CAN

Controller Area Network. More...

Collaboration diagram for CAN:

Data Structures
struct	can_channel_attr_t
struct	can_handle_t

Enumerations
enum	can_result_t {   CAN_RESULT_OK ,   CAN_RESULT_INVALID ,   CAN_RESULT_UNSUPPORTED ,   CAN_RESULT_BUSY ,   CAN_RESULT_OVERFLOW ,   CAN_RESULT_OVERLOAD ,   CAN_RESULT_BIT_ERROR ,   CAN_RESULT_BIT_STUFF_ERROR ,   CAN_RESULT_FRAME_ERROR ,   CAN_RESULT_ACK_ERROR ,   CAN_RESULT_CRC_ERROR ,   CAN_RESULT_ERR ,   TOTAL_CAN_RESULT }
enum	can_status_t {   CAN_STATUS_UNKNOWN ,   CAN_STATUS_OK ,   CAN_STATUS_BUSY ,   CAN_STATUS_STOP ,   CAN_STATUS_SENDING ,   CAN_STATUS_RECEIVING ,   CAN_STATUS_ERR ,   TOTAL_CAN_STATUS }
enum	can_frame_t {   CAN_FRAME_DATA ,   CAN_FRAME_REMOTE ,   CAN_FRAME_ERROR ,   CAN_FRAME_OVERLOAD ,   TOTAL_CAN_FRAME }
enum	can_mode_t {   CAN_MODE_CLASSIC ,   CAN_MODE_FD ,   CAN_MODE_LISTEN ,   CAN_MODE_RESTRICTED ,   CAN_MODE_INTERNAL_LOOP ,   CAN_MODE_EXTERNAL_LOOP ,   TOTAL_CAN_MODE }
enum	can_baudrate_t {   CAN_BAUDRATE_10KBPS ,   CAN_BAUDRATE_20KBPS ,   CAN_BAUDRATE_50KBPS ,   CAN_BAUDRATE_125KBPS ,   CAN_BAUDRATE_250KBPS ,   CAN_BAUDRATE_500KBPS ,   CAN_BAUDRATE_1MBPS ,   CAN_BAUDRATE_2MBPS ,   CAN_BAUDRATE_5MBPS ,   CAN_BAUDRATE_8MBPS ,   CAN_BAUDRATE_10MBPS ,   CAN_BAUDRATE_12MBPS ,   TOTAL_CAN_BAUDRATE }

Functions
can_result_t	hal_can_init (can_handle_t *handle, const can_channel_attr_t attr)
	Configure CAN channel with specific attributes.
can_result_t	hal_can_write (can_handle_t *handle, const uint32_t id, const can_frame_t frame, const uint8_t *tx_buffer, const size_t len)
	Write data to CAN bus.
can_result_t	hal_can_read (can_handle_t *handle, uint32_t *id, can_frame_t *frame, uint8_t *rx_buffer, const size_t len)
	Read data from CAN bus.
can_result_t	hal_can_stop (can_handle_t *handle)
	Stop CAN bus operation.
can_result_t	hal_can_mutex_take (const uint8_t channel, const uint32_t timeout_ms)
	Try acquire RTOS mutex for specified channel.
can_result_t	hal_can_mutex_give (const uint8_t channel)
	Release RTOS mutex for specified channel.

Detailed Description

Controller Area Network.

Enumeration Type Documentation

can_baudrate_t

enum can_baudrate_t

#include <can/public_inc/hal_can.h>

Enumerator
CAN_BAUDRATE_10KBPS
CAN_BAUDRATE_20KBPS
CAN_BAUDRATE_50KBPS
CAN_BAUDRATE_125KBPS
CAN_BAUDRATE_250KBPS
CAN_BAUDRATE_500KBPS
CAN_BAUDRATE_1MBPS
CAN_BAUDRATE_2MBPS
CAN_BAUDRATE_5MBPS
CAN_BAUDRATE_8MBPS
CAN_BAUDRATE_10MBPS
CAN_BAUDRATE_12MBPS
TOTAL_CAN_BAUDRATE

can_frame_t

enum can_frame_t

#include <can/public_inc/hal_can.h>

Enumerator
CAN_FRAME_DATA
CAN_FRAME_REMOTE
CAN_FRAME_ERROR
CAN_FRAME_OVERLOAD
TOTAL_CAN_FRAME

can_mode_t

enum can_mode_t

#include <can/public_inc/hal_can.h>

Enumerator
CAN_MODE_CLASSIC
CAN_MODE_FD
CAN_MODE_LISTEN
CAN_MODE_RESTRICTED
CAN_MODE_INTERNAL_LOOP
CAN_MODE_EXTERNAL_LOOP
TOTAL_CAN_MODE

can_result_t

enum can_result_t

#include <can/public_inc/hal_can.h>

Enumerator
CAN_RESULT_OK	No error.
CAN_RESULT_INVALID	Operation invalid.
CAN_RESULT_UNSUPPORTED	Operation not supported.
CAN_RESULT_BUSY	Bus busy.
CAN_RESULT_OVERFLOW	FIFO overflow.
CAN_RESULT_OVERLOAD	Bus overload.
CAN_RESULT_BIT_ERROR	Data bit error.
CAN_RESULT_BIT_STUFF_ERROR	Bit stuffing error.
CAN_RESULT_FRAME_ERROR	CAN frame error.
CAN_RESULT_ACK_ERROR	Receive device not acknowledge.
CAN_RESULT_CRC_ERROR	Message CRC error.
CAN_RESULT_ERR	Error occured.
TOTAL_CAN_RESULT

can_status_t

enum can_status_t

#include <can/public_inc/hal_can.h>

Enumerator
CAN_STATUS_UNKNOWN	Unknown bus status.
CAN_STATUS_OK	No error.
CAN_STATUS_BUSY	Bus busy.
CAN_STATUS_STOP	Channel stopped.
CAN_STATUS_SENDING	Channel sending.
CAN_STATUS_RECEIVING	Channel receiving.
CAN_STATUS_ERR	Error occured.
TOTAL_CAN_STATUS

Function Documentation

hal_can_init()

can_result_t hal_can_init	(	can_handle_t *	handle,
		const can_channel_attr_t	attr )

#include <can/public_inc/hal_can.h>

Configure CAN channel with specific attributes.

can_handle_t handle = { .channel = BSP_CAN_CHANNEL_1 };
 
can_channel_attr_t attr = {
    .rx_pin            = CAN_RX_PIN,
    .tx_pin            = CAN_TX_PIN,
    .mode              = CAN_MODE_FD,
    .baudrate          = CAN_BAUDRATE_500KBPS,
    .data_baudrate     = CAN_BAUDRATE_2MBPS,
    .low_power_enable  = false
};
 
can_result_t result = hal_can_init( &handle, attr );

Parameters

[in,out]	handle	CAN handler
[in]	attr	CAN channel attributes

Return values

CAN_RESULT_OK	Success configure CAN channel
CAN_RESULT_INVALID	Configuration attributes invalid
CAN_RESULT_UNSUPPORTED	Operation not supported
CAN_RESULT_ERR	Failed configure CAN channel

hal_can_mutex_give()

can_result_t hal_can_mutex_give

(

const uint8_t

channel

)

#include <can/public_inc/hal_can.h>

Release RTOS mutex for specified channel.

can_result_t result = hal_can_mutex_give( BSP_CAN_CHANNEL_1 );

Parameters

[in]

channel

CAN channel's mutex to be released

Return values

CAN_RESULT_OK	Success release mutex
CAN_RESULT_INVALID	Invalid channel
CAN_RESULT_UNSUPPORTED	Operation not supported
CAN_RESULT_ERR	Failed release mutex

hal_can_mutex_take()

can_result_t hal_can_mutex_take	(	const uint8_t	channel,
		const uint32_t	timeout_ms )

#include <can/public_inc/hal_can.h>

Try acquire RTOS mutex for specified channel.

can_result_t result = hal_can_mutex_take( BSP_CAN_CHANNEL_1, 10U );

Parameters

[in]	channel	CAN channel's mutex to be locked
[in]	timeout_ms	Mutex acquiring timeout in milliseconds

Return values

CAN_RESULT_OK	Success acquire mutex
CAN_RESULT_INVALID	Invalid channel
CAN_RESULT_UNSUPPORTED	Operation not supported
CAN_RESULT_ERR	Failed acquire mutex

hal_can_read()

can_result_t hal_can_read	(	can_handle_t *	handle,
		uint32_t *	id,
		can_frame_t *	frame,
		uint8_t *	rx_buffer,
		const size_t	len )

#include <can/public_inc/hal_can.h>

Read data from CAN bus.

uint32_t can_id       = 0U;
can_frame_t frame     = 0U;
uint8_t rx_buffer[8]  = { 0U };
 
can_result_t result = hal_can_read( &handle,
                                    &can_id,
                                    &frame,
                                    rx_buffer,
                                    sizeof( rx_buffer ) );

Parameters

[in,out]	handle	CAN handler
[out]	id	Received CAN identifier
[out]	frame	Received CAN frame type
[out]	rx_buffer	Receiving buffer
[in]	len	Buffer size

Return values

CAN_RESULT_OK	Success read data from CAN bus
CAN_RESULT_INVALID	Parameters invalid
CAN_RESULT_ERR	Failed read data from CAN bus

hal_can_stop()

can_result_t hal_can_stop

(

can_handle_t *

handle

)

#include <can/public_inc/hal_can.h>

Stop CAN bus operation.

can_result_t result = hal_can_stop( &handle );

Parameters

[in,out]

handle

CAN handler

Return values

CAN_RESULT_OK	Success stopped CAN channel
CAN_RESULT_UNSUPPORTED	Feature unsupported
CAN_RESULT_ERR	Failed to stop CAN channel

hal_can_write()

can_result_t hal_can_write	(	can_handle_t *	handle,
		const uint32_t	id,
		const can_frame_t	frame,
		const uint8_t *	tx_buffer,
		const size_t	len )

#include <can/public_inc/hal_can.h>

Write data to CAN bus.

const uint32_t can_id = 0x0A;
uint8_t tx_buffer[8]  = { 1,2,3,4,5,6,7,8 };
 
can_result_t result = hal_can_write( &handle,
                                     can_id,
                                     CAN_FRAME_DATA,
                                     tx_buffer,
                                     sizeof( tx_buffer ) );

Parameters

[in,out]	handle	CAN handler
[in]	id	CAN transmit identifier
[in]	frame	CAN frame type
[in]	tx_buffer	Buffer to be transmitted
[in]	len	Buffer size

Return values

CAN_RESULT_OK	Success write data to CAN bus
CAN_RESULT_INVALID	Parameters invalid
CAN_RESULT_ERR	Failed write data to CAN bus