- #include <stdio.h>
- #include <string.h>
- #include "cyhal.h"
- #include "cy_pdl.h"
- #include "cybsp.h"
- #include "cy_retarget_io.h"
- /*******************************************************************************
- * Macros
- *******************************************************************************/
- /* CAN-FD message identifier 1*/
- #define CANFD_NODE_1 1
- /* CAN-FD message identifier 2 (use different for 2nd device) */
- #define CANFD_NODE_2 2
- /* message Identifier used for this code */
- #define USE_CANFD_NODE CANFD_NODE_1
- /* CAN-FD channel number used */
- #define CANFD_HW_CHANNEL 0
- /* CAN-FD data buffer index to send data from */
- #define CANFD_BUFFER_INDEX 0
- /* Maximum incoming data length supported */
- #define CANFD_DLC 8
- #define CANFD_INTERRUPT canfd_0_interrupts0_0_IRQn
- #define GPIO_INTERRUPT_PRIORITY (7u)
- /*******************************************************************************
- * Global Variables
- *******************************************************************************/
- /* This is a shared context structure, unique for each can-fd channel */
- static cy_stc_canfd_context_t canfd_context;
- /* Variable which holds the button pressed status */
- volatile bool gpio_intr_flag = false;
- cyhal_gpio_callback_data_t gpio_btn_callback_data;
- /* Populate the configuration structure for CAN-FD Interrupt */
- cy_stc_sysint_t canfd_irq_cfg =
- {
- /* Source of interrupt signal */
- .intrSrc = CANFD_INTERRUPT,
- /* Interrupt priority */
- .intrPriority = 1U,
- };
- /*******************************************************************************
- * Function Prototypes
- *******************************************************************************/
- /* can-fd interrupt handler */
- static void isr_canfd (void);
- /* button press interrupt handler */
- static void gpio_interrupt_handler(void *handler_arg, cyhal_gpio_event_t event);
- /* handler for general errors */
- void handle_error(uint32_t status);
- /*******************************************************************************
- * Function Definitions
- *******************************************************************************/
- /*******************************************************************************
- * Function Name: main
- ********************************************************************************
- * Summary:
- * This is the main function. It initializes the CAN-FD channel and interrupt.
- * User button and User LED are also initialized. The main loop checks for the
- * button pressed interrupt flag and when it is set, a CAN-FD frame is sent.
- * Whenever a CAN-FD frame is received from other nodes, the user LED toggles and
- * the received data is logged over serial terminal.
- *
- * Parameters:
- * none
- *
- * Return:
- * int
- *
- *******************************************************************************/
- int main(void)
- {
- cy_rslt_t result;
- cy_en_canfd_status_t status;
- /* Initialize the device and board peripherals */
- result = cybsp_init();
- /* Board init failed. Stop program execution */
- handle_error(result);
- /* Initialize retarget-io for uart logging */
- result = cy_retarget_io_init(CYBSP_DEBUG_UART_TX, CYBSP_DEBUG_UART_RX,
- CY_RETARGET_IO_BAUDRATE);
- /* Retarget-io init failed. Stop program execution */
- handle_error(result);
- printf("===========================================================\r\n");
- printf("Welcome to CAN-FD example\r\n");
- printf("===========================================================\r\n\n");
- printf("===========================================================\r\n");
- printf("CAN-FD Node-%d (message id)\r\n", USE_CANFD_NODE);
- printf("===========================================================\r\n\n");
- /* Hook the interrupt service routine */
- (void) Cy_SysInt_Init(&canfd_irq_cfg, &isr_canfd);
- /* enable the CAN-FD interrupt */
- NVIC_EnableIRQ(CANFD_INTERRUPT);
- /* Initialize the user LED */
- result = cyhal_gpio_init(CYBSP_USER_LED, CYHAL_GPIO_DIR_OUTPUT,
- CYHAL_GPIO_DRIVE_STRONG, CYBSP_LED_STATE_OFF);
- /* User LED init failed. Stop program execution */
- handle_error(result);
- /* Initialize the user button */
- result = cyhal_gpio_init(CYBSP_USER_BTN, CYHAL_GPIO_DIR_INPUT,
- CYBSP_USER_BTN_DRIVE, CYBSP_BTN_OFF);
- /* User button init failed. Stop program execution */
- handle_error(result);
- /* Configure GPIO interrupt */
- gpio_btn_callback_data.callback = gpio_interrupt_handler;
- cyhal_gpio_register_callback(CYBSP_USER_BTN,
- &gpio_btn_callback_data);
- cyhal_gpio_enable_event(CYBSP_USER_BTN, CYHAL_GPIO_IRQ_FALL,
- GPIO_INTERRUPT_PRIORITY, true);
- /* Enable global interrupts */
- __enable_irq();
- /* Initialize CAN-FD Channel */
- status = Cy_CANFD_Init(CANFD_HW, CANFD_HW_CHANNEL, &CANFD_config,
- &canfd_context);
- handle_error(status);
- /* Setting Node(message) Identifier to global setting of "USE_CANFD_NODE" */
- CANFD_T0RegisterBuffer_0.id = USE_CANFD_NODE;
- for(;;)
- {
- if (true == gpio_intr_flag)
- {
- /* Sending CAN-FD frame to other node */
- status = Cy_CANFD_UpdateAndTransmitMsgBuffer(CANFD_HW,
- CANFD_HW_CHANNEL,
- &CANFD_txBuffer_0,
- CANFD_BUFFER_INDEX,
- &canfd_context);
- if(CY_CANFD_SUCCESS == status)
- {
- printf("CAN-FD Frame sent with message ID-%d\r\n\r\n",
- USE_CANFD_NODE);
- }
- else
- {
- printf("Error sending CAN-FD Frame with message ID-%d\r\n\r\n",
- USE_CANFD_NODE);
- }
- gpio_intr_flag = false;
- }
- }
- }
- void canfd_rx_callback (bool msg_valid, uint8_t msg_buf_fifo_num,
- cy_stc_canfd_rx_buffer_t* canfd_rx_buf)
- {
- /* Array to hold the data bytes of the CAN-FD frame */
- uint8_t canfd_data_buffer[CANFD_DLC];
- /* Variable to hold the data length code of the CAN-FD frame */
- uint32_t canfd_dlc;
- /* Variable to hold the Identifier of the CAN-FD frame */
- uint32_t canfd_id;
- if (true == msg_valid)
- {
- /* Checking whether the frame received is a data frame */
- if(CY_CANFD_RTR_DATA_FRAME == canfd_rx_buf->r0_f->rtr)
- {
- cyhal_gpio_toggle(CYBSP_USER_LED);
- canfd_dlc = canfd_rx_buf->r1_f->dlc;
- canfd_id = canfd_rx_buf->r0_f->id;
- printf("%d bytes received with message identifier %d\r\n\r\n",
- (int)canfd_dlc,
- (int)canfd_id);
- memcpy(canfd_data_buffer,canfd_rx_buf->data_area_f,canfd_dlc);
- printf("Rx Data : ");
- for (uint8_t msg_idx = 0U; msg_idx < canfd_dlc ; msg_idx++)
- {
- printf(" %d ", canfd_data_buffer[msg_idx]);
- }
- printf("\r\n\r\n");
- }
- }
- }
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