There are two loopback types:
- Self loopback: TX output from a controller is connected to its own RX input
- Controller-to-controller loopback: connects CAN FD controller 0 to controller 1
Self Loopback
In self-loopback mode, the controller receives the messages that it transmits using an internal circuit from its TX signal to its RX signal. The received messages are stored in receive buffers based on an ID match result. The transmissions are acknowledged to itself by the receiver. The controller also stores the received messages (based on an ID match result). In self-loopback mode, the controller is disconnected from the MIO multiplexer and pins.
This mode is normally used for diagnostics. The loopback mode is selected using the CAN FD Mode_Select [LBACK] bit. The controller receives messages that it transmits. Received messages are stored in receive buffers based on an ID match result. The controller also stores its own transmitted messages (based on an ID match result).
The controller does not participate in normal bus communication and does not receive any messages transmitted by other CAN nodes (external TX line is ignored). It drives a recessive bitstream on the CAN bus (external TX line).
Controller-to-controller Loopback
The controller-to-controller loopback connection is selected using the MIO_Bank2_Loopback [CAN0_LOOP_CAN1] control bit. When the [CAN0_LOOP_CAN1] is set = 1, these connections are made:
- CAN0 TX output is connected to the CAN1 RX input
- CAN1 TX output is connected to the CAN0 RX input