CAN.h File Reference

CAN. More...

#include <stdint.h>

Go to the source code of this file.

Functions
void	CAN_Init (void)
	Initialize CAN. More...
void	CAN_EnableInterrupts (uint32_t priority)
	Enable CAN interrupts. More...
int	CAN_Send (uint32_t id, uint32_t dlc, uint8_t *data)
	Send CAN message. More...
int	CAN_CheckMail (void)
	Check for received CAN message. More...
int	CAN_GetMailNonBlock (uint32_t *id, uint32_t *dlc, uint8_t *data)
	Received a CAN message. More...
void	CAN_GetMail (uint32_t *id, uint32_t *dlc, uint8_t *data)
	Receive a CAN message. More...

Detailed Description

CAN.

Controller Area Network between the motor board and the sensor board. This interface uses FDCAN0 to communicate on CAN bus PA12 and PA13. 120 ohm across CANH, CANL on both ends of network. If there are three boards (two sensor and one motor), remove the jumper on the middle board. Use TCAN1057AVDRQ1, because it implements 3.3V digital logic (not TCAN1057A-Q1, the version with pin 5 nc)

Version

ECE445M RTOS V1.2

Author

Jonathan Valvano

Copyright

Copyright 2026 by Jonathan W. Valvano, valva.nosp@m.no@m.nosp@m.ail.u.nosp@m.texa.nosp@m.s.edu,

Warning

AS-IS

Note

For more information see http://users.ece.utexas.edu/~valvano/

Date

May 11, 2026

CAN pins

TCAN1057AVDRQ0	MSPM0G3507
Pin1 TXD	CAN_Tx PA12 FD-CAN module 0 transmit
Pin2 Vss	ground
Pin3 VCC	+5V with 0.1uF cap to ground
Pin4 RXD	CAN_Rx PA13 FD-CAN module 0 receive (0 to 3.3V)
Pin5 VIO	+3.3V (digital interface supply)
Pin6 CANL	to other CANL on network
Pin7 CANH	to other CANH on network
Pin8 RS	ground, Slope-Control Input (maximum slew rate)