CAN

Controller Area Network. More...

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

Controller Area Network.

CAN pins

TCAN1057AVDRQ1	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)

Function Documentation

CAN_CheckMail()

int CAN_CheckMail

(

void

)

Check for received CAN message.

Check to see if a receive message has been received on the Controller Area Network

Parameters

none

Returns

0 if no receive data ready, 1 if receive data is available

CAN_EnableInterrupts()

void CAN_EnableInterrupts

(

uint32_t

priority

)

Enable CAN interrupts.

enable interrupts on the Controller Area Network

Parameters

priority

0(highest) to 3(lowest)

Returns

none

CAN_GetMail()

void CAN_GetMail	(	uint32_t *	id,
		uint32_t *	dlc,
		uint8_t *	data
	)

Receive a CAN message.

Receive message on the Controller Area Network, blocking. If receive data is ready, gets the data and returns. If no receive data is ready, it will spin waiting for message

Parameters

id	pointer to 11-bit id
dlc	pointer to data length
data	array of data received (0 to 8 bytes)

Returns

none

CAN_GetMailNonBlock()

int CAN_GetMailNonBlock	(	uint32_t *	id,
		uint32_t *	dlc,
		uint8_t *	data
	)

Received a CAN message.

Receive message on the Controller Area Network, nonblocking. If receive data is ready, gets the data and returns true. If no receive data is ready, returns false

Parameters

id	pointer to 11-bit id, valid if function returns true
dlc	pointer to data length, valid if function returns true
data	array of data received (0 to 8 bytes), valid if function returns true

Returns

0 if no receive data ready, 1 if message received

CAN_Init()

void CAN_Init

(

void

)

Initialize CAN.

initialize Controller Area Network
bit rate 1Mbps

Parameters

none

Returns

none

CAN_Send()

int CAN_Send	(	uint32_t	id,
		uint32_t	dlc,
		uint8_t *	data
	)

Send CAN message.

Send a message on the Controller Area Network

Parameters

id	11-bit identifier
dlc	0 to 8, data length
data	array of data to send (0 to 8 bytes)

Returns

0 if failure, 1 if ok