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_mcan.h".

The following peripherals are used by this module:

CAN (Control Area Network)

The following devices can use this module:

SAMV71

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 asfdoc_sam_mcan_extra. This includes:

asfdoc_sam_mcan_extra_acronyms
asfdoc_sam_mcan_extra_dependencies
asfdoc_sam_mcan_extra_errata
asfdoc_sam_mcan_extra_history

Examples

For a list of examples related to this driver, see Examples for MCAN 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 (MCAN) Low Level Driver.

Data Structures
struct	mcan_config
	MCAN configuration structure. More...

struct	mcan_module
	MCAN software device instance structure. More...

Module Setting
enum	mcan_timeout_mode { MCAN_TIMEOUT_CONTINUES = MCAN_TOCC_TOS_CONTINUOUS, MCAN_TIMEOUT_TX_EVEN_FIFO = MCAN_TOCC_TOS_TX_EV_TIMEOUT, MCAN_TIMEOUT_RX_FIFO_0 = MCAN_TOCC_TOS_RX0_EV_TIMEOUT, MCAN_TIMEOUT_RX_FIFO_1 = MCAN_TOCC_TOS_RX1_EV_TIMEOUT }
	Can time out modes. More...

enum	mcan_nonmatching_frames_action { MCAN_NONMATCHING_FRAMES_FIFO_0, MCAN_NONMATCHING_FRAMES_FIFO_1, MCAN_NONMATCHING_FRAMES_REJECT }
	Can nonmatching frames action. More...

static void	mcan_get_config_defaults (struct mcan_config *const config)
	Initializes an MCAN configuration structure to defaults. More...

void	mcan_init (struct mcan_module const module_inst, Mcan hw, struct mcan_config *config)
	initialize can module. More...

void	mcan_set_baudrate (Mcan *hw, uint32_t baudrate)
	Set MCAN baudrate. More...

void	mcan_fd_set_baudrate (Mcan *hw, uint32_t baudrate)
	Set MCAN_FD baudrate. More...

void	mcan_start (struct mcan_module *const module_inst)
	start can module after initialization. More...

void	mcan_stop (struct mcan_module *const module_inst)
	stop mcan module when bus off occurs More...

void	mcan_enable_fd_mode (struct mcan_module *const module_inst)
	switch mcan module into fd mode. More...

void	mcan_disable_fd_mode (struct mcan_module *const module_inst)
	disable fd mode of mcan module. More...

void	mcan_enable_restricted_operation_mode (struct mcan_module *const module_inst)
	enable restricted mode of mcan module. More...

void	mcan_disable_restricted_operation_mode (struct mcan_module *const module_inst)
	disable restricted mode of mcan module. More...

void	mcan_enable_bus_monitor_mode (struct mcan_module *const module_inst)
	enable bus monitor mode of mcan module. More...

void	mcan_disable_bus_monitor_mode (struct mcan_module *const module_inst)
	disable bus monitor mode of mcan module. More...

void	mcan_enable_sleep_mode (struct mcan_module *const module_inst)
	enable sleep mode of mcan module. More...

void	mcan_disable_sleep_mode (struct mcan_module *const module_inst)
	disable sleep mode of mcan module. More...

void	mcan_enable_test_mode (struct mcan_module *const module_inst)
	enable test mode of mcan module. More...

void	mcan_disable_test_mode (struct mcan_module *const module_inst)
	disable test mode of mcan module. More...

static uint16_t	mcan_read_timestamp_count_value (struct mcan_module *const module_inst)
	Can read timestamp count value. More...

static uint16_t	mcan_read_timeout_count_value (struct mcan_module *const module_inst)
	Can read timeout count value. More...

static uint32_t	mcan_read_error_count (struct mcan_module *const module_inst)
	Can read error count. More...

static uint32_t	mcan_read_protocal_status (struct mcan_module *const module_inst)
	Can read protocol status. More...

Rx Handling
enum	mcan_interrupt_source { MCAN_RX_FIFO_0_NEW_MESSAGE = MCAN_IE_RF0NE, MCAN_RX_FIFO_0_WATERMARK = MCAN_IE_RF0WE, MCAN_RX_FIFO_0_FULL = MCAN_IE_RF0FE, MCAN_RX_FIFO_0_LOST_MESSAGE = MCAN_IE_RF0LE, MCAN_RX_FIFO_1_NEW_MESSAGE = MCAN_IE_RF1NE, MCAN_RX_FIFO_1_WATERMARK = MCAN_IE_RF1WE, MCAN_RX_FIFO_1_FULL = MCAN_IE_RF1FE, MCAN_RX_FIFO_1_MESSAGE_LOST = MCAN_IE_RF1LE, MCAN_RX_HIGH_PRIORITY_MESSAGE = MCAN_IE_HPME, MCAN_TIMESTAMP_COMPLETE = MCAN_IE_TCE, MCAN_TX_CANCELLATION_FINISH = MCAN_IE_TCFE, MCAN_TX_FIFO_EMPTY = MCAN_IE_TFEE, MCAN_TX_EVENT_FIFO_NEW_ENTRY = MCAN_IE_TEFNE, MCAN_TX_EVENT_FIFO_WATERMARK = MCAN_IE_TEFWE, MCAN_TX_EVENT_FIFO_FULL = MCAN_IE_TEFFE, MCAN_TX_EVENT_FIFO_ELEMENT_LOST = MCAN_IE_TEFLE, MCAN_TIMESTAMP_WRAPAROUND = MCAN_IE_TSWE, MCAN_MESSAGE_RAM_ACCESS_FAILURE = MCAN_IE_MRAFE, MCAN_TIMEOUT_OCCURRED = MCAN_IE_TOOE, MCAN_RX_BUFFER_NEW_MESSAGE = MCAN_IE_DRXE, MCAN_ERROR_LOGGING_OVERFLOW = MCAN_IE_ELOE, MCAN_ERROR_PASSIVE = MCAN_IE_EPE, MCAN_WARNING_STATUS = MCAN_IE_EWE, MCAN_BUS_OFF = MCAN_IE_BOE, MCAN_WATCHDOG = MCAN_IE_WDIE, MCAN_CRC_ERROR = MCAN_IE_CRCEE, MCAN_BIT_ERROR = MCAN_IE_BEE, MCAN_ACKNOWLEDGE_ERROR = MCAN_IE_ACKEE, MCAN_FORMAT_ERROR = MCAN_IE_FOEE, MCAN_STUFF_ERROR = MCAN_IE_STEE }
	Can module interrupt source. More...

static uint32_t	mcan_read_high_priority_message_status (struct mcan_module *const module_inst)
	Read high priority message status. More...

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

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

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

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

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

enum status_code	mcan_set_rx_standard_filter (struct mcan_module const module_inst, struct mcan_standard_message_filter_element sd_filter, uint32_t index)
	set standard receive CAN ID. More...

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

enum status_code	mcan_set_rx_extended_filter (struct mcan_module const module_inst, struct mcan_extended_message_filter_element et_filter, uint32_t index)
	set extended receive CAN ID. More...

enum status_code	mcan_get_rx_buffer_element (struct mcan_module const module_inst, struct mcan_rx_element_buffer rx_element, uint32_t index)
	get dedicated rx buffer element . More...

enum status_code	mcan_get_rx_fifo_0_element (struct mcan_module const module_inst, struct mcan_rx_element_fifo_0 rx_element, uint32_t index)
	get FIFO rx buffer element . More...

enum status_code	mcan_get_rx_fifo_1_element (struct mcan_module const module_inst, struct mcan_rx_element_fifo_1 rx_element, uint32_t index)
	get FIFO rx buffer element . More...

static uint32_t	mcan_tx_get_fifo_queue_status (struct mcan_module *const module_inst)
	Get Tx FIFO/Queue status. More...

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

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

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

static uint32_t	mcan_tx_get_transmission_status (struct mcan_module *const module_inst)
	Get Tx transmission status. More...

static uint32_t	mcan_tx_get_cancellation_status (struct mcan_module *const module_inst)
	Get Tx cancellation status. More...

static uint32_t	mcan_tx_get_event_fifo_status (struct mcan_module *const module_inst)
	Get Tx event FIFO status. More...

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

static void	mcan_get_tx_buffer_element_defaults (struct mcan_tx_element *tx_element)
	Get the default transfer buffer element. More...

enum status_code	mcan_set_tx_buffer_element (struct mcan_module const module_inst, struct mcan_tx_element tx_element, uint32_t index)
	set dedicated transmit buffer element . More...

enum status_code	mcan_get_tx_event_fifo_element (struct mcan_module const module_inst, struct mcan_tx_event_element tx_event_element, uint32_t index)
	set FIFO transmit buffer element . More...

static void	mcan_enable_interrupt (struct mcan_module *const module_inst, const enum mcan_interrupt_source source)
	Enable MCAN interrupt. More...

static void	mcan_disable_interrupt (struct mcan_module *const module_inst, const enum mcan_interrupt_source source)
	Disable MCAN interrupt. More...

static uint32_t	mcan_read_interrupt_status (struct mcan_module *const module_inst)
	Get MCAN interrupt status. More...

static void	mcan_clear_interrupt_status (struct mcan_module *const module_inst, const enum mcan_interrupt_source source)
	Clear MCAN interrupt status. More...

enum mcan_interrupt_source

Can module interrupt source.

Enum for the interrupt source.

Enumerator
MCAN_RX_FIFO_0_NEW_MESSAGE	Rx FIFO 0 New Message Interrupt Enable.
MCAN_RX_FIFO_0_WATERMARK	Rx FIFO 0 Watermark Reached Interrupt Enable.
MCAN_RX_FIFO_0_FULL	Rx FIFO 0 Full Interrupt Enable.
MCAN_RX_FIFO_0_LOST_MESSAGE	Rx FIFO 0 Message Lost Interrupt Enable.
MCAN_RX_FIFO_1_NEW_MESSAGE	Rx FIFO 1 New Message Interrupt Enable.
MCAN_RX_FIFO_1_WATERMARK	Rx FIFO 1 Watermark Reached Interrupt Enable.
MCAN_RX_FIFO_1_FULL	Rx FIFO 1 Full Interrupt Enable.
MCAN_RX_FIFO_1_MESSAGE_LOST	Rx FIFO 1 Message Lost Interrupt Enable.
MCAN_RX_HIGH_PRIORITY_MESSAGE	High Priority Message Interrupt Enable.
MCAN_TIMESTAMP_COMPLETE	Transmission Completed Interrupt Enable.
MCAN_TX_CANCELLATION_FINISH	Transmission Cancellation Finished Interrupt Enable.
MCAN_TX_FIFO_EMPTY	Tx FIFO Empty Interrupt Enable.
MCAN_TX_EVENT_FIFO_NEW_ENTRY	Tx Event FIFO New Entry Interrupt Enable.
MCAN_TX_EVENT_FIFO_WATERMARK	Tx Event FIFO Watermark Reached Interrupt Enable.
MCAN_TX_EVENT_FIFO_FULL	Tx Event FIFO Full Interrupt Enable.
MCAN_TX_EVENT_FIFO_ELEMENT_LOST	Tx Event FIFO Element Lost Interrupt Enable.
MCAN_TIMESTAMP_WRAPAROUND	Timestamp Wraparound Interrupt Enable.
MCAN_MESSAGE_RAM_ACCESS_FAILURE	Message RAM Access Failure Interrupt Enable.
MCAN_TIMEOUT_OCCURRED	Timeout Occurred Interrupt Enable.
MCAN_RX_BUFFER_NEW_MESSAGE	Message stored to Dedicated Rx Buffer Interrupt Enable.
MCAN_ERROR_LOGGING_OVERFLOW	Error Logging Overflow Interrupt Enable.
MCAN_ERROR_PASSIVE	Error Passive Interrupt Enable.
MCAN_WARNING_STATUS	Warning Status Interrupt Enable.
MCAN_BUS_OFF	Bus_Off Status Interrupt Enable.
MCAN_WATCHDOG	Watchdog Interrupt Enable.
MCAN_CRC_ERROR	CRC Error Interrupt Enable.
MCAN_BIT_ERROR	Bit Error Interrupt Enable.
MCAN_ACKNOWLEDGE_ERROR	Acknowledge Error Interrupt Enable .
MCAN_FORMAT_ERROR	Format Error Interrupt Enable.
MCAN_STUFF_ERROR	Stuff Error Interrupt Enable.

enum mcan_nonmatching_frames_action

Can nonmatching frames action.

Enumerator
MCAN_NONMATCHING_FRAMES_FIFO_0	Accept in Rx FIFO 0.
MCAN_NONMATCHING_FRAMES_FIFO_1	Accept in Rx FIFO 1.
MCAN_NONMATCHING_FRAMES_REJECT	Reject.

enum mcan_timeout_mode

Can time out modes.

Enumerator
MCAN_TIMEOUT_CONTINUES	Continuous operation.
MCAN_TIMEOUT_TX_EVEN_FIFO	Timeout controlled by TX Event FIFO.
MCAN_TIMEOUT_RX_FIFO_0	Timeout controlled by Rx FIFO 0.
MCAN_TIMEOUT_RX_FIFO_1	Timeout controlled by Rx FIFO 1.

static void mcan_clear_interrupt_status	(	struct mcan_module *const	module_inst,
		const enum mcan_interrupt_source	source
	)

inlinestatic

Clear MCAN interrupt status.

Parameters

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

Returns: Bit mask of interrupt status value.

void mcan_disable_bus_monitor_mode ( struct mcan_module *const module_inst )

disable bus monitor mode of mcan module.

Parameters

module_inst MCAN instance

void mcan_disable_fd_mode ( struct mcan_module *const module_inst )

disable fd mode of mcan module.

Parameters

module_inst MCAN instance

static void mcan_disable_interrupt	(	struct mcan_module *const	module_inst,
		const enum mcan_interrupt_source	source
	)

inlinestatic

Disable MCAN interrupt.

Parameters

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

void mcan_disable_restricted_operation_mode ( struct mcan_module *const module_inst )

disable restricted mode of mcan module.

Parameters

module_inst MCAN instance

void mcan_disable_sleep_mode ( struct mcan_module *const module_inst )

disable sleep mode of mcan module.

Parameters

module_inst MCAN instance

References _mcan_enable_peripheral_clock().

void mcan_disable_test_mode ( struct mcan_module *const module_inst )

disable test mode of mcan module.

Parameters

module_inst MCAN instance

void mcan_enable_bus_monitor_mode ( struct mcan_module *const module_inst )

enable bus monitor mode of mcan module.

Parameters

module_inst MCAN instance

void mcan_enable_fd_mode ( struct mcan_module *const module_inst )

switch mcan module into fd mode.

Parameters

module_inst MCAN instance

static void mcan_enable_interrupt	(	struct mcan_module *const	module_inst,
		const enum mcan_interrupt_source	source
	)

inlinestatic

Enable MCAN interrupt.

Parameters

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

void mcan_enable_restricted_operation_mode ( struct mcan_module *const module_inst )

enable restricted mode of mcan module.

Parameters

module_inst MCAN instance

void mcan_enable_sleep_mode ( struct mcan_module *const module_inst )

enable sleep mode of mcan module.

Parameters

module_inst MCAN instance

void mcan_enable_test_mode ( struct mcan_module *const module_inst )

enable test mode of mcan module.

Parameters

module_inst MCAN instance

void mcan_fd_set_baudrate	(	Mcan *	hw,
		uint32_t	baudrate
	)

Set MCAN_FD baudrate.

Parameters

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

References genclk_get_frequency_hz(), and PMC_PCK_5.

static void mcan_get_config_defaults ( struct mcan_config *const config )

inlinestatic

Initializes an MCAN configuration structure to defaults.

Initializes a given MCAN 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:

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, mcan_config::automatic_retransmission, mcan_config::clock_stop_acknowledge, mcan_config::clock_stop_request, mcan_config::delay_compensation_offset, mcan_config::edge_filtering, mcan_config::extended_id_mask, MCAN_NONMATCHING_FRAMES_REJECT, MCAN_TIMEOUT_CONTINUES, mcan_config::nonmatching_frames_action_extended, mcan_config::nonmatching_frames_action_standard, mcan_config::protocol_exception_handling, mcan_config::remote_frames_extended_reject, mcan_config::remote_frames_standard_reject, mcan_config::run_in_standby, mcan_config::rx_fifo_0_overwrite, mcan_config::rx_fifo_0_watermark, mcan_config::rx_fifo_1_overwrite, mcan_config::rx_fifo_1_watermark, mcan_config::tdc_enable, mcan_config::timeout_enable, mcan_config::timeout_mode, mcan_config::timeout_period, mcan_config::timestamp_prescaler, mcan_config::transmit_pause, mcan_config::tx_event_fifo_watermark, mcan_config::tx_queue_mode, and mcan_config::watchdog_configuration.

static void mcan_get_extended_message_filter_element_default ( struct mcan_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 mcan_extended_message_filter_element::F0, mcan_extended_message_filter_element::F1, MCAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F0_EFEC, MCAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F0_EFEC_STF1M_Val, MCAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F0_EFID1, MCAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F1_EFID2_Msk, MCAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F1_EFT_CLASSIC, MCAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F0_Type::reg, and MCAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F1_Type::reg.

enum status_code mcan_get_rx_buffer_element	(	struct mcan_module *const	module_inst,
		struct mcan_rx_element_buffer *	rx_element,
		uint32_t	index
	)

get dedicated rx buffer element .

Parameters

module_inst	MCAN instance
rx_element	structure of element
index	CAN messages memory index for receiving CAN ID

Returns: status code.

References ERR_INVALID_ARG, mcan0_rx_buffer, mcan1_rx_buffer, and STATUS_OK.

enum status_code mcan_get_rx_fifo_0_element	(	struct mcan_module *const	module_inst,
		struct mcan_rx_element_fifo_0 *	rx_element,
		uint32_t	index
	)

get FIFO rx buffer element .

Parameters

module_inst	MCAN instance
rx_element	structure of element
index	CAN messages memory index for receiving CAN ID

Returns: status code.

References ERR_INVALID_ARG, mcan0_rx_fifo_0, mcan1_rx_fifo_0, and STATUS_OK.

enum status_code mcan_get_rx_fifo_1_element	(	struct mcan_module *const	module_inst,
		struct mcan_rx_element_fifo_1 *	rx_element,
		uint32_t	index
	)

get FIFO rx buffer element .

Parameters

module_inst	MCAN instance
rx_element	structure of element
index	CAN messages memory index for receiving CAN ID

Returns: status code.

References ERR_INVALID_ARG, mcan0_rx_fifo_1, mcan1_rx_fifo_1, and STATUS_OK.

static void mcan_get_standard_message_filter_element_default ( struct mcan_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 MCAN_STANDARD_MESSAGE_FILTER_ELEMENT_S0_SFEC, MCAN_STANDARD_MESSAGE_FILTER_ELEMENT_S0_SFEC_STF0M_Val, MCAN_STANDARD_MESSAGE_FILTER_ELEMENT_S0_SFID1, MCAN_STANDARD_MESSAGE_FILTER_ELEMENT_S0_SFID2_Msk, MCAN_STANDARD_MESSAGE_FILTER_ELEMENT_S0_SFT_CLASSIC, MCAN_STANDARD_MESSAGE_FILTER_ELEMENT_S0_Type::reg, and mcan_standard_message_filter_element::S0.

static void mcan_get_tx_buffer_element_defaults ( struct mcan_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 MCAN format
Data Length Code is 8

Parameters

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

References MCAN_TX_ELEMENT_T1_DLC, MCAN_TX_ELEMENT_T1_DLC_DATA8_Val, MCAN_TX_ELEMENT_T1_EFC, MCAN_TX_ELEMENT_T0_Type::reg, MCAN_TX_ELEMENT_T1_Type::reg, mcan_tx_element::T0, and mcan_tx_element::T1.

enum status_code mcan_get_tx_event_fifo_element	(	struct mcan_module *const	module_inst,
		struct mcan_tx_event_element *	tx_event_element,
		uint32_t	index
	)

set FIFO transmit buffer element .

Parameters

module_inst	MCAN instance
tx_element	structure of element
index	CAN messages memory index for transmitting CAN ID

Returns: status code.

References mcan_tx_event_element::E0, mcan_tx_event_element::E1, ERR_INVALID_ARG, mcan0_tx_event_fifo, mcan1_tx_event_fifo, MCAN_TX_EVENT_ELEMENT_E0_Type::reg, MCAN_TX_EVENT_ELEMENT_E1_Type::reg, and STATUS_OK.

void mcan_init	(	struct mcan_module *const	module_inst,
		Mcan *	hw,
		struct mcan_config *	config
	)

initialize can module.

Parameters

module_inst	MCAN instance
hw	Base address of MCAN.
config	default configuration .

References _mcan_enable_peripheral_clock(), _mcan_message_memory_init(), _mcan_set_configuration(), Assert, pmc_disable_pck(), pmc_enable_pck(), PMC_PCK_5, and pmc_switch_pck_to_pllack().

static uint32_t mcan_read_error_count ( struct mcan_module *const module_inst )

inlinestatic

Can read error count.

Parameters

[in] module_inst Pointer to the MCAN software instance struct

Returns: Error count value.

static uint32_t mcan_read_high_priority_message_status ( struct mcan_module *const module_inst )

inlinestatic

Read high priority message status.

Parameters

[in] module_inst Pointer to the MCAN software instance struct

Returns: High priority message status value.

static uint32_t mcan_read_interrupt_status ( struct mcan_module *const module_inst )

inlinestatic

Get MCAN interrupt status.

Parameters

[in] module_inst Pointer to the MCAN software instance struct

static uint32_t mcan_read_protocal_status ( struct mcan_module *const module_inst )

inlinestatic

Can read protocol status.

Parameters

[in] module_inst Pointer to the MCAN software instance struct

Returns: protocol status value.

static uint16_t mcan_read_timeout_count_value ( struct mcan_module *const module_inst )

inlinestatic

Can read timeout count value.

Parameters

[in] module_inst Pointer to the MCAN software instance struct

Returns: Timeout count value.

static uint16_t mcan_read_timestamp_count_value ( struct mcan_module *const module_inst )

inlinestatic

Can read timestamp count value.

Parameters

[in] module_inst Pointer to the MCAN software instance struct

Returns: Timestamp count value.

static void mcan_rx_clear_buffer_status	(	struct mcan_module *const	module_inst,
		uint32_t	index
	)

inlinestatic

Clear Rx buffer status.

Parameters

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

static void mcan_rx_fifo_acknowledge	(	struct mcan_module *const	module_inst,
		bool	fifo_number,
		uint32_t	index
	)

inlinestatic

Set Rx acknowledge.

Parameters

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

static bool mcan_rx_get_buffer_status	(	struct mcan_module *const	module_inst,
		uint32_t	index
	)

inlinestatic

Get Rx buffer status.

Parameters

[in]	module_inst	Pointer to the MCAN 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.

static uint32_t mcan_rx_get_fifo_status	(	struct mcan_module *const	module_inst,
		bool	fifo_number
	)

inlinestatic

Get Rx FIFO status.

Parameters

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

Returns: Rx FIFO status value.

void mcan_set_baudrate	(	Mcan *	hw,
		uint32_t	baudrate
	)

Set MCAN baudrate.

Parameters

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

References genclk_get_frequency_hz(), and PMC_PCK_5.

enum status_code mcan_set_rx_extended_filter	(	struct mcan_module *const	module_inst,
		struct mcan_extended_message_filter_element *	et_filter,
		uint32_t	index
	)

set extended receive CAN ID.

Parameters

module_inst	MCAN instance
sd_filter	structure of extended CAN ID
index	CAN messages memory index for different CAN ID

Returns: status code.

References ERR_INVALID_ARG, mcan_extended_message_filter_element::F0, mcan_extended_message_filter_element::F1, mcan0_rx_extended_filter, mcan1_rx_extended_filter, MCAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F0_Type::reg, MCAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F1_Type::reg, and STATUS_OK.

enum status_code mcan_set_rx_standard_filter	(	struct mcan_module *const	module_inst,
		struct mcan_standard_message_filter_element *	sd_filter,
		uint32_t	index
	)

set standard receive CAN ID.

Parameters

module_inst	MCAN instance
sd_filter	structure of CAN ID
index	CAN messages memory index for different CAN ID

Returns: status code.

References ERR_INVALID_ARG, mcan0_rx_standard_filter, mcan1_rx_standard_filter, MCAN_STANDARD_MESSAGE_FILTER_ELEMENT_S0_Type::reg, mcan_standard_message_filter_element::S0, and STATUS_OK.

enum status_code mcan_set_tx_buffer_element	(	struct mcan_module *const	module_inst,
		struct mcan_tx_element *	tx_element,
		uint32_t	index
	)

set dedicated transmit buffer element .

Parameters

module_inst	MCAN instance
tx_element	structure of element
index	CAN messages memory index for transmitting CAN ID

Returns: status code.

References mcan_tx_element::data, ERR_INVALID_ARG, mcan0_tx_buffer, mcan1_tx_buffer, MCAN_TX_ELEMENT_T0_Type::reg, MCAN_TX_ELEMENT_T1_Type::reg, STATUS_OK, mcan_tx_element::T0, and mcan_tx_element::T1.

void mcan_start ( struct mcan_module *const module_inst )

start can module after initialization.

Parameters

module_inst MCAN instance

void mcan_stop ( struct mcan_module *const module_inst )

stop mcan module when bus off occurs

Parameters

module_inst MCAN instance

static enum status_code mcan_tx_cancel_request	(	struct mcan_module *const	module_inst,
		uint32_t	trig_mask
	)

inlinestatic

Set Tx Queue operation.

Parameters

[in]	module_inst	Pointer to the MCAN 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_ERR_BUSY, and STATUS_OK.

static void mcan_tx_event_fifo_acknowledge	(	struct mcan_module *const	module_inst,
		uint32_t	index
	)

inlinestatic

Set Tx Queue operation.

Parameters

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

static uint32_t mcan_tx_get_cancellation_status ( struct mcan_module *const module_inst )

inlinestatic

Get Tx cancellation status.

Parameters

[in] module_inst Pointer to the MCAN software instance struct

Returns: Bit mask of Tx cancellation status value.

static uint32_t mcan_tx_get_event_fifo_status ( struct mcan_module *const module_inst )

inlinestatic

Get Tx event FIFO status.

Parameters

[in] module_inst Pointer to the MCAN software instance struct

Returns: Tx event FIFO status value.

static uint32_t mcan_tx_get_fifo_queue_status ( struct mcan_module *const module_inst )

inlinestatic

Get Tx FIFO/Queue status.

Parameters

[in] module_inst Pointer to the MCAN software instance struct

Returns: Tx FIFO/Queue status value.

static uint32_t mcan_tx_get_pending_status ( struct mcan_module *const module_inst )

inlinestatic

Get Tx buffer request pending status.

Parameters

[in] module_inst Pointer to the MCAN software instance struct

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

static uint32_t mcan_tx_get_transmission_status ( struct mcan_module *const module_inst )

inlinestatic

Get Tx transmission status.

Parameters

[in] module_inst Pointer to the MCAN software instance struct

Returns: Bit mask of Tx transmission status value.

static enum status_code mcan_tx_transfer_request	(	struct mcan_module *const	module_inst,
		uint32_t	trig_mask
	)

inlinestatic

Tx buffer add transfer request.

Parameters

[in]	module_inst	Pointer to the MCAN 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_ERR_BUSY	The module is in configuration.

References ERR_BUSY, and STATUS_OK.

Microchip® Advanced Software Framework

Prerequisites

Module Overview

Special Considerations

Extra Information

Examples

API Overview

Modules

Data Structures

Module Setting

Rx Handling