Collaboration diagram for CAN Devices:

Data Structures
struct	_CANFRAME
	CAN frame structure. More...
struct	_CANINFO
	CAN controller information structure. This is installed in heap at initializaton of a bus. More...
struct	ifcan
	CAN interface structure. More...
struct	_CANFILTER
	CAN message filter structure. More...
Defines
#define	CAN_IF_2A 0x01
#define	CAN_IF_2B 0x02
#define	CAN_SPEED_10K 0
	10 kbit/s, max. cable length 5000 m
#define	CAN_SPEED_20K 1
	20 kbit/s, max. cable length 2500 m
#define	CAN_SPEED_50K 2
	50 kbit/s, max. cable length 1000 m
#define	CAN_SPEED_100K 3
	100 kbit/s, max. cable length 600 m
#define	CAN_SPEED_125K 4
	125 kbit/s, max. cable length 500 m
#define	CAN_SPEED_250K 5
	250 kbit/s, max. cable length 250 m
#define	CAN_SPEED_500K 6
	500 kbit/s, max. cable length 100 m
#define	CAN_SPEED_800K 7
	800 kbit/s, max. cable length 50 m
#define	CAN_SPEED_1M 8
	1 Mbit/s, max. cable length 25 m
#define	CAN_SPEED_CUSTOM 255
#define	CAN_SPEED_10K 0
	CAN Baud rate constants.
#define	CAN_SPEED_20K 1
	20 kbit/s, max. cable length 2500 m
#define	CAN_SPEED_50K 2
	50 kbit/s, max. cable length 1000 m
#define	CAN_SPEED_100K 3
	100 kbit/s, max. cable length 600 m
#define	CAN_SPEED_125K 4
	125 kbit/s, max. cable length 500 m
#define	CAN_SPEED_250K 5
	250 kbit/s, max. cable length 250 m
#define	CAN_SPEED_500K 6
	500 kbit/s, max. cable length 100 m
#define	CAN_SPEED_800K 7
	800 kbit/s, max. cable length 50 m
#define	CAN_SPEED_1M 8
	1 Mbit/s, max. cable length 25 m
#define	CAN_SPEED_CUSTOM 255
#define	CAN_TTCM 0x0001
#define	CAN_ABOM 0x0002
#define	CAN_AWUM 0x0004
#define	CAN_NART 0x0008
#define	CAN_RFLM 0x0010
#define	CAN_TXFP 0x0020
#define	FILTER_EXPLICIT 0xffffffff
Typedefs
typedef struct _CANFRAME	CANFRAME
	CAN frame type.
typedef struct _CANINFO	CANINFO
	CAN controller information type.
typedef struct ifcan	IFCAN
	Canbus interface type.
typedef struct _NUTCANBUS	NUTCANBUS
	CAN bus structure, defined by device.
typedef struct _CANBUSINFO	CANBUSINFO
	CAN bus info structure, defined by device.
typedef struct _CANBUFFER	CANBUFFER
	CAN BUFFER structure, defined by device.
typedef struct _CANFRAME	CANFRAME
	CAN frame type.
typedef struct _CANFILTER	CANFILTER
	CAN message filter type.
Enumerations
enum	CAN_RESULT { CAN_SUCCESS = 0, CAN_ERROR = -1, CAN_TXBUF_FULL = -2, CAN_RXBUF_EMPTY = -3, CAN_ILLEGAL_MOB = -4, CAN_INVALID_SPEED = -5, CAN_PASSIVE = -6, CAN_BUS_OFF = -7, CAN_NO_COMPANION = -8, CAN_IS_COMPANION = -9 }
	CAN error codes. More...
enum	CAN_COUNTERS { CAN_RX_FRAMES = 0, CAN_TX_FRAMES = 1, CAN_INTERRUPTS = 2, CAN_RX_INTERRUPTS = 3, CAN_TX_INTERRUPTS = 4, CAN_SCE_INTERRUPTS = 5, CAN_OVERRUNS = 6, CAN_ERRORS = 7, CAN_NO_COUNTERS = 8 }
	CAN event counters. More...
Functions
uint8_t	CAN_SetSpeed (NUTDEVICE *dev, uint32_t baudrate)
void	CAN_SetFilter (NUTDEVICE dev, uint8_t ac, uint8_t *am)
void	CAN_TxFrame (NUTDEVICE dev, CANFRAME frame)
uint8_t	CAN_TryTxFrame (NUTDEVICE dev, CANFRAME frame)
uint8_t	CAN_TxFree (NUTDEVICE *dev)
uint8_t	CAN_RxFrame (NUTDEVICE dev, CANFRAME frame)
uint8_t	CAN_TryRxFrame (NUTDEVICE dev, CANFRAME frame)
uint8_t	CAN_RxAvail (NUTDEVICE *dev)
void	CAN_SetRxTimeout (NUTDEVICE *dev, uint32_t timeout)
int	NutRegisterCanBus (NUTCANBUS *bus, int8_t ln2_size)
	_NUTCANBUS
int	CanAddFilter (NUTCANBUS bus, CANFILTER filter)
int	CanSetBaud (NUTCANBUS *bus, uint8_t baud, uint32_t alt_btr)
void	CANSetRxTimeout (NUTCANBUS *bus, uint32_t timeout)
void	CanEnableRx (NUTCANBUS *bus)
int	CanRxAvail (NUTCANBUS *bus)
int	CanInput (NUTCANBUS bus, CANFRAME output)
int	CanTxFree (NUTCANBUS *can)
int	CanOutput (NUTCANBUS bus, CANFRAME output)
int	CanGetCounter (NUTCANBUS *bus, enum CAN_COUNTERS index)
Variables
uint32_t	_CANFRAME::id
uint8_t	_CANFRAME::byte [8]
uint8_t	_CANFRAME::len
uint8_t	_CANFRAME::ext
uint8_t	_CANFRAME::rtr
uint32_t	_CANFILTER::id
	Identifier.
uint32_t	_CANFILTER::mask
	Mask, use 0xffffffff for ecavt match.
uint8_t	_CANFILTER::id_ext
	Boolean, extended frame.
uint8_t	_CANFILTER::id_rtr
	Boolean, remote transmition bit.
uint8_t	_CANFILTER::mask_ext
	Boolean, match id_ext.
uint8_t	_CANFILTER::mask_rtr
	Boolean, match id_rtr.

Define Documentation

#define CAN_IF_2A 0x01

#define CAN_IF_2B 0x02

#define CAN_SPEED_10K 0

10 kbit/s, max. cable length 5000 m

Referenced by AtCanSetBaudrate(), CanSetBaud(), SJAInit(), and SJASetBaudrate().

#define CAN_SPEED_20K 1

20 kbit/s, max. cable length 2500 m

Referenced by AtCanSetBaudrate(), CanSetBaud(), SJAInit(), and SJASetBaudrate().

#define CAN_SPEED_50K 2

50 kbit/s, max. cable length 1000 m

Referenced by AtCanSetBaudrate(), CanSetBaud(), SJAInit(), and SJASetBaudrate().

#define CAN_SPEED_100K 3

100 kbit/s, max. cable length 600 m

Referenced by AtCanSetBaudrate(), CanSetBaud(), SJAInit(), and SJASetBaudrate().

#define CAN_SPEED_125K 4

125 kbit/s, max. cable length 500 m

Referenced by AtCanSetBaudrate(), CanSetBaud(), SJAInit(), and SJASetBaudrate().

#define CAN_SPEED_250K 5

250 kbit/s, max. cable length 250 m

Referenced by AtCanSetBaudrate(), CanSetBaud(), SJAInit(), and SJASetBaudrate().

#define CAN_SPEED_500K 6

500 kbit/s, max. cable length 100 m

Referenced by AtCanSetBaudrate(), CanSetBaud(), SJAInit(), and SJASetBaudrate().

#define CAN_SPEED_800K 7

800 kbit/s, max. cable length 50 m

Referenced by AtCanSetBaudrate(), CanSetBaud(), SJAInit(), and SJASetBaudrate().

#define CAN_SPEED_1M 8

1 Mbit/s, max. cable length 25 m

Referenced by AtCanSetBaudrate(), CanSetBaud(), SJAInit(), and SJASetBaudrate().

#define CAN_SPEED_CUSTOM 255

Referenced by AtCanSetBaudrate(), and CanSetBaud().

#define CAN_SPEED_10K 0

CAN Baud rate constants.

10 kbit/s, max. cable length 5000 m

#define CAN_SPEED_20K 1

20 kbit/s, max. cable length 2500 m

#define CAN_SPEED_50K 2

50 kbit/s, max. cable length 1000 m

#define CAN_SPEED_100K 3

100 kbit/s, max. cable length 600 m

#define CAN_SPEED_125K 4

125 kbit/s, max. cable length 500 m

#define CAN_SPEED_250K 5

250 kbit/s, max. cable length 250 m

#define CAN_SPEED_500K 6

500 kbit/s, max. cable length 100 m

#define CAN_SPEED_800K 7

800 kbit/s, max. cable length 50 m

#define CAN_SPEED_1M 8

1 Mbit/s, max. cable length 25 m

#define CAN_SPEED_CUSTOM 255

#define CAN_TTCM 0x0001

Referenced by CanGetFeatures(), and CanSetFeatures().

#define CAN_ABOM 0x0002

Referenced by CanGetFeatures(), and CanSetFeatures().

#define CAN_AWUM 0x0004

Referenced by CanGetFeatures(), and CanSetFeatures().

#define CAN_NART 0x0008

Referenced by CanGetFeatures(), and CanSetFeatures().

#define CAN_RFLM 0x0010

Referenced by CanGetFeatures(), and CanSetFeatures().

#define CAN_TXFP 0x0020

Referenced by CanGetFeatures(), and CanSetFeatures().

#define FILTER_EXPLICIT 0xffffffff

Referenced by CanAddFilter().

Typedef Documentation

typedef struct _CANFRAME CANFRAME

CAN frame type.

typedef struct _CANINFO CANINFO

CAN controller information type.

typedef struct ifcan IFCAN

Canbus interface type.

typedef struct _NUTCANBUS NUTCANBUS

CAN bus structure, defined by device.

typedef struct _CANBUSINFO CANBUSINFO

CAN bus info structure, defined by device.

typedef struct _CANBUFFER CANBUFFER

CAN BUFFER structure, defined by device.

typedef struct _CANFRAME CANFRAME

CAN frame type.

typedef struct _CANFILTER CANFILTER

CAN message filter type.

Enumeration Type Documentation

enum CAN_RESULT

CAN error codes.

Enumerator:

CAN_SUCCESS	Successful operation.
CAN_ERROR	Unspecified error.
CAN_TXBUF_FULL	All TX message objects busy.
CAN_RXBUF_EMPTY	All RX message objects busy.
CAN_ILLEGAL_MOB	Message object index out of range.
CAN_INVALID_SPEED	Invalid baud rate parameter.
CAN_PASSIVE	Bus is in passive state.
CAN_BUS_OFF	Bus is bus-off.
CAN_NO_COMPANION	FIFO2 needs FIFO1 active.
CAN_IS_COMPANION	FIFO2 can only set Filters.

enum CAN_COUNTERS

CAN event counters.

Enumerator:

CAN_RX_FRAMES	Number of packets received.
CAN_TX_FRAMES	Number of packets sent.
CAN_INTERRUPTS	Number of interrupts.
CAN_RX_INTERRUPTS	Number of RX interrupts.
CAN_TX_INTERRUPTS	Number of TX interrupts.
CAN_SCE_INTERRUPTS	Number of ERROR interrupts.
CAN_OVERRUNS	Number of packet overruns.
CAN_ERRORS	Number of frame errors.
CAN_NO_COUNTERS

Function Documentation

uint8_t CAN_SetSpeed	(	NUTDEVICE *	dev,
		uint32_t	baudrate
	)

References _NUTDEVICE::dev_icb.

void CAN_SetFilter	(	NUTDEVICE *	dev,
		uint8_t *	ac,
		uint8_t *	am
	)

References _NUTDEVICE::dev_icb.

void CAN_TxFrame	(	NUTDEVICE *	dev,
		CANFRAME *	frame
	)

References _NUTDEVICE::dev_icb.

uint8_t CAN_TryTxFrame	(	NUTDEVICE *	dev,
		CANFRAME *	frame
	)

References _NUTDEVICE::dev_icb.

uint8_t CAN_TxFree ( NUTDEVICE * dev )

References _NUTDEVICE::dev_icb.

uint8_t CAN_RxFrame	(	NUTDEVICE *	dev,
		CANFRAME *	frame
	)

References _NUTDEVICE::dev_icb.

uint8_t CAN_TryRxFrame	(	NUTDEVICE *	dev,
		CANFRAME *	frame
	)

References _NUTDEVICE::dev_icb.

uint8_t CAN_RxAvail ( NUTDEVICE * dev )

References _NUTDEVICE::dev_icb.

void CAN_SetRxTimeout	(	NUTDEVICE *	dev,
		uint32_t	timeout
	)

Sets the CAN receive timeout

Parameters:

dev	Pointer to the device structure
timeout	Timeout in milliseconds, NUT_WAIT_INFINITE = no time-out

Warning:: Timeout values are given in milliseconds and are limited to the granularity of the system timer. To disable timeout, set the parameter to NUT_WAIT_INFINITE.

References _NUTDEVICE::dev_icb.

int NutRegisterCanBus	(	NUTCANBUS *	bus,
		int8_t	ln2_size
	)

_NUTCANBUS

Parameters:

baud	Baudrate to set. CAN_SPEED_CUSTOM will use alt_btr
alt_btr	Custom setting for the Baud Rate Registers, Device dependant.

Here we set up the Hardware, baudrate and special setting

References _BI32, _NUTCANBUS::bus_ci, CAN_DEF_RX_ENTRIES, CAN_ERROR, _CANBUSINFO::can_rx_timeout, _CANBUSINFO::can_RxBuf, _CANBUFFER::dataindex, _CANBUFFER::datalength, _CANBUFFER::dataptr, memset(), NULL, NUT_WAIT_INFINITE, NutHeapAlloc, NutHeapFree, NutIrqEnable(), NutIrqSetPriority(), NutRegisterIrqHandler(), rc, _NUTCANBUS::sig_rx_irq, _NUTCANBUS::sig_sce_irq, _NUTCANBUS::sig_tx_irq, and _CANBUFFER::size.

Here is the call graph for this function:

int CanAddFilter	(	NUTCANBUS *	bus,
		CANFILTER *	filter
	)

References _NUTCANBUS::bus_base, CAN1, CAN1_BASE, CAN_ILLEGAL_MOB, FILTER_EXPLICIT, CAN_FilterRegister_TypeDef::FR1, CAN_FilterRegister_TypeDef::FR2, _CANFILTER::id, _CANFILTER::id_ext, _CANFILTER::id_rtr, _CANFILTER::mask, _CANFILTER::mask_ext, _CANFILTER::mask_rtr, and _NUTCANBUS::sig_tx_irq.

int CanSetBaud	(	NUTCANBUS *	bus,
		uint8_t	baud,
		uint32_t	alt_btr
	)

Set the baudrate

Parameters:

bus	Identifies the CANBUS
baud	Symbolic value for the Baudrate
alt_btr	Use given value with CAN_SPEED_CUSTOM

For STM32, alt_btr may be used for setting silent/loopback silent+loopback mode

Returns:: 0 if baudrate can be delivered or -1 else

References CAN_TypeDef::BTR, _NUTCANBUS::bus_base, CAN_BUS_OFF, CAN_ERROR, CAN_IS_COMPANION, CAN_SPEED_100K, CAN_SPEED_10K, CAN_SPEED_125K, CAN_SPEED_1M, CAN_SPEED_20K, CAN_SPEED_250K, CAN_SPEED_500K, CAN_SPEED_50K, CAN_SPEED_800K, CAN_SPEED_CUSTOM, and _NUTCANBUS::sig_tx_irq.

void CANSetRxTimeout	(	NUTCANBUS *	bus,
		uint32_t	timeout
	)

References _NUTCANBUS::bus_ci, and _CANBUSINFO::can_rx_timeout.

void CanEnableRx ( NUTCANBUS * bus )

References __IO, _BI32, _NUTCANBUS::bb_base, CAN_FMR_FINIT, CAN_IER_FMPIE0, CAN_IER_FMPIE1, CM3BB_OFFSET, IER, and _NUTCANBUS::sig_tx_irq.

int CanRxAvail ( NUTCANBUS * bus )

References _NUTCANBUS::bus_ci, _CANBUSINFO::can_RxBuf, and _CANBUFFER::datalength.

int CanInput	(	NUTCANBUS *	bus,
		CANFRAME *	frame
	)

Reads a frame from input buffer

This function reads a frame from the input buffer. If the input buffer is empty the function will block unitl new frames are received, or the timeout is reached.

Parameters: