TRAVEO™ T2G MCU: CAN FD

This code example demonstrates how to use controller area network flexible data-rate (CAN FD) in TRAVEO™ T2G MCU devices. In this example, the CAN Node-1 sends a CAN FD or standard frame to CAN Node-2 on pressing the user button and vice versa. Both the CAN nodes log the received data over UART serial terminal. Each time a CAN frame is received, the user LED toggles.

View this README on GitHub.

Requirements

• ModusToolbox™ software v3.0 or later (tested with v3.1)
• Programming language: C
• Associated parts: TRAVEO™ T2G Body Entry MCU

Supported toolchains (make variable 'TOOLCHAIN')

• GNU Arm® embedded compiler v11.3 (GCC_ARM) - Default value of TOOLCHAIN
• Arm® compiler v6.16 (ARM)
• IAR C/C++ compiler v9.30.1 (IAR)

Supported kits (make variable 'TARGET')

• TRAVEO™ T2G body entry evaluation kit (KIT_T2G-B-E_LITE) - Default value of TARGET

Hardware setup

This example uses the board's default configuration. See the kit user guide to ensure that the board is configured correctly.

This code example requires two kits. A kit listed in the Supported kits section runs this example; the second kit should be programmed with the CAN_NODE_2 macro in the main.c file.

Use jumper wires to establish a connection between CAN Node-1 and CAN Node-2. Pin assignments for supported kits are as follows:

Table 1. Pin assignments for the supported kit

Development kit	CAN_RX	CAN_TX	Ground
KIT_T2G-B-E_LITE	P12.1	P12.0	GND

1. Connect CANL (J5[1]) pin of NODE-1 and NODE-2 using jumper wires.

2. Connect CANH (J5[2]) pin of NODE-1 and NODE-2 using jumper wires.

Software setup

Install a terminal emulator if you don't have one. Instructions in this document use Tera Term.

Using the code example

Create the project and open it using one of the following:

In Eclipse IDE for ModusToolbox™ software

1. Click the New Application link in the Quick Panel (or, use File > New > ModusToolbox™ Application). This launches the Project Creator tool.

2. Pick a kit supported by the code example from the list shown in the Project Creator - Choose Board Support Package (BSP) dialog.

   When you select a supported kit, the example is reconfigured automatically to work with the kit. To work with a different supported kit later, use the Library Manager to choose the BSP for the supported kit. You can use the Library Manager to select or update the BSP and firmware libraries used in this application. To access the Library Manager, click the link from the Quick Panel.

   You can also just start the application creation process again and select a different kit.

   If you want to use the application for a kit not listed here, you may need to update the source files. If the kit does not have the required resources, the application may not work.

3. In the Project Creator - Select Application dialog, choose the example by enabling the checkbox.

4. (Optional) Change the suggested New Application Name.

5. The Application(s) Root Path defaults to the Eclipse workspace which is usually the desired location for the application. If you want to store the application in a different location, you can change the Application(s) Root Path value. Applications that share libraries should be in the same root path.

6. Click Create to complete the application creation process.

For more details, see the Eclipse IDE for ModusToolbox™ software user guide (locally available at {ModusToolbox™ software install directory}/docs_{version}/mt_ide_user_guide.pdf).

In command-line interface (CLI)

ModusToolbox™ software provides the Project Creator as both a GUI tool and the command line tool, "project-creator-cli". The CLI tool can be used to create applications from a CLI terminal or from within batch files or shell scripts. This tool is available in the {ModusToolbox™ software install directory}/tools_{version}/project-creator/ directory.

Use a CLI terminal to invoke the "project-creator-cli" tool. On Windows, use the command line "modus-shell" program provided in the ModusToolbox™ software installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox™ software tools. You can access it by typing modus-shell in the search box in the Windows menu. In Linux and macOS, you can use any terminal application.

The "project-creator-cli" tool has the following arguments:

Argument	Description	Required/optional
--board-id	Defined in the <id> field of the BSP manifest	Required
--app-id	Defined in the <id> field of the CE manifest	Required
--target-dir	Specify the directory in which the application is to be created if you prefer not to use the default current working directory	Optional
--user-app-name	Specify the name of the application if you prefer to have a name other than the example's default name	Optional

The following example will clone the "mtb-t2g-lite-example-canfd" application with the desired name "MyCANFD" configured for the KIT_T2G-B-E_LITE BSP into the specified working directory, C:/mtb_projects:

project-creator-cli --board-id KIT_T2G-B-E_LITE --app-id mtb-t2g-lite-example-canfd --user-app-name MyCANFD --target-dir "C:/mtb_projects"

Note: The project-creator-cli tool uses the git clone and make getlibs commands to fetch the repository and import the required libraries. For details, see the "Project creator tools" section of the ModusToolbox™ software user guide (locally available at {ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf).

To work with a different supported kit later, use the Library Manager to choose the BSP for the supported kit. You can invoke the Library Manager GUI tool from the terminal using make modlibs command or use the Library Manager CLI tool "library-manager-cli" to change the BSP.

The "library-manager-cli" tool has the following arguments:

Argument	Description	Required/optional
--add-bsp-name	Name of the BSP that should be added to the application	Required
--set-active-bsp	Name of the BSP that should be as active BSP for the application	Required
--add-bsp-version	Specify the version of the BSP that should be added to the application if you do not wish to use the latest from manifest	Optional
--add-bsp-location	Specify the location of the BSP (local/shared) if you prefer to add the BSP in a shared path	Optional

In third-party IDEs

Use one of the following options:

• Use the standalone Project Creator tool:

  1. Launch Project Creator from the Windows Start menu or from {ModusToolbox™ software install directory}/tools_{version}/project-creator/project-creator.exe.

  2. In the initial Choose Board Support Package screen, select the BSP, and click Next.

  3. In the Select Application screen, select the appropriate IDE from the Target IDE drop-down menu.

  4. Click Create and follow the instructions printed in the bottom pane to import or open the exported project in the respective IDE.

• Use command-line interface (CLI):

  1. Follow the instructions from the In command-line interface (CLI) section to create the application, and then import the libraries using the make getlibs command.

  2. Export the application to a supported IDE using the make <ide> command.

  3. Follow the instructions displayed in the terminal to create or import the application as an IDE project.

For a list of supported IDEs and more details, see the "Exporting to IDEs" section of the ModusToolbox™ software user guide (locally available at {ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf).

Operation

1. Connect the CAN pins of the Supported kits using the instructions in the Hardware setup section.

2. Connect the CAN Node-1 kit to your PC using the provided USB cable through the KitProg3 USB connector.

3. Program the board using one of the following:

   Using Eclipse IDE for ModusToolbox™ software

   1. Select the application project in the Project Explorer.

   2. In the Quick Panel, scroll down, and click <Application Name> Program (KitProg3_MiniProg4).

   Using CLI

   From the terminal, execute the make program command to build and program the application using the default toolchain to the default target. The default toolchain and target are specified in the application's Makefile but you can override those values manually:

   make program TARGET=<BSP> TOOLCHAIN=<toolchain>
   

   Example:

   make program TARGET=KIT_T2G-B-E_LITE TOOLCHAIN=GCC_ARM
   

4. Connect the CAN Node-2 kit to your PC using the provided USB cable through the KitProg3 USB connector. Open the main.c file and set the USE_CAN_NODE macro to CAN_NODE_2, and follow Step 3.

5. Press button SW2 from CAN Node-1, for transmission of frame from CAN Node-1 to CAN Node-2 and vice-versa.

6. Observe the results in the terminal window.

   Figure 1. Sample output with the CAN FD data reception

   

Note: This example demonstrates how to use CAN FD by default, you can change this example to transmit and receive the CAN standard frame: open the main.c file and set the USE_CAN_MODE macro to CAN_CLASSIC_MODE, and follow Step 3.

Debugging

You can debug the example to step through the code. In the IDE, use the <Application Name> Debug (KitProg3_MiniProg4) configuration in the Quick Panel. For details, see the "Program and debug" section in the Eclipse IDE for ModusToolbox™ user guide.

Design and implementation

CAN transmition frame format

ID - CAN identifier; DLC - Data length code; Data - Actual data bytes

	ID	DLC	Data
Node 1	0x01	0x08	0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08
Node 2	0x02	0x08	0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08

Resources and settings

In this code example, the TRAVEO™ T2G CAN FD block is configured. On pressing the user button on any node, the CAN frame is sent to the other. The received frame can be viewed in the serial terminal. The USER_LED toggles at the receiver node on proper reception of the CAN frame.

Table 2. Application resources

Resource	Alias/object	Purpose
Controller Area Network FD (CAN FD) 0	CANFD	To generate CAN frames

Related resources

Resources	Links
Application notes	AN235305 – Getting started with TRAVEO™ T2G family MCUs in ModusToolbox™ AN220278 - How to Use CAN FD in Traveo II Family
Code examples	TRAVEO™ T2G MCU examples on GitHub
Device documentation	TRAVEO™ T2G body entry family MCUs datasheets TRAVEO™ T2G body entry family MCUs architecture/registers reference manuals
Development kits	Select your kits from the Evaluation board finder
Libraries on GitHub	mtb-pdl-cat1 – Peripheral driver library (PDL) mtb-hal-cat1 – Hardware abstraction layer (HAL) library retarget-io – Utility library to retarget STDIO messages to a UART port
Middleware on GitHub	mcu-middleware – Links to all MCU middleware
Tools	ModusToolbox™ – ModusToolbox™ software is a collection of easy-to-use libraries and tools enabling rapid development with Infineon MCUs for applications ranging from wireless and cloud-connected systems, edge AI/ML, embedded sense and control, to wired USB connectivity using PSoC™ Industrial/IoT MCUs, AIROC™ Wi-Fi and Bluetooth® connectivity devices, XMC™ Industrial MCUs, and EZ-USB™/EZ-PD™ wired connectivity controllers. ModusToolbox™ incorporates a comprehensive set of BSPs, HAL, libraries, configuration tools, and provides support for industry-standard IDEs to fast-track your embedded application development.

Other resources

Infineon provides a wealth of data at www.infineon.com to help you select the right device, and quickly and effectively integrate it into your design.

For TRAVEO™ T2G body entry MCU devices, see TRAVEO™ T2G CYT2BL Series

Document history

Version	Description of change
1.0.0	New code example.
1.1.0	Added support for KIT_T2G-B-E_LITE
1.2.0	Removed support for KIT_T2G-B-H_LITE

All referenced product or service names and trademarks are the property of their respective owners.

The Bluetooth® word mark and logos are registered trademarks owned by Bluetooth SIG, Inc., and any use of such marks by Infineon is under license.

PSOC™, formerly known as PSoC™, is a trademark of Infineon Technologies. Any references to PSoC™ in this document or others shall be deemed to refer to PSOC™.

---

(c) 2022-2026, Infineon Technologies AG, or an affiliate of Infineon Technologies AG. All rights reserved. This software, associated documentation and materials ("Software") is owned by Infineon Technologies AG or one of its affiliates ("Infineon") and is protected by and subject to worldwide patent protection, worldwide copyright laws, and international treaty provisions. Therefore, you may use this Software only as provided in the license agreement accompanying the software package from which you obtained this Software. If no license agreement applies, then any use, reproduction, modification, translation, or compilation of this Software is prohibited without the express written permission of Infineon.
Disclaimer: UNLESS OTHERWISE EXPRESSLY AGREED WITH INFINEON, THIS SOFTWARE IS PROVIDED AS-IS, WITH NO WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, ALL WARRANTIES OF NON-INFRINGEMENT OF THIRD-PARTY RIGHTS AND IMPLIED WARRANTIES SUCH AS WARRANTIES OF FITNESS FOR A SPECIFIC USE/PURPOSE OR MERCHANTABILITY. Infineon reserves the right to make changes to the Software without notice. You are responsible for properly designing, programming, and testing the functionality and safety of your intended application of the Software, as well as complying with any legal requirements related to its use. Infineon does not guarantee that the Software will be free from intrusion, data theft or loss, or other breaches (“Security Breaches”), and Infineon shall have no liability arising out of any Security Breaches. Unless otherwise explicitly approved by Infineon, the Software may not be used in any application where a failure of the Product or any consequences of the use thereof can reasonably be expected to result in personal injury.