MCAN Module Class. More...

#include <mcan.h>

Public Member Functions
	mcan_module (Mcan *phw, uint32_t baud)
	Create a MCAN module instance.

void	init (Mcan phw, struct mcan_config config, uint32_t baud)
	Initialize a MCAN module.

void	send_message (uint32_t id_value, uint8_t data, uint32_t data_length, OS_SEM pSem=0)
	Send a MCAN message.

bool	blocking_send_message (uint32_t id_value, uint8_t *data, uint32_t data_length, uint32_t TimeOut)
	Send a MCAN message and block until sent.

int	RegisterRxFifo (uint32_t composite_id, OS_FIFO *pFifo, int channel=-1)
	Register a FIFO to receive CAN messages.

int	RegisterRxFifoMask (uint32_t composite_id, uint32_t mask, OS_FIFO *pFifo, int channel=-1)
	Register a FIFO to receive messages as specified by the address bit mask. A value of 1 = match, a value of 0 = does not match.

int	RegisterRxFifoRange (uint32_t composite_id_low, uint32_t composite_id_hi, OS_FIFO *pFifo, int channel=-1)
	Register a FIFO to receive messages in the specified numeric range of addresses from low to high.

int	UnRegisterFifo (int channel)
	Unregister the FIFO for the specified CAN channel.

int	MultiCanSetRTRMessage (uint32_t id, uint8_t *data, uint8_t len, int channel=-1)
	Enable an auto-reply to a CAN RTR message for the specified CAN ID. The reply message is specified by the data parameter.

int	MultiCanReplaceRTRMessage (int channel, uint8_t *data, uint8_t len)
	Modifies/updates the response for the RTR message registered wotj MultiCanSetRTRMessage().

int	MultiCanStopRTRMessage (int channel)
	Unregister the RTR message for the specified channel.

uint32_t	read_error_count ()
	Read the raw value of the MCAN Error Count Register (MCAN_ECR).

uint32_t	read_protocol_status ()
	Read the raw value of the MCAN Protocol Status Register (MCAN_PSR).

void	start ()
	Take the MCAN controller out of initialization mode and place it on the bus.

void	stop ()
	Halt the MCAN controller and place it in initialization mode.

Detailed Description

MCAN Module Class.

Class to control a MCAN modules (peripherals) on the MODM7AE70

Constructor & Destructor Documentation

◆ mcan_module()

mcanMODM7AE70::mcan_module::mcan_module	(	Mcan *	phw,
		uint32_t	baud )

Create a MCAN module instance.

Parameters

phw	MCAN hardware peripheral, MCAN0 or MCAN 1
baud	MCAN baud rate. For example, 500000

Member Function Documentation

◆ blocking_send_message()

bool mcanMODM7AE70::mcan_module::blocking_send_message	(	uint32_t	id_value,
		uint8_t *	data,
		uint32_t	data_length,
		uint32_t	TimeOut )

Send a MCAN message and block until sent.

Parameters

id_value	CAN ID, 11-bit standard or 29-bit extended
data	Pointer to message data
data_length	Length of data in bytes
TimeOut	Time out value in system time ticks. For example, TICKS_PER_SECOND * 1

◆ init()

void mcanMODM7AE70::mcan_module::init	(	Mcan *	phw,
		struct mcan_config *	config,
		uint32_t	baud )

Initialize a MCAN module.

Parameters

phw	MCAN hardware peripheral, MCAN0 or MCAN 1
config	Pointer to a mcan_config object, initialized with appropriate values.
baud	MCAN baud rate. For example, 500000

◆ MultiCanReplaceRTRMessage()

int mcanMODM7AE70::mcan_module::MultiCanReplaceRTRMessage	(	int	channel,
		uint8_t *	data,
		uint8_t	len )

Modifies/updates the response for the RTR message registered wotj MultiCanSetRTRMessage().

Returns: The channel number registered for the RTR message.

See also: MultiCanSetRTRMessage(), MultiCanStopRTRMessage()

◆ MultiCanSetRTRMessage()

int mcanMODM7AE70::mcan_module::MultiCanSetRTRMessage	(	uint32_t	id,
		uint8_t *	data,
		uint8_t	len,
		int	channel = -1 )

Enable an auto-reply to a CAN RTR message for the specified CAN ID. The reply message is specified by the data parameter.

The response message can be modified with MultiCanReplaceRTRMessage().

Parameters

id	CAN ID, 11-bit standard or 29-bit extended
data	Pointer to message data
len	Length of message
channel	Optional CAN channel

Returns: The channel number corresponding to the ID and RTR message.

See also: MultiCanReplaceRTRMessage(), MultiCanStopRTRMessage()

◆ MultiCanStopRTRMessage()

int mcanMODM7AE70::mcan_module::MultiCanStopRTRMessage ( int channel )

Unregister the RTR message for the specified channel.

Parameters

channel CAN channel number

Returns: OS_NO_ERR on success

See also: MultiCanSetRTRMessage(), MultiCanReplaceRTRMessage()

◆ read_error_count()

uint32_t mcanMODM7AE70::mcan_module::read_error_count ( )

inline

Read the raw value of the MCAN Error Count Register (MCAN_ECR).

Bit fields can be extracted with the macros from component/mcan.h:

MCAN_ECR_TEC_Msk / MCAN_ECR_TEC_Pos – Transmit Error Counter (bits 7:0)
MCAN_ECR_REC_Msk / MCAN_ECR_REC_Pos – Receive Error Counter (bits 14:8)
MCAN_ECR_RP – Receive Error Passive flag
MCAN_ECR_CEL_Msk / MCAN_ECR_CEL_Pos – CAN Error Logging counter

Note: a non-zero TEC alone does not imply a problem on a healthy bus – a single missed acknowledge will increment it. For state-level decisions, prefer read_protocol_status().

Returns: Raw 32-bit MCAN_ECR register value.

See also: read_protocol_status(), start(), stop()

◆ read_protocol_status()

uint32_t mcanMODM7AE70::mcan_module::read_protocol_status ( )

inline

Read the raw value of the MCAN Protocol Status Register (MCAN_PSR).

Bit fields can be extracted with the macros from component/mcan.h:

MCAN_PSR_BO – Bus_Off Status (controller cannot transmit until restarted)
MCAN_PSR_EP – Error Passive
MCAN_PSR_EW – Error Warning (TEC or REC >= 96)
MCAN_PSR_ACT_Msk – Node activity (idle, receiver, transmitter)

Returns: Raw 32-bit MCAN_PSR register value.

See also: read_error_count(), start(), stop()

◆ RegisterRxFifo()

int mcanMODM7AE70::mcan_module::RegisterRxFifo	(	uint32_t	composite_id,
		OS_FIFO *	pFifo,
		int	channel = -1 )

Register a FIFO to receive CAN messages.

Parameters

composite_id	CAN ID, 11-bit standard or 29-bit extended
pFifo	Pointer to OS_FIFO for received data
channel	Optional CAN channel

Returns: OS_NO_ERR on success

◆ RegisterRxFifoMask()

int mcanMODM7AE70::mcan_module::RegisterRxFifoMask	(	uint32_t	composite_id,
		uint32_t	mask,
		OS_FIFO *	pFifo,
		int	channel = -1 )

Register a FIFO to receive messages as specified by the address bit mask. A value of 1 = match, a value of 0 = does not match.

Parameters

composite_id	CAN ID, 11-bit standard or 29-bit extended
mask	Id mask
pFifo	Pointer to OS_FIFO for received data
channel	Optional CAN channel

Returns: OS_NO_ERR on success

◆ RegisterRxFifoRange()

int mcanMODM7AE70::mcan_module::RegisterRxFifoRange	(	uint32_t	composite_id_low,
		uint32_t	composite_id_hi,
		OS_FIFO *	pFifo,
		int	channel = -1 )

Register a FIFO to receive messages in the specified numeric range of addresses from low to high.

Parameters

composite_id_low	Composite ID low value
composite_id_hi	Composite ID high value
pFifo	Pointer to OS_FIFO for received data
channel	Optional CAN channel

Returns: OS_NO_ERR on success

◆ send_message()

void mcanMODM7AE70::mcan_module::send_message	(	uint32_t	id_value,
		uint8_t *	data,
		uint32_t	data_length,
		OS_SEM *	pSem = 0 )

Send a MCAN message.

Parameters

id_value	CAN ID, 11-bit standard or 29-bit extended
data	Pointer to message data
data_length	Length of data in bytes
pSem	Optional pointer to semaphore to post to, default is no post

◆ start()

void mcanMODM7AE70::mcan_module::start ( )

Take the MCAN controller out of initialization mode and place it on the bus.

Clears the CCCR.INIT bit and waits for the controller to leave init mode. Used in tandem with stop() to perform a software reset of the peripheral after a bus-off event or other error condition.

See also: stop(), read_protocol_status()

◆ stop()

void mcanMODM7AE70::mcan_module::stop ( )

Halt the MCAN controller and place it in initialization mode.

Sets the CCCR.INIT bit and waits for the controller to enter init mode. While in this state the peripheral does not transmit or receive on the bus. Pair with start() to recover the controller from a bus-off condition.

See also: start(), read_protocol_status()

◆ UnRegisterFifo()

int mcanMODM7AE70::mcan_module::UnRegisterFifo ( int channel )

Unregister the FIFO for the specified CAN channel.

Parameters

channel CAN channel number

Returns: OS_NO_ERR on success

The documentation for this class was generated from the following file:

mcan.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ mcan_module()

Member Function Documentation

◆ blocking_send_message()

◆ init()

◆ MultiCanReplaceRTRMessage()

◆ MultiCanSetRTRMessage()

◆ MultiCanStopRTRMessage()

◆ read_error_count()

◆ read_protocol_status()

◆ RegisterRxFifo()

◆ RegisterRxFifoMask()

◆ RegisterRxFifoRange()

◆ send_message()

◆ start()

◆ stop()

◆ UnRegisterFifo()