Detailed Description

Controller Area Network API.

The Controller Area Network Interface Bus (CAN) implements a multi-master serial bus for connecting microcontrollers and devices, also known as nodes, to communicate with each other in applications without a host computer. CAN is a message-based protocol, designed originally for automotive applications, but also used in many other scenarios. The complexity of a node can range from a simple I/O device up to an embedded computer with a CAN interface and sophisticated software. The node may also be a gateway allowing a standard computer to communicate over a USB or Ethernet port to the devices on a CAN network. Devices are connected to the bus through a host processor, a CAN controller, and a CAN transceiver.

       
        #include "
        
         em_can.h
        
        "
       
        #include "
        
         em_cmu.h
        
        "
       
        #include "
        
         em_gpio.h
        
        "
       
        void
       
       CAN_sendExample(
       
        void
       
       )
      
       {
      
        CMU_ClockEnable
       
       (
       
        cmuClock_HFPER
       
       ,
       
        true
       
       );
      
        CMU_ClockEnable
       
       (
       
        cmuClock_CAN0
       
       ,
       
        true
       
       );
      
        CMU_ClockEnable
       
       (
       
        cmuClock_GPIO
       
       ,
       
        true
       
       );
      
        CAN_Reset
       
       (CAN_DEVICE);
      
        CAN_Mode_TypeDef
       
       mode = canModeInit;
      
        CAN_SetMode
       
       (CAN_DEVICE, mode);
      
        GPIO_PinModeSet
       
       ($gpioPortX, $X_bit,
       
        gpioModeInput
       
       , 0);
      
        GPIO_PinModeSet
       
       ($gpioPortY, $Y_bit,
       
        gpioModePushPull
       
       , 0);
      
        CAN_SetRoute
       
       (CAN_DEVICE,
       
        true
       
       , $x, $y);
      
        CAN_SetBitTiming
       
       (CAN_DEVICE, 100000, 1, 4, 4, 1);
      
       mode =
       
        canModeNormal
       
       ;
      
        CAN_SetMode
       
       (CAN_DEVICE, mode);
      
        CAN_MessageObject_TypeDef
       
       message;
      
       message.
       
        msgNum
       
       = 1;
      
       message.
       
        extended
       
       =
       
        false
       
       ;
      
       message.
       
        id
       
       = 19;
      
       message.
       
        dlc
       
       = 8;
      
       uint32_t i;
      
        for
       
       (i = 0; i < message.
       
        dlc
       
       ; ++i) {
      
       message.
       
        data
       
       [i] = i;
      
       }
      
        CAN_ConfigureMessageObject
       
       (CAN_DEVICE, 0, message.
       
        msgNum
       
       ,
       
        true
       
       ,
       
        true
       
       ,
       
        false
       
       ,
       
        true
       
       );
      
        CAN_SendMessage
       
       (CAN_DEVICE, 0, &message,
       
        true
       
       );
      
       }

Data Structures
struct	CAN_Init_TypeDef

struct	CAN_MessageObject_TypeDef

Macros
#define	CAN_INIT_DEFAULT

Enumerations
enum	CAN_ErrorCode_TypeDef { canErrorNoError = CAN_STATUS_LEC_NONE, canErrorStuff = CAN_STATUS_LEC_STUFF, canErrorForm = CAN_STATUS_LEC_FORM, canErrorAck = CAN_STATUS_LEC_ACK, canErrorBit1 = CAN_STATUS_LEC_BIT1, canErrorBit0 = CAN_STATUS_LEC_BIT0, canErrorCrc = CAN_STATUS_LEC_CRC, canErrorUnused = CAN_STATUS_LEC_UNUSED }

enum	CAN_Mode_TypeDef { canModeNormal , canModeBasic , canModeLoopBack , canModeSilentLoopBack , canModeSilent }

Functions
void	CAN_AbortSendMessage ( CAN_TypeDef *can, uint8_t interface, uint8_t msgNum, bool wait)
	Abort sending a message.

void	CAN_ConfigureMessageObject ( CAN_TypeDef *can, uint8_t interface, uint8_t msgNum, bool valid, bool tx, bool remoteTransfer, bool endOfBuffer, bool wait)
	Configure valid, TX/RX, remoteTransfer for a specific Message Object.

__STATIC_INLINE void	CAN_Enable ( CAN_TypeDef *can, bool enable)
	Enable the Host Controller to send messages.

uint32_t	CAN_GetClockFrequency ( CAN_TypeDef *can)
	Get the CAN module frequency.

__STATIC_INLINE uint32_t	CAN_GetErrorCount ( CAN_TypeDef *can)
	Get the error count.

__STATIC_INLINE CAN_ErrorCode_TypeDef	CAN_GetLastErrorCode ( CAN_TypeDef *can)
	Get the last error code and clear its register.

__STATIC_INLINE uint32_t	CAN_HasNewdata ( CAN_TypeDef *can)
	Indicates which message objects have received new data.

void	CAN_Init ( CAN_TypeDef can, const CAN_Init_TypeDef init)
	Initialize CAN.

__STATIC_INLINE bool	CAN_IsEnabled ( CAN_TypeDef *can)
	Give the communication capabilities state.

__STATIC_INLINE void	CAN_MessageIntClear ( CAN_TypeDef *can, uint32_t flags)
	Clear one or more pending CAN message interrupts.

__STATIC_INLINE void	CAN_MessageIntDisable ( CAN_TypeDef *can, uint32_t flags)
	Disable CAN message interrupts.

__STATIC_INLINE void	CAN_MessageIntEnable ( CAN_TypeDef *can, uint32_t flags)
	Enable CAN message interrupts.

__STATIC_INLINE uint32_t	CAN_MessageIntGet ( CAN_TypeDef *can)
	Get pending CAN message interrupt flags.

__STATIC_INLINE uint32_t	CAN_MessageIntGetEnabled ( CAN_TypeDef *can)
	Get CAN message interrupt flags that are pending and enabled.

__STATIC_INLINE void	CAN_MessageIntSet ( CAN_TypeDef *can, uint32_t flags)
	Set one or more CAN message interrupts.

bool	CAN_MessageLost ( CAN_TypeDef *can, uint8_t interface, uint8_t msgNum)
	Read a Message Object to find if a message was lost ; reset the 'Message Lost' flag.

void	CAN_ReadMessage ( CAN_TypeDef can, uint8_t interface, CAN_MessageObject_TypeDef message)
	Read data from a Message Object in RAM and store it in a message.

__STATIC_INLINE void	CAN_ReadyWait ( CAN_TypeDef *can, uint8_t interface)
	Waiting function.

void	CAN_Reset ( CAN_TypeDef *can)
	Set all CAN registers to RESETVALUE. Leave the CAN device disabled.

void	CAN_ResetMessages ( CAN_TypeDef *can, uint8_t interface)
	Reset all Message Objects and set their data to 0.

void	CAN_SendMessage ( CAN_TypeDef can, uint8_t interface, const CAN_MessageObject_TypeDef message, bool wait)
	Send data from the Message Object message.

void	CAN_SendRequest ( CAN_TypeDef *can, uint8_t interface, uint8_t msgNum, bool wait)
	Send a request for writing or reading RAM of the Message Object msgNum.

void	CAN_SetBitTiming ( CAN_TypeDef *can, uint32_t bitrate, uint16_t propagationTimeSegment, uint16_t phaseBufferSegment1, uint16_t phaseBufferSegment2, uint16_t synchronisationJumpWidth)
	Set the bitrate and its parameters.

void	CAN_SetIdAndFilter ( CAN_TypeDef can, uint8_t interface, bool useMask, const CAN_MessageObject_TypeDef message, bool wait)
	Set the ID and the filter for a specific Message Object.

void	CAN_SetMode ( CAN_TypeDef *can, CAN_Mode_TypeDef mode)
	Set the CAN operation mode.

void	CAN_SetRoute ( CAN_TypeDef *can, bool active, uint16_t pinRxLoc, uint16_t pinTxLoc)
	Set the ROUTE registers.

__STATIC_INLINE void	CAN_StatusClear ( CAN_TypeDef *can, uint32_t flags)
	Clear CAN status.

__STATIC_INLINE uint32_t	CAN_StatusGet ( CAN_TypeDef *can)
	Get CAN status.

__STATIC_INLINE void	CAN_StatusIntClear ( CAN_TypeDef *can, uint32_t flags)
	Clear one or more pending CAN status interrupts.

__STATIC_INLINE void	CAN_StatusIntDisable ( CAN_TypeDef *can, uint32_t flags)
	Disable CAN status interrupts.

__STATIC_INLINE void	CAN_StatusIntEnable ( CAN_TypeDef *can, uint32_t flags)
	Enable CAN status interrupts.

__STATIC_INLINE uint32_t	CAN_StatusIntGet ( CAN_TypeDef *can)
	Get pending CAN status interrupt flags.

__STATIC_INLINE uint32_t	CAN_StatusIntGetEnabled ( CAN_TypeDef *can)
	Get pending and enabled CAN status interrupt flags.

__STATIC_INLINE void	CAN_StatusIntSet ( CAN_TypeDef *can, uint32_t flags)
	Set one or more CAN status interrupts.

void	CAN_WriteData ( CAN_TypeDef can, uint8_t interface, const CAN_MessageObject_TypeDef message)
	Write data from a message to the MIRx registers.

Macro Definition Documentation

#define CAN_INIT_DEFAULT

Value:

Default initialization of CAN_Init_TypeDef . The total duration of a bit with these default parameters is 10 tq (time quantum : tq = brp/fsys, brp being the baudrate prescaler and being set according to the wanted bitrate, fsys beeing the CAN device frequency).

Definition at line 184 of file em_can.h .

Enumeration Type Documentation

enum CAN_ErrorCode_TypeDef

CAN Status codes.

Enumerator
canErrorNoError	No error occurred during the last CAN bus event.
canErrorStuff	More than 5 equal bits in a sequence have occurred in a part of a received message where this is not allowed.
canErrorForm	A fixed format part of a received frame has the wrong format.
canErrorAck	The message this CAN Core transmitted was not acknowledged by another node.
canErrorBit1	A wrong monitored bus value : dominant when the module wants to send a recessive.
canErrorBit0	A wrong monitored bus value : recessive when the module intends to send a dominant.
canErrorCrc	CRC check sum incorrect.
canErrorUnused	Unused. No new error since the CPU wrote this value.

Definition at line 64 of file em_can.h .

enum CAN_Mode_TypeDef

CAN peripheral mode.

Enumerator
canModeNormal	CAN peripheral in Normal mode : ready to send and receive messages.
canModeBasic	CAN peripheral in Basic mode : no use of the RAM.
canModeLoopBack	CAN peripheral in Loopback mode : input from the CAN bus is disregarded and comes from TX instead.
canModeSilentLoopBack	CAN peripheral in SilentLoopback mode : input from the CAN bus is disregarded and comes from TX instead ; no output on the CAN bus.
canModeSilent	CAN peripheral in Silent mode : no output on the CAN bus. If required to send a dominant bit, it's rerouted internally so that the CAN module monitors it but the CAN bus stays recessive.

Definition at line 94 of file em_can.h .

Function Documentation

void CAN_AbortSendMessage	(	CAN_TypeDef *	`can,`
		uint8_t	`interface,`
		uint8_t	`msgNum,`
		bool	`wait`
	)

Abort sending a message.

Set the TXRQST of the CTRL register to 0. Doesn't touch data or the other parameters. The user can call CAN_SendMessage() to send the object after using CAN_AbortSendMessage() .

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`interface`	Indicate which Message Interface Register to use.
[in]	`msgNum`	A message number of this Message Object, [1 - 32].
[in]	`wait`	If true, wait for the end of the transfer between the MIRx registers and the RAM to exit. If false, exit immediately. The transfer can still be in progress.

Definition at line 732 of file em_can.c .

References _CAN_MIR_CTRL_TXRQST_MASK , CAN_MIR_TypeDef::ARB , CAN_MIR_CMDMASK_ARBACC , CAN_MIR_CMDMASK_WRRD , CAN_ReadyWait() , CAN_SendRequest() , CAN_MIR_TypeDef::CMDMASK , and CAN_TypeDef::MIR .

void CAN_ConfigureMessageObject	(	CAN_TypeDef *	`can,`
		uint8_t	`interface,`
		uint8_t	`msgNum,`
		bool	`valid,`
		bool	`tx,`
		bool	`remoteTransfer,`
		bool	`endOfBuffer,`
		bool	`wait`
	)

Configure valid, TX/RX, remoteTransfer for a specific Message Object.

The initialization bit has to be 0 to use this function.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`interface`	Indicate which Message Interface Register to use.
[in]	`msgNum`	A message number of this Message Object, [1 - 32].
[in]	`valid`	True if the Message Object is valid, false otherwise.
[in]	`tx`	True if the Message Object is used for transmission, false if used for reception.
[in]	`remoteTransfer`	True if the Message Object is used for remote transmission, false otherwise.
[in]	`endOfBuffer`	True if it is for a single Message Object or the end of a FIFO buffer, false if the Message Object is part of a FIFO buffer and not the last.
[in]	`wait`	If true, wait for the end of the transfer between the MIRx registers and the RAM to exit. If false, exit immediately, the transfer can still be in progress.

Definition at line 504 of file em_can.c .

References _CAN_MIR_ARB_DIR_MASK , _CAN_MIR_ARB_DIR_SHIFT , _CAN_MIR_ARB_MSGVAL_MASK , _CAN_MIR_ARB_MSGVAL_SHIFT , _CAN_MIR_CTRL_EOB_SHIFT , _CAN_MIR_CTRL_RMTEN_SHIFT , _CAN_MIR_CTRL_RXIE_MASK , _CAN_MIR_CTRL_TXIE_MASK , CAN_MIR_TypeDef::ARB , CAN_MIR_CMDMASK_ARBACC , CAN_MIR_CMDMASK_CONTROL , CAN_MIR_CMDMASK_WRRD , CAN_MIR_CMDMASK_WRRD_READ , CAN_ReadyWait() , CAN_SendRequest() , CAN_MIR_TypeDef::CMDMASK , CAN_MIR_TypeDef::CTRL , and CAN_TypeDef::MIR .

__STATIC_INLINE void CAN_Enable	(	CAN_TypeDef *	`can,`
		bool	`enable`
	)

Enable the Host Controller to send messages.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`enable`	True to enable CAN device, false to disable it. If the CAN device is enabled, it goes to normal mode (the default working mode).

Definition at line 272 of file em_can.h .

References _CAN_CTRL_INIT_SHIFT , BUS_RegBitWrite() , and CAN_TypeDef::CTRL .

Referenced by CAN_Init() , and CAN_Reset() .

uint32_t CAN_GetClockFrequency ( CAN_TypeDef * can )

Get the CAN module frequency.

An internal prescaler of 2 is inside the CAN module.

Parameters

[in] can A pointer to the CAN peripheral register block.

Returns: A clock value.

Definition at line 132 of file em_can.c .

References CAN0 , CAN1 , CMU_ClockFreqGet() , cmuClock_CAN0 , and cmuClock_CAN1 .

Referenced by CAN_SetBitTiming() .

__STATIC_INLINE uint32_t CAN_GetErrorCount ( CAN_TypeDef * can )

Get the error count.

Parameters

[in] can A pointer to the CAN peripheral register block.

Returns: Error count.

Definition at line 483 of file em_can.h .

References CAN_TypeDef::ERRCNT .

__STATIC_INLINE CAN_ErrorCode_TypeDef CAN_GetLastErrorCode ( CAN_TypeDef * can )

Get the last error code and clear its register.

Parameters

[in] can Pointer to CAN peripheral register block.

Returns: return Last error code.

Definition at line 320 of file em_can.h .

References _CAN_STATUS_LEC_MASK , and CAN_TypeDef::STATUS .

__STATIC_INLINE uint32_t CAN_HasNewdata ( CAN_TypeDef * can )

Indicates which message objects have received new data.

Parameters

[in] can A pointer to the CAN peripheral register block.

Returns: State of MESSAGEDATA register indicating which message objects have received new data.

Definition at line 339 of file em_can.h .

References CAN_TypeDef::MESSAGEDATA .

void CAN_Init	(	CAN_TypeDef *	`can,`
		const CAN_Init_TypeDef *	`init`
	)

Initialize CAN.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`init`	A pointer to the CAN initialization structure.

Definition at line 99 of file em_can.c .

References _CAN_CTRL_TEST_MASK , _CAN_TEST_RESETVALUE , CAN_Init_TypeDef::bitrate , CAN_CTRL_INIT , CAN_Enable() , CAN_ResetMessages() , CAN_SetBitTiming() , CAN_TypeDef::CTRL , CAN_Init_TypeDef::enable , CAN_Init_TypeDef::phaseBufferSegment1 , CAN_Init_TypeDef::phaseBufferSegment2 , CAN_Init_TypeDef::propagationTimeSegment , CAN_Init_TypeDef::resetMessages , CAN_Init_TypeDef::synchronisationJumpWidth , and CAN_TypeDef::TEST .

__STATIC_INLINE bool CAN_IsEnabled ( CAN_TypeDef * can )

Give the communication capabilities state.

Parameters

[in] can A pointer to the CAN peripheral register block.

Returns: True if the Host Controller can send messages, false otherwise.

Definition at line 287 of file em_can.h .

References _CAN_CTRL_INIT_MASK , and CAN_TypeDef::CTRL .

Referenced by CAN_SetBitTiming() .

__STATIC_INLINE void CAN_MessageIntClear	(	CAN_TypeDef *	`can,`
		uint32_t	`flags`
	)

Clear one or more pending CAN message interrupts.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`flags`	Pending CAN message interrupt source(s) to clear.

Definition at line 498 of file em_can.h .

References CAN_TypeDef::IF0IFC .

__STATIC_INLINE void CAN_MessageIntDisable	(	CAN_TypeDef *	`can,`
		uint32_t	`flags`
	)

Disable CAN message interrupts.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`flags`	CAN message interrupt source(s) to disable.

Definition at line 513 of file em_can.h .

References CAN_TypeDef::IF0IEN .

__STATIC_INLINE void CAN_MessageIntEnable	(	CAN_TypeDef *	`can,`
		uint32_t	`flags`
	)

Enable CAN message interrupts.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`flags`	CAN message interrupt source(s) to enable.

Definition at line 528 of file em_can.h .

References CAN_TypeDef::IF0IEN .

__STATIC_INLINE uint32_t CAN_MessageIntGet ( CAN_TypeDef * can )

Get pending CAN message interrupt flags.

Note: This function does not clear event bits.

Parameters

[in] can A pointer to the CAN peripheral register block.

Returns: CAN message interrupt source(s) pending.

Definition at line 546 of file em_can.h .

References CAN_TypeDef::IF0IF .

__STATIC_INLINE uint32_t CAN_MessageIntGetEnabled ( CAN_TypeDef * can )

Get CAN message interrupt flags that are pending and enabled.

Note: This function does not clear event bits.

Parameters

[in] can A pointer to the CAN peripheral register block.

Returns: CAN message interrupt source(s) pending and enabled.

Definition at line 564 of file em_can.h .

References CAN_TypeDef::IF0IEN , and CAN_TypeDef::IF0IF .

__STATIC_INLINE void CAN_MessageIntSet	(	CAN_TypeDef *	`can,`
		uint32_t	`flags`
	)

Set one or more CAN message interrupts.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`flags`	CAN message interrupt source(s) to set as pending.

Definition at line 582 of file em_can.h .

References CAN_TypeDef::IF0IFS .

bool CAN_MessageLost	(	CAN_TypeDef *	`can,`
		uint8_t	`interface,`
		uint8_t	`msgNum`
	)

Read a Message Object to find if a message was lost ; reset the 'Message Lost' flag.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`interface`	Indicate which Message Interface Register to use.
[in]	`msgNum`	A message number of the Message Object, [1 - 32].

Returns: True if a message was lost, false otherwise.

Definition at line 166 of file em_can.c .

References _CAN_MIR_CTRL_MESSAGEOF_MASK , CAN_MIR_CMDMASK_CLRINTPND , CAN_MIR_CMDMASK_CONTROL , CAN_MIR_CMDMASK_WRRD , CAN_MIR_CMDMASK_WRRD_READ , CAN_ReadyWait() , CAN_SendRequest() , CAN_MIR_TypeDef::CMDMASK , CAN_MIR_TypeDef::CTRL , and CAN_TypeDef::MIR .

void CAN_ReadMessage	(	CAN_TypeDef *	`can,`
		uint8_t	`interface,`
		CAN_MessageObject_TypeDef *	`message`
	)

Read data from a Message Object in RAM and store it in a message.

Read the information from RAM on this Message Object : data but also the configuration of the other registers.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`interface`	Indicate which Message Interface Register to use.
[in]	`message`	A Message Object.

Definition at line 662 of file em_can.c .

References _CAN_MIR_CTRL_DLC_MASK , _CAN_MIR_CTRL_DLC_SHIFT , CAN_MIR_CMDMASK_ARBACC , CAN_MIR_CMDMASK_CLRINTPND , CAN_MIR_CMDMASK_CONTROL , CAN_MIR_CMDMASK_DATAA , CAN_MIR_CMDMASK_DATAB , CAN_MIR_CMDMASK_MASKACC , CAN_MIR_CMDMASK_TXRQSTNEWDAT , CAN_MIR_CMDMASK_WRRD_READ , CAN_ReadyWait() , CAN_SendRequest() , CAN_MIR_TypeDef::CMDMASK , CAN_MIR_TypeDef::CTRL , CAN_MessageObject_TypeDef::data , CAN_MIR_TypeDef::DATAH , CAN_MIR_TypeDef::DATAL , CAN_MessageObject_TypeDef::dlc , CAN_TypeDef::MIR , CAN_MessageObject_TypeDef::msgNum , and SL_MIN .

__STATIC_INLINE void CAN_ReadyWait	(	CAN_TypeDef *	`can,`
		uint8_t	`interface`
	)

Waiting function.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`interface`	Indicate which Message Interface Register to use.

Definition at line 303 of file em_can.h .

References _CAN_MIR_CMDREQ_BUSY_MASK , CAN_MIR_TypeDef::CMDREQ , and CAN_TypeDef::MIR .

Referenced by CAN_AbortSendMessage() , CAN_ConfigureMessageObject() , CAN_MessageLost() , CAN_ReadMessage() , CAN_Reset() , CAN_ResetMessages() , CAN_SendMessage() , CAN_SendRequest() , CAN_SetIdAndFilter() , and CAN_WriteData() .

void CAN_Reset ( CAN_TypeDef * can )

Set all CAN registers to RESETVALUE. Leave the CAN device disabled.

Parameters

[in] can A pointer to the CAN peripheral register block.

Definition at line 796 of file em_can.c .

References _CAN_BITTIMING_RESETVALUE , _CAN_BRPE_RESETVALUE , _CAN_CONFIG_RESETVALUE , _CAN_CTRL_CCE_MASK , _CAN_CTRL_TEST_MASK , _CAN_IF0IEN_RESETVALUE , _CAN_IF0IFC_RESETVALUE , _CAN_IF0IFS_RESETVALUE , _CAN_IF1IEN_RESETVALUE , _CAN_IF1IF_RESETVALUE , _CAN_IF1IFC_RESETVALUE , _CAN_MIR_ARB_RESETVALUE , _CAN_MIR_CMDMASK_RESETVALUE , _CAN_MIR_CMDREQ_RESETVALUE , _CAN_MIR_CTRL_RESETVALUE , _CAN_MIR_DATAH_RESETVALUE , _CAN_MIR_DATAL_RESETVALUE , _CAN_MIR_MASK_RESETVALUE , _CAN_ROUTE_RESETVALUE , _CAN_STATUS_RESETVALUE , _CAN_TEST_RESETVALUE , CAN_MIR_TypeDef::ARB , CAN_TypeDef::BITTIMING , CAN_TypeDef::BRPE , CAN_Enable() , CAN_ReadyWait() , CAN_MIR_TypeDef::CMDMASK , CAN_MIR_TypeDef::CMDREQ , CAN_TypeDef::CONFIG , CAN_TypeDef::CTRL , CAN_MIR_TypeDef::CTRL , CAN_MIR_TypeDef::DATAH , CAN_MIR_TypeDef::DATAL , CAN_TypeDef::IF0IEN , CAN_TypeDef::IF0IFC , CAN_TypeDef::IF0IFS , CAN_TypeDef::IF1IEN , CAN_TypeDef::IF1IFC , CAN_TypeDef::IF1IFS , CAN_MIR_TypeDef::MASK , CAN_TypeDef::MIR , CAN_TypeDef::ROUTE , CAN_TypeDef::STATUS , and CAN_TypeDef::TEST .

void CAN_ResetMessages	(	CAN_TypeDef *	`can,`
		uint8_t	`interface`
	)

Reset all Message Objects and set their data to 0.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`interface`	Indicate which Message Interface Register to use.

Definition at line 764 of file em_can.c .

References _CAN_MIR_ARB_RESETVALUE , _CAN_MIR_CTRL_RESETVALUE , _CAN_MIR_MASK_RESETVALUE , CAN_MIR_TypeDef::ARB , CAN_MIR_CMDMASK_ARBACC , CAN_MIR_CMDMASK_CONTROL , CAN_MIR_CMDMASK_DATAA , CAN_MIR_CMDMASK_DATAB , CAN_MIR_CMDMASK_MASKACC , CAN_MIR_CMDMASK_WRRD , CAN_ReadyWait() , CAN_SendRequest() , CAN_MIR_TypeDef::CMDMASK , CAN_MIR_TypeDef::CTRL , CAN_MIR_TypeDef::DATAH , CAN_MIR_TypeDef::DATAL , CAN_MIR_TypeDef::MASK , and CAN_TypeDef::MIR .

Referenced by CAN_Init() .

void CAN_SendMessage	(	CAN_TypeDef *	`can,`
		uint8_t	`interface,`
		const CAN_MessageObject_TypeDef *	`message,`
		bool	`wait`
	)

Send data from the Message Object message.

If the message is configured as TX and remoteTransfer = 0, calling this function will send the data of this Message Object if its parameters are correct. If the message is TX and remoteTransfer = 1, this function will set the data of message to RAM and exit. Data will be automatically sent after reception of a remote frame. If the message is RX and remoteTransfer = 1, this function will send a remote frame to the corresponding ID. If the message is RX and remoteTransfer = 0, the user shouldn't call this function. It will also send a remote frame.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`interface`	Indicate which Message Interface Register to use.
[in]	`message`	A Message Object.
[in]	`wait`	If true, wait for the end of the transfer between the MIRx registers and RAM to exit. If false, exit immediately. The transfer can still be in progress.

Definition at line 575 of file em_can.c .

References _CAN_MIR_ARB_DIR_MASK , _CAN_MIR_ARB_DIR_RX , _CAN_MIR_ARB_ID_MASK , _CAN_MIR_ARB_ID_SHIFT , _CAN_MIR_ARB_MSGVAL_SHIFT , _CAN_MIR_ARB_XTD_MASK , _CAN_MIR_CTRL_DLC_MASK , _CAN_MIR_CTRL_RMTEN_MASK , _CAN_STATUS_LEC_MASK , CAN_MIR_TypeDef::ARB , BUS_RegMaskedWrite() , CAN_MIR_ARB_XTD_EXT , CAN_MIR_ARB_XTD_STD , CAN_MIR_CMDMASK_ARBACC , CAN_MIR_CMDMASK_CONTROL , CAN_MIR_CMDMASK_DATAA , CAN_MIR_CMDMASK_DATAB , CAN_MIR_CMDMASK_WRRD , CAN_MIR_CMDMASK_WRRD_READ , CAN_MIR_CTRL_DATAVALID , CAN_MIR_CTRL_TXRQST , CAN_ReadyWait() , CAN_SendRequest() , CAN_WriteData() , CAN_MIR_TypeDef::CMDMASK , CAN_MIR_TypeDef::CTRL , CAN_MessageObject_TypeDef::dlc , CAN_MessageObject_TypeDef::extended , CAN_MessageObject_TypeDef::id , CAN_TypeDef::MIR , CAN_MessageObject_TypeDef::msgNum , and CAN_TypeDef::STATUS .

void CAN_SendRequest	(	CAN_TypeDef *	`can,`
		uint8_t	`interface,`
		uint8_t	`msgNum,`
		bool	`wait`
	)

Send a request for writing or reading RAM of the Message Object msgNum.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`interface`	Indicate which Message Interface Register to use.
[in]	`msgNum`	A message number of the Message Object, [1 - 32].
[in]	`wait`	If true, wait for the end of the transfer between the MIRx registers and the RAM to exit. If false, exit immediately. The transfer can still be in progress.

Definition at line 892 of file em_can.c .

References _CAN_MIR_CMDREQ_MSGNUM_SHIFT , CAN_ReadyWait() , CAN_MIR_TypeDef::CMDREQ , and CAN_TypeDef::MIR .

Referenced by CAN_AbortSendMessage() , CAN_ConfigureMessageObject() , CAN_MessageLost() , CAN_ReadMessage() , CAN_ResetMessages() , CAN_SendMessage() , and CAN_SetIdAndFilter() .

void CAN_SetBitTiming	(	CAN_TypeDef *	`can,`
		uint32_t	`bitrate,`
		uint16_t	`propagationTimeSegment,`
		uint16_t	`phaseBufferSegment1,`
		uint16_t	`phaseBufferSegment2,`
		uint16_t	`synchronisationJumpWidth`
	)

Set the bitrate and its parameters.

Multiple parameters need to be properly configured. See the reference manual for a detailed description. Careful : the BRP (Baud Rate Prescaler) is calculated by: 'brp = freq / (period * bitrate);'. freq is the frequency of the CAN device, period the time of transmission of a bit. The result is an uint32_t. Hence it's truncated, causing an approximation error. This error is non negligible when the period is high, the bitrate is high, and frequency is low.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`bitrate`	A wanted bitrate on the CAN bus.
[in]	`propagationTimeSegment`	A value for the Propagation Time Segment.
[in]	`phaseBufferSegment1`	A value for the Phase Buffer Segment 1.
[in]	`phaseBufferSegment2`	A value for the Phase Buffer Segment 2.
[in]	`synchronisationJumpWidth`	A value for the Synchronization Jump Width.

Definition at line 263 of file em_can.c .

References _CAN_BITTIMING_BRP_SHIFT , _CAN_BITTIMING_SJW_SHIFT , _CAN_BITTIMING_TSEG1_SHIFT , _CAN_BITTIMING_TSEG2_SHIFT , _CAN_CTRL_CCE_MASK , _CAN_CTRL_INIT_MASK , CAN_TypeDef::BITTIMING , CAN_TypeDef::BRPE , CAN_CTRL_CCE , CAN_CTRL_INIT , CAN_GetClockFrequency() , CAN_IsEnabled() , and CAN_TypeDef::CTRL .

Referenced by CAN_Init() .

void CAN_SetIdAndFilter	(	CAN_TypeDef *	`can,`
		uint8_t	`interface,`
		bool	`useMask,`
		const CAN_MessageObject_TypeDef *	`message,`
		bool	`wait`
	)

Set the ID and the filter for a specific Message Object.

The initialization bit has to be 0 to use this function.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`interface`	Indicate which Message Interface Register to use.
[in]	`useMask`	A boolean to choose whether or not to use the masks.
[in]	`message`	A Message Object.
[in]	`wait`	If true, wait for the end of the transfer between the MIRx registers and the RAM to exit. If false, exit immediately, the transfer can still be in progress.

Definition at line 409 of file em_can.c .

References _CAN_MIR_ARB_ID_MASK , _CAN_MIR_ARB_ID_SHIFT , _CAN_MIR_ARB_MSGVAL_SHIFT , _CAN_MIR_CTRL_UMASK_SHIFT , _CAN_MIR_MASK_MASK_SHIFT , _CAN_MIR_MASK_MDIR_SHIFT , _CAN_MIR_MASK_MXTD_SHIFT , CAN_MIR_TypeDef::ARB , BUS_RegBitWrite() , CAN_MIR_ARB_XTD_EXT , CAN_MIR_ARB_XTD_STD , CAN_MIR_CMDMASK_ARBACC , CAN_MIR_CMDMASK_CONTROL , CAN_MIR_CMDMASK_MASKACC , CAN_MIR_CMDMASK_WRRD , CAN_MIR_CMDMASK_WRRD_READ , CAN_ReadyWait() , CAN_SendRequest() , CAN_MIR_TypeDef::CMDMASK , CAN_MIR_TypeDef::CTRL , CAN_MessageObject_TypeDef::directionMask , CAN_MessageObject_TypeDef::extended , CAN_MessageObject_TypeDef::extendedMask , CAN_MessageObject_TypeDef::id , CAN_MIR_TypeDef::MASK , CAN_MessageObject_TypeDef::mask , CAN_TypeDef::MIR , and CAN_MessageObject_TypeDef::msgNum .

void CAN_SetMode	(	CAN_TypeDef *	`can,`
		CAN_Mode_TypeDef	`mode`
	)

Set the CAN operation mode.

In initialization mode, the CAN module is deactivated. Reset the messages in all other modes to be sure that there is no leftover data that needs to be configured before use.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`mode`	Mode of operation : Init, Normal, Loopback, SilentLoopback, Silent, Basic.

Definition at line 335 of file em_can.c .

References _CAN_CTRL_EIE_MASK , _CAN_CTRL_IE_MASK , _CAN_CTRL_SIE_MASK , _CAN_CTRL_TEST_MASK , _CAN_TEST_RESETVALUE , CAN_CTRL_TEST , CAN_TEST_BASIC , CAN_TEST_LBACK , CAN_TEST_SILENT , canModeBasic , canModeLoopBack , canModeNormal , canModeSilent , canModeSilentLoopBack , CAN_TypeDef::CTRL , and CAN_TypeDef::TEST .

void CAN_SetRoute	(	CAN_TypeDef *	`can,`
		bool	`active,`
		uint16_t	`pinRxLoc,`
		uint16_t	`pinTxLoc`
	)

Set the ROUTE registers.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`active`	A boolean indicating whether or not to activate the ROUTE registers.
[in]	`pinRxLoc`	A location of the RX pin.
[in]	`pinTxLoc`	A location of the TX pin.

Definition at line 216 of file em_can.c .

References _CAN_ROUTE_RXLOC_SHIFT , _CAN_ROUTE_TXLOC_SHIFT , CAN_ROUTE_TXPEN , and CAN_TypeDef::ROUTE .

__STATIC_INLINE void CAN_StatusClear	(	CAN_TypeDef *	`can,`
		uint32_t	`flags`
	)

Clear CAN status.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`flags`	CAN status bits to clear.

Definition at line 468 of file em_can.h .

References CAN_TypeDef::STATUS .

__STATIC_INLINE uint32_t CAN_StatusGet ( CAN_TypeDef * can )

Get CAN status.

Parameters

[in] can A pointer to the CAN peripheral register block.

Returns: A value of CAN register STATUS.

Definition at line 453 of file em_can.h .

References _CAN_STATUS_LEC_MASK , and CAN_TypeDef::STATUS .

__STATIC_INLINE void CAN_StatusIntClear	(	CAN_TypeDef *	`can,`
		uint32_t	`flags`
	)

Clear one or more pending CAN status interrupts.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`flags`	Pending CAN status interrupt source(s) to clear.

Definition at line 354 of file em_can.h .

References CAN_TypeDef::IF1IFC .

__STATIC_INLINE void CAN_StatusIntDisable	(	CAN_TypeDef *	`can,`
		uint32_t	`flags`
	)

Disable CAN status interrupts.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`flags`	CAN status interrupt source(s) to disable.

Definition at line 369 of file em_can.h .

References CAN_TypeDef::IF1IEN .

__STATIC_INLINE void CAN_StatusIntEnable	(	CAN_TypeDef *	`can,`
		uint32_t	`flags`
	)

Enable CAN status interrupts.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`flags`	CAN status interrupt source(s) to enable.

Definition at line 384 of file em_can.h .

References CAN_TypeDef::IF1IEN .

__STATIC_INLINE uint32_t CAN_StatusIntGet ( CAN_TypeDef * can )

Get pending CAN status interrupt flags.

Note: This function does not clear event bits.

Parameters

[in] can A pointer to the CAN peripheral register block.

Returns: CAN interrupt source(s) pending.

Definition at line 402 of file em_can.h .

References CAN_TypeDef::IF1IF .

__STATIC_INLINE uint32_t CAN_StatusIntGetEnabled ( CAN_TypeDef * can )

Get pending and enabled CAN status interrupt flags.

Note: This function does not clear event bits.

Parameters

[in] can A pointer to the CAN peripheral register block.

Returns: CAN interrupt source(s) pending and enabled.

Definition at line 420 of file em_can.h .

References CAN_TypeDef::IF1IEN , and CAN_TypeDef::IF1IF .

__STATIC_INLINE void CAN_StatusIntSet	(	CAN_TypeDef *	`can,`
		uint32_t	`flags`
	)

Set one or more CAN status interrupts.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`flags`	CAN status interrupt source(s) to set to pending.

Definition at line 438 of file em_can.h .

References CAN_TypeDef::IF1IFS .

void CAN_WriteData	(	CAN_TypeDef *	`can,`
		uint8_t	`interface,`
		const CAN_MessageObject_TypeDef *	`message`
	)

Write data from a message to the MIRx registers.

Parameters

[in]	`can`	A pointer to the CAN peripheral register block.
[in]	`interface`	Indicate which Message Interface Register to use.
[in]	`message`	A Message Object.

Definition at line 846 of file em_can.c .

References CAN_ReadyWait() , CAN_MessageObject_TypeDef::data , CAN_MIR_TypeDef::DATAH , CAN_MIR_TypeDef::DATAL , CAN_MessageObject_TypeDef::dlc , CAN_TypeDef::MIR , and SL_MIN .

Referenced by CAN_SendMessage() .

CANEMLIB

Detailed Description

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Macro Definition Documentation

Enumeration Type Documentation

Function Documentation