UART interface | (1x) UART | Called UART_0_INST in code |
Based on the requirements in Table 1-1, this example is compatible with the devices in Table 1-2. The corresponding EVM can be used for prototyping.
Compatible Devices | EVM |
---|---|
MSPM0G35xx, | LP-MSPM0G3507 |
/**
* @brief Structure for MCAN Rx Buffer element.
*/
typedef struct {
/*! Identifier */
uint32_t id;
/*! Remote Transmission Request
* 0 = Received frame is a data frame
* 1 = Received frame is a remote frame
*/
uint32_t rtr;
/*! Extended Identifier
* 0 = 11-bit standard identifier
* 1 = 29-bit extended identifier
*/
uint32_t xtd;
/*! Error State Indicator
* 0 = Transmitting node is error active
* 1 = Transmitting node is error passive
*/
uint32_t esi;
/*! Rx Timestamp */
uint32_t rxts;
/*! Data Length Code
* 0-8 = CAN + CAN FD: received frame has 0-8 data bytes
* 9-15 = CAN: received frame has 8 data bytes
* 9-15 = CAN FD: received frame has 12/16/20/24/32/48/64 data bytes
*/
uint32_t dlc;
/*! Bit Rat Switching
* 0 = Frame received without bit rate switching
* 1 = Frame received with bit rate switching
*/
uint32_t brs;
/*! FD Format
* 0 = Standard frame format
* 1 = CAN FD frame format (new DLC-coding and CRC)
*/
uint32_t fdf;
/*! Filter Index */
uint32_t fidx;
/*! Accepted Non-matching Frame
* 0 = Received frame matching filter index FIDX
* 1 = Received frame did not match any Rx filter element
*/
uint32_t anmf;
/*! Data bytes.
* Only first dlc number of bytes are valid.
*/
uint16_t data[DL_MCAN_MAX_PAYLOAD_BYTES];
} DL_MCAN_RxBufElement;
Header | Address | Data Length | Data |
---|---|---|---|
0x55 0xAA | 4 bytes | 1 byte | (Data Length) bytes |
The following figure shows the code flow diagram for CAN-UART bridge which explains how the messages received in one interface and sent in the other interface. The CAN-UART bridge can be divided into four independent tasks: receive from UART, receive from CAN, transmit through CAN, transmit through UART. Two FIFOs implement bidirectional message transfer and message caching.
This application makes use of TI System Configuration Tool (SysConfig) graphical interface to generate the configuration code for the CAN and UART. Using a graphical interface to configure the device peripherals streamlines the application prototyping process.
The code for what is described in Figure 1-3 can be found in the files from example code as shown in Figure 1-4.
The following code snippet shows where to modify the interface function. Functions in table are categorized into different files. Functions for UART receive and transmit are included in bridge_uart.c and bridge_uart.h. Functions for CAN receive and transmit are included in bridge_can.c and bridge_can.h. Structure of FIFO element is defined in user_define.h.
Users can easily separate functions by file. For example, if only UART functions are needed, users can reserve bridge_uart.c and bridge_uart.h to call the functions.
See the MSPM0 SDK and DriverLib documentation for the basic configuration of peripherals.
Tasks | Functions | Description | Location |
---|---|---|---|
UART receive | getUartRxMsg() | Get the received UART message |
bridge_uart.c bridge_uart.h |
processUartRxMsg() | Convert the received UART message format and store the message into gUART_RX_Element | ||
UART transmit | processUartTxMsg() | Convert the gUART_TX_Element format to be sent through UART | |
sendUartTxMsg() | Send message through UART | ||
CAN receive | getCANRxMsg() | Get the received CAN message |
bridge_can.c bridge_can.h |
processCANRxMsg() | Convert the received CAN message format and store the message into gCAN_RX_Element | ||
CAN transmit | processCANTxMsg() | Convert the gCAN_TX_Element format to be sent through CAN | |
sendCANTxMsg() | Send message through CAN |
Custom_Element is the structure defined in user_define.h. Custom_Element is used as the structure of FIFO element, output element of UART/CAN transmit and input element of UART/CAN receive. Users can modify the structure according to the need.
typedef struct {
/*! Identifier */
uint32_t id;
/*! Data Length Code*/
uint32_t dlc;
/*! Data bytes*/
uint16_t data[64];
} Custom_Element;
For FIFO, there are 2 global variables used as FIFO. 6 global variables are used to trace the FIFO.
Custom_Element U2C_FIFO[U2C_FIFO_SIZE];
Custom_Element C2U_FIFO[C2U_FIFO_SIZE];
uint16_t U2C_in = 0;
uint16_t U2C_out = 0;
uint16_t U2C_count = 0;
uint16_t C2U_in = 0;
uint16_t C2U_out = 0;
uint16_t C2U_count = 0;
By using the XDS110 on the launchpad, users can use the PC to send and receive messages on the UART side. As a demonstration, two launchpads can be used as two CAN-UART bridges to form a loop. When the PC sends UART messages through one of the launchpads, XDS110 can receive UART messages from the other launchpad.