CANEMLIB

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)
{
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);
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.
 
bool CAN_ReadMessage (CAN_TypeDef *can, uint8_t interface, CAN_MessageObject_TypeDef *message)
 Read data and ID 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:
{ \
true, \
true, \
100000, \
1, \
4, \
4, \
1 \
}

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

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.

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]canA pointer to the CAN peripheral register block.
[in]interfaceIndicate which Message Interface Register to use.
[in]msgNumA message number of this Message Object, [1 - 32].
[in]waitIf 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 751 of file em_can.c.

References _CAN_MIR_CTRL_TXRQST_MASK, 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_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]canA pointer to the CAN peripheral register block.
[in]interfaceIndicate which Message Interface Register to use.
[in]msgNumA message number of this Message Object, [1 - 32].
[in]validTrue if the Message Object is valid, false otherwise.
[in]txTrue if the Message Object is used for transmission, false if used for reception.
[in]remoteTransferTrue if the Message Object is used for remote transmission, false otherwise.
[in]endOfBufferTrue 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]waitIf 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 505 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_READ, CAN_MIR_CMDMASK_WRRD_WRITE, 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]canA pointer to the CAN peripheral register block.
[in]enableTrue 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]canA pointer to the CAN peripheral register block.
Returns
A clock value.

Definition at line 132 of file em_can.c.

References CAN0, CMU_ClockFreqGet(), and cmuClock_CAN0.

Referenced by CAN_SetBitTiming().

__STATIC_INLINE uint32_t CAN_GetErrorCount ( CAN_TypeDef can)

Get the error count.

Parameters
[in]canA 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]canPointer 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]canA 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 
)
__STATIC_INLINE bool CAN_IsEnabled ( CAN_TypeDef can)

Give the communication capabilities state.

Parameters
[in]canA 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]canA pointer to the CAN peripheral register block.
[in]flagsPending 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]canA pointer to the CAN peripheral register block.
[in]flagsCAN 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]canA pointer to the CAN peripheral register block.
[in]flagsCAN 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]canA 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]canA 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]canA pointer to the CAN peripheral register block.
[in]flagsCAN 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]canA pointer to the CAN peripheral register block.
[in]interfaceIndicate which Message Interface Register to use.
[in]msgNumA 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.

bool CAN_ReadMessage ( CAN_TypeDef can,
uint8_t  interface,
CAN_MessageObject_TypeDef message 
)

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

Read the information from RAM on this Message Object. Data and the configuration of the Message Object is read. The information is only read if the message stored in the Message Object is new and valid.

Parameters
[in]canA pointer to the CAN peripheral register block.
[in]interfaceIndicate which Message Interface Register to use.
[in]messageA Message Object.
Returns
True if the Message Object in RAM holds a new and valid message, which was not read earlier, false otherwise.

Definition at line 668 of file em_can.c.

References _CAN_MIR_ARB_ID_MASK, _CAN_MIR_CTRL_DLC_MASK, _CAN_MIR_CTRL_DLC_SHIFT, CAN_MIR_TypeDef::ARB, 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_MIR_CTRL_DATAVALID, 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_MessageObject_TypeDef::extended, CAN_MessageObject_TypeDef::id, 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]canA pointer to the CAN peripheral register block.
[in]interfaceIndicate 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_ResetMessages ( CAN_TypeDef can,
uint8_t  interface 
)

Reset all Message Objects and set their data to 0.

Parameters
[in]canA pointer to the CAN peripheral register block.
[in]interfaceIndicate which Message Interface Register to use.

Definition at line 790 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]canA pointer to the CAN peripheral register block.
[in]interfaceIndicate which Message Interface Register to use.
[in]messageA Message Object.
[in]waitIf 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 576 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_READ, CAN_MIR_CMDMASK_WRRD_WRITE, 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]canA pointer to the CAN peripheral register block.
[in]interfaceIndicate which Message Interface Register to use.
[in]msgNumA message number of the Message Object, [1 - 32].
[in]waitIf 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 918 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]canA pointer to the CAN peripheral register block.
[in]bitrateA wanted bitrate on the CAN bus.
[in]propagationTimeSegmentA value for the Propagation Time Segment.
[in]phaseBufferSegment1A value for the Phase Buffer Segment 1.
[in]phaseBufferSegment2A value for the Phase Buffer Segment 2.
[in]synchronisationJumpWidthA 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]canA pointer to the CAN peripheral register block.
[in]interfaceIndicate which Message Interface Register to use.
[in]useMaskA boolean to choose whether or not to use the masks.
[in]messageA Message Object.
[in]waitIf 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_MASK, _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_READ, CAN_MIR_CMDMASK_WRRD_WRITE, 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]canA pointer to the CAN peripheral register block.
[in]modeMode 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]canA pointer to the CAN peripheral register block.
[in]activeA boolean indicating whether or not to activate the ROUTE registers.
[in]pinRxLocA location of the RX pin.
[in]pinTxLocA 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]canA pointer to the CAN peripheral register block.
[in]flagsCAN 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]canA 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]canA pointer to the CAN peripheral register block.
[in]flagsPending 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]canA pointer to the CAN peripheral register block.
[in]flagsCAN 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]canA pointer to the CAN peripheral register block.
[in]flagsCAN 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]canA 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]canA 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]canA pointer to the CAN peripheral register block.
[in]flagsCAN 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]canA pointer to the CAN peripheral register block.
[in]interfaceIndicate which Message Interface Register to use.
[in]messageA Message Object.

Definition at line 872 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().