Controller Area Network (CAN) driver module for SAM.

#include "can.h"

Data Structures
struct	can_bit_timing_t

Macros
#define	CAN_BAUDRATE_MAX_DIV 128
	The max value for CAN baudrate prescale. More...

#define	CAN_BIT_IPT 2

#define	CAN_BIT_SYNC 1
	Define the fixed bit time value. More...

#define	CAN_MAX_TQ_NUM 25

#define	CAN_MIN_TQ_NUM 8
	Define the scope for TQ. More...

#define	CAN_TIMEOUT 100000

#define	TIMEMARK_MASK 0x0000ffff
	Define the timemark mask. More...

Functions
void	can_disable (Can *p_can)
	Disable CAN Controller. More...

void	can_disable_autobaud_listen_mode (Can *p_can)
	Disable CAN Controller autobaud/listen mode. More...

void	can_disable_interrupt (Can *p_can, uint32_t dw_mask)
	Disable CAN interrupt. More...

void	can_disable_low_power_mode (Can *p_can)
	Disable CAN Controller low power mode. More...

void	can_disable_overload_frame (Can *p_can)
	CAN Controller won't generate overload frame. More...

void	can_disable_time_triggered_mode (Can *p_can)
	Disable CAN Controller time triggered mode. More...

void	can_disable_timer_freeze (Can *p_can)
	Disable CAN Controller timer freeze. More...

void	can_disable_tx_repeat (Can *p_can)
	Disable CAN Controller transmit repeat function. More...

void	can_enable (Can *p_can)
	Enable CAN Controller. More...

void	can_enable_autobaud_listen_mode (Can *p_can)
	Enable CAN Controller autobaud/listen mode. More...

void	can_enable_interrupt (Can *p_can, uint32_t dw_mask)
	Enable CAN interrupt. More...

void	can_enable_low_power_mode (Can *p_can)
	Enable CAN Controller low power mode. More...

void	can_enable_overload_frame (Can *p_can)
	CAN Controller will generate an overload frame after each successful reception for mailboxes configured in Receive mode, Producer and Consumer. More...

void	can_enable_time_triggered_mode (Can *p_can)
	Enable CAN Controller time triggered mode. More...

void	can_enable_timer_freeze (Can *p_can)
	Enable CAN Controller timer freeze. More...

void	can_enable_tx_repeat (Can *p_can)
	Enable CAN Controller transmit repeat function. More...

uint32_t	can_get_internal_timer_value (Can *p_can)
	Get the 16-bit free-running internal timer count. More...

uint32_t	can_get_interrupt_mask (Can *p_can)
	Get CAN Interrupt Mask. More...

uint8_t	can_get_rx_error_cnt (Can *p_can)
	Get CAN receive error counter. More...

uint32_t	can_get_status (Can *p_can)
	Get CAN status. More...

uint32_t	can_get_timestamp_value (Can *p_can)
	Get CAN timestamp register value. More...

uint8_t	can_get_tx_error_cnt (Can *p_can)
	Get CAN transmit error counter. More...

void	can_global_send_abort_cmd (Can *p_can, uint8_t uc_mask)
	Send global abort request. More...

void	can_global_send_transfer_cmd (Can *p_can, uint8_t uc_mask)
	Send global transfer request. More...

uint32_t	can_init (Can *p_can, uint32_t ul_mck, uint32_t ul_baudrate)
	Initialize CAN controller. More...

uint32_t	can_mailbox_get_status (Can *p_can, uint8_t uc_index)
	Get status of the mailbox. More...

void	can_mailbox_init (Can p_can, can_mb_conf_t p_mailbox)
	Initialize the mailbox in different mode and set up related configuration. More...

uint32_t	can_mailbox_read (Can p_can, can_mb_conf_t p_mailbox)
	Read receive information for the mailbox. More...

void	can_mailbox_send_abort_cmd (Can p_can, can_mb_conf_t p_mailbox)
	Send single mailbox abort request. More...

void	can_mailbox_send_transfer_cmd (Can p_can, can_mb_conf_t p_mailbox)
	Send single mailbox transfer request. More...

void	can_mailbox_set_timemark (Can *p_can, uint8_t uc_index, uint16_t us_cnt)
	Configure the timemark for the mailbox. More...

uint32_t	can_mailbox_tx_remote_frame (Can p_can, can_mb_conf_t p_mailbox)
	Require to send out a remote frame. More...

uint32_t	can_mailbox_write (Can p_can, can_mb_conf_t p_mailbox)
	Prepare transmit information and write them into the mailbox. More...

void	can_reset_all_mailbox (Can *p_can)
	Reset the eight mailboxes. More...

void	can_reset_internal_timer (Can *p_can)
	Reset the internal free-running 16-bit timer. More...

static uint32_t	can_set_baudrate (Can *p_can, uint32_t ul_mck, uint32_t ul_baudrate)
	Configure CAN baudrate. More...

void	can_set_rx_sync_stage (Can *p_can, uint32_t ul_stage)
	Configure CAN Controller reception synchronization stage. More...

void	can_set_timestamp_capture_point (Can *p_can, uint32_t ul_flag)
	Configure the timestamp capture point, at the start or the end of frame. More...

Variables
const can_bit_timing_t	can_bit_time []
	Values of bit time register for different baudrates, Sample point = ((1 + uc_prog + uc_phase1) / uc_tq) * 100%. More...

#define CAN_BAUDRATE_MAX_DIV 128

The max value for CAN baudrate prescale.

Referenced by can_set_baudrate().

#define CAN_BIT_IPT 2

#define CAN_BIT_SYNC 1

Define the fixed bit time value.

#define CAN_MAX_TQ_NUM 25

Referenced by can_set_baudrate().

#define CAN_MIN_TQ_NUM 8

Define the scope for TQ.

Referenced by can_set_baudrate().

#define CAN_TIMEOUT 100000

Referenced by can_init().

#define TIMEMARK_MASK 0x0000ffff

Define the timemark mask.

Referenced by can_mailbox_set_timemark().

static uint32_t can_set_baudrate	(	Can *	p_can,
		uint32_t	ul_mck,
		uint32_t	ul_baudrate
	)

static

Configure CAN baudrate.

Parameters

p_can	Pointer to a CAN peripheral instance.
ul_mck	The input main clock for the CAN module.
ul_baudrate	Baudrate value (kB/s), allowed values: 1000, 800, 500, 250, 125, 50, 25, 10, 5.

Return values

Set	the baudrate successfully or not.

References CAN_BAUDRATE_MAX_DIV, can_disable(), CAN_MAX_TQ_NUM, CAN_MIN_TQ_NUM, can_bit_timing_t::uc_phase1, can_bit_timing_t::uc_phase2, can_bit_timing_t::uc_prog, and can_bit_timing_t::uc_sjw.

Referenced by can_init().

const can_bit_timing_t can_bit_time[]

Initial value:

= {
    { 8, (2 + 1), (1 + 1), (1 + 1), (2 + 1), 75},
    { 9, (1 + 1), (2 + 1), (2 + 1), (1 + 1), 67},
    {10, (2 + 1), (2 + 1), (2 + 1), (2 + 1), 70},
    {11, (3 + 1), (2 + 1), (2 + 1), (3 + 1), 72},
    {12, (2 + 1), (3 + 1), (3 + 1), (3 + 1), 67},
    {13, (3 + 1), (3 + 1), (3 + 1), (3 + 1), 77},
    {14, (3 + 1), (3 + 1), (4 + 1), (3 + 1), 64},
    {15, (3 + 1), (4 + 1), (4 + 1), (3 + 1), 67},
    {16, (4 + 1), (4 + 1), (4 + 1), (3 + 1), 69},
    {17, (5 + 1), (4 + 1), (4 + 1), (3 + 1), 71},
    {18, (4 + 1), (5 + 1), (5 + 1), (3 + 1), 67},
    {19, (5 + 1), (5 + 1), (5 + 1), (3 + 1), 68},
    {20, (6 + 1), (5 + 1), (5 + 1), (3 + 1), 70},
    {21, (7 + 1), (5 + 1), (5 + 1), (3 + 1), 71},
    {22, (6 + 1), (6 + 1), (6 + 1), (3 + 1), 68},
    {23, (7 + 1), (7 + 1), (6 + 1), (3 + 1), 70},
    {24, (6 + 1), (7 + 1), (7 + 1), (3 + 1), 67},
    {25, (7 + 1), (7 + 1), (7 + 1), (3 + 1), 68}
}

Values of bit time register for different baudrates, Sample point = ((1 + uc_prog + uc_phase1) / uc_tq) * 100%.

Microchip® Advanced Software Framework

Data Structures

Macros

Functions

Variables