Functions

Functions for CAN driver. More...

Functions
can_status_en	can_init (can_instance_en id)
can_status_en	can_configure (can_instance_en id, const can_config_t *config)
can_status_en	can_deinit (can_instance_en id)
can_status_en	can_enable (can_instance_en id)
can_status_en	can_disable (can_instance_en id)
can_status_en	can_tx (can_instance_en id, bool high_priority, const can_tx_frame_t *frame, const can_tx_schedule_time_t *time, can_tx_handler_t callback, void *callback_param)
can_status_en	can_rx_subscribe (can_instance_en id, const can_rx_filter_t *filter, can_rx_handler_t callback, void *callback_param, int *subid)
can_status_en	can_rx_unsubscribe (can_instance_en id, int sub_id)
can_status_en	can_set_speed (can_instance_en id, int cl, int fd, int cl_sample, int fd_sample)
can_status_en	can_set_timestamp_sample_handler (can_instance_en id, can_timestamp_handler_t callback, void *callback_param)
can_status_en	can_get_timestamp (can_instance_en id, uint32_t *ts_l, uint32_t *ts_h, uint32_t *ts_res_ns)
can_status_en	can_set_driver_buffer (can_instance_en id, void *buffer, size_t size)
can_status_en	can_enable_interrupt (can_instance_en id, uint32_t mask)
can_status_en	can_enable_all_interrupts (can_instance_en id)
can_status_en	can_disable_interrupt (can_instance_en id, uint32_t mask)
can_status_en	can_disable_all_interrupts (can_instance_en id)
can_status_en	can_clear_interrupt (can_instance_en id, uint32_t mask)
can_status_en	can_clear_all_interrupts (can_instance_en id)

Detailed Description

Functions for CAN driver.

Function Documentation

can_init()

can_status_en can_init

(

can_instance_en

id

)

Initialize a CAN instance and reset its software context.

Parameters

id	CAN controller identifier.

Returns

can_status_en Status code indicating success or reason for failure.

can_configure()

can_status_en can_configure	(	can_instance_en	id,
		const can_config_t *	config )

Configure driver-owned resources and controller runtime state.

Parameters

id	CAN controller identifier.
config	Optional runtime configuration, or NULL to reuse current defaults.

Returns

can_status_en Status code indicating success or reason for failure.

can_deinit()

can_status_en can_deinit

(

can_instance_en

id

)

Deinitialize a CAN instance and release driver-owned resources.

Parameters

id	CAN controller identifier.

Returns

can_status_en Status code indicating success or reason for failure.

can_enable()

can_status_en can_enable

(

can_instance_en

id

)

Enable CAN controller operation.

Parameters

id	CAN controller identifier.

Returns

can_status_en Status code indicating success or reason for failure.

can_disable()

can_status_en can_disable

(

can_instance_en

id

)

Disable CAN controller operation.

Parameters

id	CAN controller identifier.

Returns

can_status_en Status code indicating success or reason for failure.

can_tx()

can_status_en can_tx	(	can_instance_en	id,
		bool	high_priority,
		const can_tx_frame_t *	frame,
		const can_tx_schedule_time_t *	time,
		can_tx_handler_t	callback,
		void *	callback_param )

Queue a CAN or CAN FD frame for transmission.

Parameters

id	CAN controller identifier.
high_priority	true to use the high-priority TX FIFO, false to use the low-priority TX FIFO.
frame	Pointer to transmit frame descriptor.
time	Optional scheduled transmit timestamp, or NULL for immediate transmission.
callback	Optional completion callback.
callback_param	Application callback context.

Note

CAN FD payload lengths must be one of 0-8, 12, 16, 20, 24, 32, 48, or 64 bytes. Applications must provide legal descriptor combinations. Completion callbacks execute in CAN ISR context.

Returns

can_status_en Status code indicating success or reason for failure.

can_rx_subscribe()

can_status_en can_rx_subscribe	(	can_instance_en	id,
		const can_rx_filter_t *	filter,
		can_rx_handler_t	callback,
		void *	callback_param,
		int *	subid )

Install an RX filter and subscribe a callback for matching frames.

Parameters

id	CAN controller identifier.
filter	Pointer to the RX filter definition.
callback	Callback invoked for matching received frames.
callback_param	Application callback context.
subid	Output subscription identifier on success.

Returns

can_status_en Status code indicating success or reason for failure.

can_rx_unsubscribe()

can_status_en can_rx_unsubscribe	(	can_instance_en	id,
		int	sub_id )

Remove a previously installed RX subscription.

Parameters

id	CAN controller identifier.
sub_id	Subscription identifier returned by can_rx_subscribe.

Returns

can_status_en Status code indicating success or reason for failure.

can_set_speed()

can_status_en can_set_speed	(	can_instance_en	id,
		int	cl,
		int	fd,
		int	cl_sample,
		int	fd_sample )

Update Classical CAN/CAN FD bitrates and sample points.

Parameters

id	CAN controller identifier.
cl	Classical CAN bitrate in bits per second.
fd	CAN FD bitrate in bits per second.
cl_sample	Classical CAN sample point percentage.
fd_sample	CAN FD sample point percentage.

Returns

can_status_en Status code indicating success or reason for failure.

can_set_timestamp_sample_handler()

can_status_en can_set_timestamp_sample_handler	(	can_instance_en	id,
		can_timestamp_handler_t	callback,
		void *	callback_param )

Register a callback for sampled timestamp capture events.

Parameters

id	CAN controller identifier.
callback	Timestamp callback function.
callback_param	Application callback context.

Returns

can_status_en Status code indicating success or reason for failure.

can_get_timestamp()

can_status_en can_get_timestamp	(	can_instance_en	id,
		uint32_t *	ts_l,
		uint32_t *	ts_h,
		uint32_t *	ts_res_ns )

Read the current timestamp counter and its resolution.

Parameters

id	CAN controller identifier.
ts_l	Optional output pointer for the lower 32 bits of timestamp.
ts_h	Optional output pointer for the upper 32 bits of timestamp.
ts_res_ns	Optional output pointer for the timestamp resolution in nanoseconds.

Returns

can_status_en Status code indicating success or reason for failure.

can_set_driver_buffer()

can_status_en can_set_driver_buffer	(	can_instance_en	id,
		void *	buffer,
		size_t	size )

Provide an externally allocated driver buffer block.

Parameters

id	CAN controller identifier.
buffer	Base address of a 32-byte aligned can_data_t storage block. The memory must be accessible by the CAN hardware and compatible with the platform cache-maintenance policy.
size	Size of the supplied storage block in bytes.

Returns

can_status_en Status code indicating success or reason for failure.

can_enable_interrupt()

can_status_en can_enable_interrupt	(	can_instance_en	id,
		uint32_t	mask )

Enable selected hardware interrupt sources.

Parameters

id	CAN controller identifier.
mask	Interrupt mask composed from can_interrupt_en values.

Returns

can_status_en Status code indicating success or reason for failure.

can_enable_all_interrupts()

can_status_en can_enable_all_interrupts

(

can_instance_en

id

)

Enable all hardware interrupt sources.

Parameters

id	CAN controller identifier.

Returns

can_status_en Status code indicating success or reason for failure.

can_disable_interrupt()

can_status_en can_disable_interrupt	(	can_instance_en	id,
		uint32_t	mask )

Disable selected hardware interrupt sources.

Parameters

id	CAN controller identifier.
mask	Interrupt mask composed from can_interrupt_en values.

Returns

can_status_en Status code indicating success or reason for failure.

can_disable_all_interrupts()

can_status_en can_disable_all_interrupts

(

can_instance_en

id

)

Disable all hardware interrupt sources.

Parameters

id	CAN controller identifier.

Returns

can_status_en Status code indicating success or reason for failure.

can_clear_interrupt()

can_status_en can_clear_interrupt	(	can_instance_en	id,
		uint32_t	mask )

Clear selected pending hardware interrupt sources.

Parameters

id	CAN controller identifier.
mask	Interrupt mask composed from can_interrupt_en values.

Returns

can_status_en Status code indicating success or reason for failure.

can_clear_all_interrupts()

can_status_en can_clear_all_interrupts

(

can_instance_en

id

)

Clear all pending hardware interrupt sources.

Parameters

id	CAN controller identifier.

Returns

can_status_en Status code indicating success or reason for failure.