This driver for Atmel® | SMART SAM devices provides an low level interface for the configuration and management of the device's Control Area Network functionality.

Note: Since "The Control Area Network (CAN) performs communication according to ISO 11898-1 (Bosch CAN specification 2.0 part A,B) and to Bosch CAN FD specification V1.0", the driver is focus on the MAC layer and try to offer the APIs which can be used by upper application layer.

For storage of Rx/Tx messages and for storage of the filter configuration, a message RAM is needed to the CAN module. In this driver, the message RAM is static allocated, the related setting is defined and can be changed in the module configuration file "conf_can.h".

The following peripherals are used by this module:

CAN (Control Area Network)

The following devices can use this module:

SAM C21

The outline of this documentation is as follows:

Prerequisites

There are no prerequisites for this module.

Module Overview

This driver provides an interface for the Control Area Network Controller functions on the device.

Special Considerations

There are no special considerations for this module.

Extra Information

For extra information see Extra Information for CAN Driver. This includes:

Examples

For a list of examples related to this driver, see Examples for CAN Driver.

API Overview

Modules
	Quick Start Guide(s)
	In this section you can find a list of all Quick Start guides related to the SAM Control Area Network (CAN) Low Level Driver.

Data Structures
struct	can_config
	CAN configuration structure. More...

struct	can_module
	CAN software device instance structure. More...

Module Setting
enum	can_timeout_mode { CAN_TIMEOUT_CONTINUES = CAN_TOCC_TOS_CONT, CAN_TIMEOUT_TX_EVEN_FIFO = CAN_TOCC_TOS_TXEF, CAN_TIMEOUT_RX_FIFO_0 = CAN_TOCC_TOS_RXF0, CAN_TIMEOUT_RX_FIFO_1 = CAN_TOCC_TOS_RXF1 }
	Can time out modes. More...

enum	can_nonmatching_frames_action { CAN_NONMATCHING_FRAMES_FIFO_0, CAN_NONMATCHING_FRAMES_FIFO_1, CAN_NONMATCHING_FRAMES_REJECT }
	Can nonmatching frames action. More...

static void	can_get_config_defaults (struct can_config *const config)
	Initializes an CAN configuration structure to defaults. More...

void	can_init (struct can_module const module_inst, Can hw, struct can_config *config)
	Initializes CAN module. More...

void	can_set_baudrate (Can *hw, uint32_t baudrate)
	Set CAN baudrate. More...

void	can_fd_set_baudrate (Can *hw, uint32_t baudrate)
	Set CAN_FD baudrate. More...

void	can_start (struct can_module *const module_inst)
	Start CAN module communication. More...

void	can_stop (struct can_module *const module_inst)
	Stop CAN module communication. More...

void	can_enable_fd_mode (struct can_module *const module_inst)
	Enable CAN FD mode. More...

void	can_disable_fd_mode (struct can_module *const module_inst)
	Disable CAN FD mode. More...

void	can_enable_restricted_operation_mode (struct can_module *const module_inst)
	Enable CAN restricted operation mode. More...

void	can_disable_restricted_operation_mode (struct can_module *const module_inst)
	Disable CAN restricted operation mode. More...

void	can_enable_bus_monitor_mode (struct can_module *const module_inst)
	Enable CAN bus monitor mode. More...

void	can_disable_bus_monitor_mode (struct can_module *const module_inst)
	Disable CAN bus monitor mode. More...

void	can_enable_sleep_mode (struct can_module *const module_inst)
	Enable CAN sleep mode. More...

void	can_disable_sleep_mode (struct can_module *const module_inst)
	Disable CAN sleep mode. More...

void	can_enable_test_mode (struct can_module *const module_inst)
	Enable CAN test mode. More...

void	can_disable_test_mode (struct can_module *const module_inst)
	Disable CAN test mode. More...

static uint16_t	can_read_timestamp_count_value (struct can_module *const module_inst)
	Can read timestamp count value. More...

static uint16_t	can_read_timeout_count_value (struct can_module *const module_inst)
	Can read timeout count value. More...

static uint32_t	can_read_error_count (struct can_module *const module_inst)
	Can read error count. More...

static uint32_t	can_read_protocal_status (struct can_module *const module_inst)
	Can read protocol status. More...

Rx Handling
static uint32_t	can_read_high_priority_message_status (struct can_module *const module_inst)
	Read high priority message status. More...

static bool	can_rx_get_buffer_status (struct can_module *const module_inst, uint32_t index)
	Get Rx buffer status. More...

static void	can_rx_clear_buffer_status (struct can_module *const module_inst, uint32_t index)
	Clear Rx buffer status. More...

static uint32_t	can_rx_get_fifo_status (struct can_module *const module_inst, bool fifo_number)
	Get Rx FIFO status. More...

static void	can_rx_fifo_acknowledge (struct can_module *const module_inst, bool fifo_number, uint32_t index)
	Set Rx acknowledge. More...

static void	can_get_standard_message_filter_element_default (struct can_standard_message_filter_element *sd_filter)
	Get the standard message filter default value. More...

enum status_code	can_set_rx_standard_filter (struct can_module const module_inst, struct can_standard_message_filter_element sd_filter, uint32_t index)
	Set the standard message filter. More...

static void	can_get_extended_message_filter_element_default (struct can_extended_message_filter_element *et_filter)
	Get the extended message filter default value. More...

enum status_code	can_set_rx_extended_filter (struct can_module const module_inst, struct can_extended_message_filter_element et_filter, uint32_t index)
	Set the extended message filter. More...

enum status_code	can_get_rx_buffer_element (struct can_module const module_inst, struct can_rx_element_buffer rx_element, uint32_t index)
	Get the pointer to the receive buffer element. More...

enum status_code	can_get_rx_fifo_0_element (struct can_module const module_inst, struct can_rx_element_fifo_0 rx_element, uint32_t index)
	Get the pointer to the receive FIFO 0 element. More...

enum status_code	can_get_rx_fifo_1_element (struct can_module const module_inst, struct can_rx_element_fifo_1 rx_element, uint32_t index)
	Get the pointer to the receive FIFO 1 element. More...

Tx Handling
static uint32_t	can_tx_get_fifo_queue_status (struct can_module *const module_inst)
	Get Tx FIFO/Queue status. More...

static uint32_t	can_tx_get_pending_status (struct can_module *const module_inst)
	Get Tx buffer request pending status. More...

static enum status_code	can_tx_transfer_request (struct can_module *const module_inst, uint32_t trig_mask)
	Tx buffer add transfer request. More...

static enum status_code	can_tx_cancel_request (struct can_module *const module_inst, uint32_t trig_mask)
	Set Tx Queue operation. More...

static uint32_t	can_tx_get_transmission_status (struct can_module *const module_inst)
	Get Tx transmission status. More...

static uint32_t	can_tx_get_cancellation_status (struct can_module *const module_inst)
	Get Tx cancellation status. More...

static uint32_t	can_tx_get_event_fifo_status (struct can_module *const module_inst)
	Get Tx event FIFO status. More...

static void	can_tx_event_fifo_acknowledge (struct can_module *const module_inst, uint32_t index)
	Set Tx Queue operation. More...

static void	can_get_tx_buffer_element_defaults (struct can_tx_element *tx_element)
	Get the default transfer buffer element. More...

enum status_code	can_set_tx_buffer_element (struct can_module const module_inst, struct can_tx_element tx_element, uint32_t index)
	Set the transfer buffer element. More...

enum status_code	can_get_tx_event_fifo_element (struct can_module const module_inst, struct can_tx_event_element tx_event_element, uint32_t index)
	Get the pointer to the transfer event FIFO element. More...

Interrupt Handling
enum	can_interrupt_source { CAN_RX_FIFO_0_NEW_MESSAGE = CAN_IE_RF0NE, CAN_RX_FIFO_0_WATERMARK = CAN_IE_RF0WE, CAN_RX_FIFO_0_FULL = CAN_IE_RF0FE, CAN_RX_FIFO_0_LOST_MESSAGE = CAN_IE_RF0LE, CAN_RX_FIFO_1_NEW_MESSAGE = CAN_IE_RF1NE, CAN_RX_FIFO_1_WATERMARK = CAN_IE_RF1WE, CAN_RX_FIFO_1_FULL = CAN_IE_RF1FE, CAN_RX_FIFO_1_MESSAGE_LOST = CAN_IE_RF1LE, CAN_RX_HIGH_PRIORITY_MESSAGE = CAN_IE_HPME, CAN_TIMESTAMP_COMPLETE = CAN_IE_TCE, CAN_TX_CANCELLATION_FINISH = CAN_IE_TCFE, CAN_TX_FIFO_EMPTY = CAN_IE_TFEE, CAN_TX_EVENT_FIFO_NEW_ENTRY = CAN_IE_TEFNE, CAN_TX_EVENT_FIFO_WATERMARK = CAN_IE_TEFWE, CAN_TX_EVENT_FIFO_FULL = CAN_IE_TEFFE, CAN_TX_EVENT_FIFO_ELEMENT_LOST = CAN_IE_TEFLE, CAN_TIMESTAMP_WRAPAROUND = CAN_IE_TSWE, CAN_MESSAGE_RAM_ACCESS_FAILURE = CAN_IE_MRAFE, CAN_TIMEOUT_OCCURRED = CAN_IE_TOOE, CAN_RX_BUFFER_NEW_MESSAGE = CAN_IE_DRXE, CAN_BIT_ERROR_CORRECTED = CAN_IE_BECE, CAN_BIT_ERROR_UNCORRECTED = CAN_IE_BEUE, CAN_ERROR_LOGGING_OVERFLOW = CAN_IE_ELOE, CAN_ERROR_PASSIVE = CAN_IE_EPE, CAN_WARNING_STATUS = CAN_IE_EWE, CAN_BUS_OFF = CAN_IE_BOE, CAN_WATCHDOG = CAN_IE_WDIE, CAN_PROTOCOL_ERROR_ARBITRATION = CAN_IE_PEAE, CAN_PROTOCOL_ERROR_DATA = CAN_IE_PEDE, CAN_ACCESS_RESERVED_ADDRESS = CAN_IE_ARAE }
	Can module interrupt source. More...

static void	can_enable_interrupt (struct can_module *const module_inst, const enum can_interrupt_source source)
	Enable CAN interrupt. More...

static void	can_disable_interrupt (struct can_module *const module_inst, const enum can_interrupt_source source)
	Disable CAN interrupt. More...

static uint32_t	can_read_interrupt_status (struct can_module *const module_inst)
	Get CAN interrupt status. More...

static void	can_clear_interrupt_status (struct can_module *const module_inst, const enum can_interrupt_source source)
	Clear CAN interrupt status. More...

enum can_interrupt_source

Can module interrupt source.

Enum for the interrupt source.

Enumerator
CAN_RX_FIFO_0_NEW_MESSAGE	Rx FIFO 0 New Message Interrupt Enable.
CAN_RX_FIFO_0_WATERMARK	Rx FIFO 0 Watermark Reached Interrupt Enable.
CAN_RX_FIFO_0_FULL	Rx FIFO 0 Full Interrupt Enable.
CAN_RX_FIFO_0_LOST_MESSAGE	Rx FIFO 0 Message Lost Interrupt Enable.
CAN_RX_FIFO_1_NEW_MESSAGE	Rx FIFO 1 New Message Interrupt Enable.
CAN_RX_FIFO_1_WATERMARK	Rx FIFO 1 Watermark Reached Interrupt Enable.
CAN_RX_FIFO_1_FULL	Rx FIFO 1 Full Interrupt Enable.
CAN_RX_FIFO_1_MESSAGE_LOST	Rx FIFO 1 Message Lost Interrupt Enable.
CAN_RX_HIGH_PRIORITY_MESSAGE	High Priority Message Interrupt Enable.
CAN_TIMESTAMP_COMPLETE	Timestamp Completed Interrupt Enable.
CAN_TX_CANCELLATION_FINISH	Transmission Cancellation Finished Interrupt Enable.
CAN_TX_FIFO_EMPTY	Tx FIFO Empty Interrupt Enable.
CAN_TX_EVENT_FIFO_NEW_ENTRY	Tx Event FIFO New Entry Interrupt Enable.
CAN_TX_EVENT_FIFO_WATERMARK	Tx Event FIFO Watermark Reached Interrupt Enable.
CAN_TX_EVENT_FIFO_FULL	Tx Event FIFO Full Interrupt Enable.
CAN_TX_EVENT_FIFO_ELEMENT_LOST	Tx Event FIFO Element Lost Interrupt Enable.
CAN_TIMESTAMP_WRAPAROUND	Timestamp Wraparound Interrupt Enable.
CAN_MESSAGE_RAM_ACCESS_FAILURE	Message RAM Access Failure Interrupt Enable.
CAN_TIMEOUT_OCCURRED	Timeout Occurred Interrupt Enable.
CAN_RX_BUFFER_NEW_MESSAGE	Message stored to Dedicated Rx Buffer Interrupt Enable.
CAN_BIT_ERROR_CORRECTED	Bit Error Corrected Interrupt Enable.
CAN_BIT_ERROR_UNCORRECTED	Bit Error Uncorrected Interrupt Enable.
CAN_ERROR_LOGGING_OVERFLOW	Error Logging Overflow Interrupt Enable.
CAN_ERROR_PASSIVE	Error Passive Interrupt Enable.
CAN_WARNING_STATUS	Warning Status Interrupt Enable.
CAN_BUS_OFF	Bus_Off Status Interrupt Enable.
CAN_WATCHDOG	Watchdog Interrupt Interrupt Enable.
CAN_PROTOCOL_ERROR_ARBITRATION	Protocol Error in Arbitration Phase Enable.
CAN_PROTOCOL_ERROR_DATA	Protocol Error in Data Phase Enable.
CAN_ACCESS_RESERVED_ADDRESS	Access to Reserved Address Enable.

enum can_nonmatching_frames_action

Can nonmatching frames action.

Enumerator
CAN_NONMATCHING_FRAMES_FIFO_0	Accept in Rx FIFO 0.
CAN_NONMATCHING_FRAMES_FIFO_1	Accept in Rx FIFO 1.
CAN_NONMATCHING_FRAMES_REJECT	Reject.

enum can_timeout_mode

Can time out modes.

Enumerator
CAN_TIMEOUT_CONTINUES	Continuous operation.
CAN_TIMEOUT_TX_EVEN_FIFO	Timeout controlled by TX Event FIFO.
CAN_TIMEOUT_RX_FIFO_0	Timeout controlled by Rx FIFO 0.
CAN_TIMEOUT_RX_FIFO_1	Timeout controlled by Rx FIFO 1.

static void can_clear_interrupt_status	(	struct can_module *const	module_inst,
		const enum can_interrupt_source	source
	)

inlinestatic

Clear CAN interrupt status.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	source	Interrupt source type

Returns: Bit mask of interrupt status value.

Referenced by CAN0_Handler().

void can_disable_bus_monitor_mode ( struct can_module *const module_inst )

Disable CAN bus monitor mode.

Parameters

[in] module_inst Pointer to the CAN software instance struct

void can_disable_fd_mode ( struct can_module *const module_inst )

Disable CAN FD mode.

Parameters

[in] module_inst Pointer to the CAN software instance struct

static void can_disable_interrupt	(	struct can_module *const	module_inst,
		const enum can_interrupt_source	source
	)

inlinestatic

Disable CAN interrupt.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	source	Interrupt source type

void can_disable_restricted_operation_mode ( struct can_module *const module_inst )

Disable CAN restricted operation mode.

Parameters

[in] module_inst Pointer to the CAN software instance struct

void can_disable_sleep_mode ( struct can_module *const module_inst )

Disable CAN sleep mode.

Parameters

[in] module_inst Pointer to the CAN software instance struct

References _can_enable_peripheral_clock(), gclk_chan_conf, system_gclk_chan_enable(), and system_gclk_chan_set_config().

void can_disable_test_mode ( struct can_module *const module_inst )

Disable CAN test mode.

Parameters

[in] module_inst Pointer to the CAN software instance struct

void can_enable_bus_monitor_mode ( struct can_module *const module_inst )

Enable CAN bus monitor mode.

Note: This function will set the CCCR.INIT bit, can_start() is needed to restart the communication.

Parameters

[in] module_inst Pointer to the CAN software instance struct

void can_enable_fd_mode ( struct can_module *const module_inst )

Enable CAN FD mode.

Note: This function will set the CCCR.INIT bit, can_start() is needed to restart the communication.

Parameters

[in] module_inst Pointer to the CAN software instance struct

Referenced by configure_can().

static void can_enable_interrupt	(	struct can_module *const	module_inst,
		const enum can_interrupt_source	source
	)

inlinestatic

Enable CAN interrupt.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	source	Interrupt source type

Referenced by can_set_extended_filter_0(), can_set_extended_filter_1(), can_set_standard_filter_0(), can_set_standard_filter_1(), and configure_can().

void can_enable_restricted_operation_mode ( struct can_module *const module_inst )

Enable CAN restricted operation mode.

Note: This function will set the CCCR.INIT bit, can_start() is needed to restart the communication.

Parameters

[in] module_inst Pointer to the CAN software instance struct

void can_enable_sleep_mode ( struct can_module *const module_inst )

Enable CAN sleep mode.

Parameters

[in] module_inst Pointer to the CAN software instance struct

void can_enable_test_mode ( struct can_module *const module_inst )

Enable CAN test mode.

Note: This function will set the CCCR.INIT bit, can_start() is needed to restart the communication.

Parameters

[in] module_inst Pointer to the CAN software instance struct

void can_fd_set_baudrate	(	Can *	hw,
		uint32_t	baudrate
	)

Set CAN_FD baudrate.

Parameters

[in]	hw	Pointer to the CAN module instance
[in]	baudrate	CAN_FD baudrate

References system_gclk_chan_get_hz().

static void can_get_config_defaults ( struct can_config *const config )

inlinestatic

Initializes an CAN configuration structure to defaults.

Initializes a given CAN configuration struct to a set of known default values. This function should be called on any new instance of the configuration struct before being modified by the user application.

The default configuration is as follows:

GCLK generator 8 (GCLK main) clock source
Not run in standby mode
Disable Watchdog
Transmit pause enabled
Edge filtering during bus integration enabled
Protocol exception handling enabled
Automatic retransmission enabled
Clock stop request disabled
Clock stop acknowledge disabled
Timestamp Counter Prescaler 1
Timeout Period with 0xFFFF
Timeout Mode: Continuous operation
Disable Timeout
Transmitter Delay Compensation Offset is 0
Transmitter Delay Compensation Filter Window Length is 0
Reject nonmatching standard frames
Reject nonmatching extended frames
Reject remote standard frames
Reject remote extended frames
Extended ID Mask is 0x1FFFFFFF
Rx FIFO 0 Operation Mode: overwrite
Disable Rx FIFO 0 Watermark
Rx FIFO 1 Operation Mode: overwrite
Disable Rx FIFO 1 Watermark
Tx FIFO/Queue Mode: FIFO
Disable Tx Event FIFO Watermark

Parameters

[out] config Pointer to configuration struct to initialize to default values

References Assert, can_config::automatic_retransmission, CAN_NONMATCHING_FRAMES_REJECT, CAN_TIMEOUT_CONTINUES, can_config::clock_source, can_config::clock_stop_acknowledge, can_config::clock_stop_request, can_config::delay_compensation_filter_window_length, can_config::delay_compensation_offset, can_config::edge_filtering, can_config::extended_id_mask, GCLK_GENERATOR_8, can_config::nonmatching_frames_action_extended, can_config::nonmatching_frames_action_standard, can_config::protocol_exception_handling, can_config::remote_frames_extended_reject, can_config::remote_frames_standard_reject, can_config::run_in_standby, can_config::rx_fifo_0_overwrite, can_config::rx_fifo_0_watermark, can_config::rx_fifo_1_overwrite, can_config::rx_fifo_1_watermark, can_config::tdc_enable, can_config::timeout_enable, can_config::timeout_mode, can_config::timeout_period, can_config::timestamp_prescaler, can_config::transmit_pause, can_config::tx_event_fifo_watermark, can_config::tx_queue_mode, and can_config::watchdog_configuration.

Referenced by configure_can().

static void can_get_extended_message_filter_element_default ( struct can_extended_message_filter_element * et_filter )

inlinestatic

Get the extended message filter default value.

The default configuration is as follows:

Classic filter: SFID1 = filter, SFID2 = mask
Store in Rx FIFO 1 if filter matches
SFID2 = 0x1FFFFFFFul
SFID1 = 0x0ul

Parameters

[out] et_filter Pointer to extended filter element struct to initialize to default values

References CAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F0_EFEC, CAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F0_EFEC_STF1M_Val, CAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F0_EFID1, CAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F1_EFID2_Msk, CAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F1_EFT_CLASSIC, can_extended_message_filter_element::F0, can_extended_message_filter_element::F1, CAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F0_Type::reg, and CAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F1_Type::reg.

Referenced by can_set_extended_filter_0(), and can_set_extended_filter_1().

enum status_code can_get_rx_buffer_element	(	struct can_module *const	module_inst,
		struct can_rx_element_buffer *	rx_element,
		uint32_t	index
	)

Get the pointer to the receive buffer element.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	rx_element	Pointer to receive buffer element
[in]	index	Index offset in receive buffer

Returns: Status of the result.

Return values

STATUS_OK	Get the correct pointer to the receive buffer element.
STATUS_ERR_INVALID_ARG	The parameter is not correct.

References can0_rx_buffer, can1_rx_buffer, STATUS_ERR_INVALID_ARG, and STATUS_OK.

Referenced by CAN0_Handler().

enum status_code can_get_rx_fifo_0_element	(	struct can_module *const	module_inst,
		struct can_rx_element_fifo_0 *	rx_element,
		uint32_t	index
	)

Get the pointer to the receive FIFO 0 element.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	rx_element	Pointer to receive FIFO 0
[in]	index	Index offset in receive FIFO 0

Returns: Status of the result.

Return values

STATUS_OK	Get the correct pointer to the receive FIFO 0 element.
STATUS_ERR_INVALID_ARG	The parameter is not correct.

References can0_rx_fifo_0, can1_rx_fifo_0, STATUS_ERR_INVALID_ARG, and STATUS_OK.

Referenced by CAN0_Handler().

enum status_code can_get_rx_fifo_1_element	(	struct can_module *const	module_inst,
		struct can_rx_element_fifo_1 *	rx_element,
		uint32_t	index
	)

Get the pointer to the receive FIFO 1 element.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	rx_element	Pointer to receive FIFO 1
[in]	index	Index offset in receive FIFO 1

Returns: Status of the result.

Return values

STATUS_OK	Get the correct pointer to the receive FIFO 1 element.
STATUS_ERR_INVALID_ARG	The parameter is not correct.

References can0_rx_fifo_1, can1_rx_fifo_1, STATUS_ERR_INVALID_ARG, and STATUS_OK.

Referenced by CAN0_Handler().

static void can_get_standard_message_filter_element_default ( struct can_standard_message_filter_element * sd_filter )

inlinestatic

Get the standard message filter default value.

The default configuration is as follows:

Classic filter: SFID1 = filter, SFID2 = mask
Store in Rx FIFO 0 if filter matches
SFID2 = 0x7FFul
SFID1 = 0x0ul

Parameters

[out] sd_filter Pointer to standard filter element struct to initialize to default values

References CAN_STANDARD_MESSAGE_FILTER_ELEMENT_S0_SFEC, CAN_STANDARD_MESSAGE_FILTER_ELEMENT_S0_SFEC_STF0M_Val, CAN_STANDARD_MESSAGE_FILTER_ELEMENT_S0_SFID1, CAN_STANDARD_MESSAGE_FILTER_ELEMENT_S0_SFID2_Msk, CAN_STANDARD_MESSAGE_FILTER_ELEMENT_S0_SFT_CLASSIC, CAN_STANDARD_MESSAGE_FILTER_ELEMENT_S0_Type::reg, and can_standard_message_filter_element::S0.

Referenced by can_set_standard_filter_0(), and can_set_standard_filter_1().

static void can_get_tx_buffer_element_defaults ( struct can_tx_element * tx_element )

inlinestatic

Get the default transfer buffer element.

The default configuration is as follows:

11-bit standard identifier
Transmit data frame
ID = 0x0ul
Store Tx events
Frame transmitted in Classic CAN format
Data Length Code is 8

Parameters

[out] tx_element Pointer to transfer element struct to initialize to default values

References CAN_TX_ELEMENT_T1_DLC, CAN_TX_ELEMENT_T1_DLC_DATA8_Val, CAN_TX_ELEMENT_T1_EFC, CAN_TX_ELEMENT_T0_Type::reg, CAN_TX_ELEMENT_T1_Type::reg, can_tx_element::T0, and can_tx_element::T1.

Referenced by can_fd_send_extended_message(), can_fd_send_standard_message(), can_send_extended_message(), and can_send_standard_message().

enum status_code can_get_tx_event_fifo_element	(	struct can_module *const	module_inst,
		struct can_tx_event_element *	tx_event_element,
		uint32_t	index
	)

Get the pointer to the transfer event FIFO element.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	tx_event_element	Pointer to transfer event element
[in]	index	Index offset in transfer event FIFO

Returns: Status of the result.

Return values

STATUS_OK	Get the correct pointer to the transfer event FIFO element.
STATUS_ERR_INVALID_ARG	The parameter is not correct.

References can0_tx_event_fifo, can1_tx_event_fifo, can_tx_event_element::E0, can_tx_event_element::E1, CAN_TX_EVENT_ELEMENT_E0_Type::reg, CAN_TX_EVENT_ELEMENT_E1_Type::reg, STATUS_ERR_INVALID_ARG, and STATUS_OK.

void can_init	(	struct can_module *const	module_inst,
		Can *	hw,
		struct can_config *	config
	)

Initializes CAN module.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	hw	Pointer to the CAN module instance
[in]	config	Pointer to the configuration struct

References _can_enable_peripheral_clock(), _can_message_memory_init(), _can_set_configuration(), Assert, can_config::clock_source, gclk_chan_conf, system_gclk_chan_config::source_generator, system_gclk_chan_enable(), system_gclk_chan_get_config_defaults(), and system_gclk_chan_set_config().

Referenced by configure_can().

static uint32_t can_read_error_count ( struct can_module *const module_inst )

inlinestatic

Can read error count.

Parameters

[in] module_inst Pointer to the CAN software instance struct

Returns: Error count value.

static uint32_t can_read_high_priority_message_status ( struct can_module *const module_inst )

inlinestatic

Read high priority message status.

Parameters

[in] module_inst Pointer to the CAN software instance struct

Returns: High priority message status value.

static uint32_t can_read_interrupt_status ( struct can_module *const module_inst )

inlinestatic

Get CAN interrupt status.

Parameters

[in] module_inst Pointer to the CAN software instance struct

Referenced by CAN0_Handler().

static uint32_t can_read_protocal_status ( struct can_module *const module_inst )

inlinestatic

Can read protocol status.

Parameters

[in] module_inst Pointer to the CAN software instance struct

Returns: protocol status value.

static uint16_t can_read_timeout_count_value ( struct can_module *const module_inst )

inlinestatic

Can read timeout count value.

Parameters

[in] module_inst Pointer to the CAN software instance struct

Returns: Timeout count value.

static uint16_t can_read_timestamp_count_value ( struct can_module *const module_inst )

inlinestatic

Can read timestamp count value.

Parameters

[in] module_inst Pointer to the CAN software instance struct

Returns: Timestamp count value.

static void can_rx_clear_buffer_status	(	struct can_module *const	module_inst,
		uint32_t	index
	)

inlinestatic

Clear Rx buffer status.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	index	Index offset in Rx buffer

Referenced by CAN0_Handler().

static void can_rx_fifo_acknowledge	(	struct can_module *const	module_inst,
		bool	fifo_number,
		uint32_t	index
	)

inlinestatic

Set Rx acknowledge.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	fifo_number	Rx FIFO 0 or 1
[in]	index	Index offset in FIFO

Referenced by CAN0_Handler().

static bool can_rx_get_buffer_status	(	struct can_module *const	module_inst,
		uint32_t	index
	)

inlinestatic

Get Rx buffer status.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	index	Index offset in Rx buffer

Returns: Rx buffer status value.

Return values

true	Rx Buffer updated from new message.
false	Rx Buffer not updated.

Referenced by CAN0_Handler().

static uint32_t can_rx_get_fifo_status	(	struct can_module *const	module_inst,
		bool	fifo_number
	)

inlinestatic

Get Rx FIFO status.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	fifo_number	Rx FIFO 0 or 1

Returns: Rx FIFO status value.

void can_set_baudrate	(	Can *	hw,
		uint32_t	baudrate
	)

Set CAN baudrate.

Parameters

[in]	hw	Pointer to the CAN module instance
[in]	baudrate	CAN baudrate

References system_gclk_chan_get_hz().

enum status_code can_set_rx_extended_filter	(	struct can_module *const	module_inst,
		struct can_extended_message_filter_element *	et_filter,
		uint32_t	index
	)

Set the extended message filter.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	et_filter	Pointer to extended filter element struct
[in]	index	Index offset in extended filter element

Returns: Status of the result.

Return values

STATUS_OK	Set the correct extended message filter.
STATUS_ERR_INVALID_ARG	The parameter is not correct.

References can0_rx_extended_filter, can1_rx_extended_filter, can_extended_message_filter_element::F0, can_extended_message_filter_element::F1, CAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F0_Type::reg, CAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F1_Type::reg, STATUS_ERR_INVALID_ARG, and STATUS_OK.

Referenced by can_set_extended_filter_0(), and can_set_extended_filter_1().

enum status_code can_set_rx_standard_filter	(	struct can_module *const	module_inst,
		struct can_standard_message_filter_element *	sd_filter,
		uint32_t	index
	)

Set the standard message filter.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	sd_filter	Pointer to standard filter element struct
[in]	index	Index offset in standard filter element

Returns: Status of the result.

Return values

STATUS_OK	Set the correct standard message filter.
STATUS_ERR_INVALID_ARG	The parameter is not correct.

References can0_rx_standard_filter, can1_rx_standard_filter, CAN_STANDARD_MESSAGE_FILTER_ELEMENT_S0_Type::reg, can_standard_message_filter_element::S0, STATUS_ERR_INVALID_ARG, and STATUS_OK.

Referenced by can_set_standard_filter_0(), and can_set_standard_filter_1().

enum status_code can_set_tx_buffer_element	(	struct can_module *const	module_inst,
		struct can_tx_element *	tx_element,
		uint32_t	index
	)

Set the transfer buffer element.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	tx_element	Pointer to transfer element struct
[in]	index	Index for the transfer buffer

Returns: Status of the result.

Return values

STATUS_OK	Set the correct transfer buffer element.
STATUS_ERR_INVALID_ARG	The parameter is not correct.

References can0_tx_buffer, can1_tx_buffer, can_tx_element::data, i, CAN_TX_ELEMENT_T0_Type::reg, CAN_TX_ELEMENT_T1_Type::reg, STATUS_ERR_INVALID_ARG, STATUS_OK, can_tx_element::T0, and can_tx_element::T1.

Referenced by can_fd_send_extended_message(), can_fd_send_standard_message(), can_send_extended_message(), and can_send_standard_message().

void can_start ( struct can_module *const module_inst )

Start CAN module communication.

Parameters

[in] module_inst Pointer to the CAN software instance struct

Referenced by configure_can().

void can_stop ( struct can_module *const module_inst )

Stop CAN module communication.

Parameters

[in] module_inst Pointer to the CAN software instance struct

static enum status_code can_tx_cancel_request	(	struct can_module *const	module_inst,
		uint32_t	trig_mask
	)

inlinestatic

Set Tx Queue operation.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	trig_mask	The mask value to cancel transfer buffer

Returns: Status of the result.

Return values

STATUS_OK	Set the transfer request.
STATUS_BUSY	The module is in configuration.

References STATUS_BUSY, and STATUS_OK.

static void can_tx_event_fifo_acknowledge	(	struct can_module *const	module_inst,
		uint32_t	index
	)

inlinestatic

Set Tx Queue operation.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	index	Index for the transfer FIFO

static uint32_t can_tx_get_cancellation_status ( struct can_module *const module_inst )

inlinestatic

Get Tx cancellation status.

Parameters

[in] module_inst Pointer to the CAN software instance struct

Returns: Bit mask of Tx cancellation status value.

static uint32_t can_tx_get_event_fifo_status ( struct can_module *const module_inst )

inlinestatic

Get Tx event FIFO status.

Parameters

[in] module_inst Pointer to the CAN software instance struct

Returns: Tx event FIFO status value.

static uint32_t can_tx_get_fifo_queue_status ( struct can_module *const module_inst )

inlinestatic

Get Tx FIFO/Queue status.

Parameters

[in] module_inst Pointer to the CAN software instance struct

Returns: Tx FIFO/Queue status value.

static uint32_t can_tx_get_pending_status ( struct can_module *const module_inst )

inlinestatic

Get Tx buffer request pending status.

Parameters

[in] module_inst Pointer to the CAN software instance struct

Returns: Bit mask of Tx buffer request pending status value.

static uint32_t can_tx_get_transmission_status ( struct can_module *const module_inst )

inlinestatic

Get Tx transmission status.

Parameters

[in] module_inst Pointer to the CAN software instance struct

Returns: Bit mask of Tx transmission status value.

static enum status_code can_tx_transfer_request	(	struct can_module *const	module_inst,
		uint32_t	trig_mask
	)

inlinestatic

Tx buffer add transfer request.

Parameters

[in]	module_inst	Pointer to the CAN software instance struct
[in]	trig_mask	The mask value to trigger transfer buffer

Returns: Status of the result.

Return values

STATUS_OK	Set the transfer request.
STATUS_BUSY	The module is in configuration.

References STATUS_BUSY, and STATUS_OK.

Referenced by can_fd_send_extended_message(), can_fd_send_standard_message(), can_send_extended_message(), and can_send_standard_message().

Microchip® Advanced Software Framework

Prerequisites

Module Overview

Special Considerations

Extra Information

Examples

API Overview

Modules

Data Structures

Module Setting

Rx Handling

Tx Handling

Interrupt Handling