Overview

The MCUXpresso SDK provides a peripheral driver for the Controller Area Network (MCAN) module of MCUXpresso SDK devices.

Data Structures
struct	mcan_tx_buffer_frame_t
	MCAN Tx Buffer structure. More...

struct	mcan_rx_buffer_frame_t
	MCAN Rx FIFO/Buffer structure. More...

struct	mcan_rx_fifo_config_t
	MCAN Rx FIFO configuration. More...

struct	mcan_rx_buffer_config_t
	MCAN Rx Buffer configuration. More...

struct	mcan_tx_fifo_config_t
	MCAN Tx Event FIFO configuration. More...

struct	mcan_tx_buffer_config_t
	MCAN Tx Buffer configuration. More...

struct	mcan_std_filter_element_config_t
	MCAN Standard Message ID Filter Element. More...

struct	mcan_ext_filter_element_config_t
	MCAN Extended Message ID Filter Element. More...

struct	mcan_frame_filter_config_t
	MCAN Rx filter configuration. More...

struct	mcan_config_t
	MCAN module configuration structure. More...

struct	mcan_timing_config_t
	MCAN protocol timing characteristic configuration structure. More...

struct	mcan_buffer_transfer_t
	MCAN Buffer transfer. More...

struct	mcan_fifo_transfer_t
	MCAN Rx FIFO transfer. More...

struct	mcan_handle_t
	MCAN handle structure. More...

Typedefs
typedef void(*	mcan_transfer_callback_t )(CAN_Type base, mcan_handle_t handle, status_t status, uint32_t result, void *userData)
	MCAN transfer callback function. More...

Enumerations
enum	_mcan_status { kStatus_MCAN_TxBusy = MAKE_STATUS(kStatusGroup_MCAN, 0), kStatus_MCAN_TxIdle = MAKE_STATUS(kStatusGroup_MCAN, 1), kStatus_MCAN_RxBusy = MAKE_STATUS(kStatusGroup_MCAN, 2), kStatus_MCAN_RxIdle = MAKE_STATUS(kStatusGroup_MCAN, 3), kStatus_MCAN_RxFifo0New = MAKE_STATUS(kStatusGroup_MCAN, 4), kStatus_MCAN_RxFifo0Idle = MAKE_STATUS(kStatusGroup_MCAN, 5), kStatus_MCAN_RxFifo0Watermark = MAKE_STATUS(kStatusGroup_MCAN, 6), kStatus_MCAN_RxFifo0Full = MAKE_STATUS(kStatusGroup_MCAN, 7), kStatus_MCAN_RxFifo0Lost = MAKE_STATUS(kStatusGroup_MCAN, 8), kStatus_MCAN_RxFifo1New = MAKE_STATUS(kStatusGroup_MCAN, 9), kStatus_MCAN_RxFifo1Idle = MAKE_STATUS(kStatusGroup_MCAN, 10), kStatus_MCAN_RxFifo1Watermark = MAKE_STATUS(kStatusGroup_MCAN, 11), kStatus_MCAN_RxFifo1Full = MAKE_STATUS(kStatusGroup_MCAN, 12), kStatus_MCAN_RxFifo1Lost = MAKE_STATUS(kStatusGroup_MCAN, 13), kStatus_MCAN_RxFifo0Busy = MAKE_STATUS(kStatusGroup_MCAN, 14), kStatus_MCAN_RxFifo1Busy = MAKE_STATUS(kStatusGroup_MCAN, 15), kStatus_MCAN_ErrorStatus = MAKE_STATUS(kStatusGroup_MCAN, 16), kStatus_MCAN_UnHandled = MAKE_STATUS(kStatusGroup_MCAN, 17) }
	MCAN transfer status. More...

enum	_mcan_flags { kMCAN_AccesstoRsvdFlag = CAN_IR_ARA_MASK, kMCAN_ProtocolErrDIntFlag = CAN_IR_PED_MASK, kMCAN_ProtocolErrAIntFlag = CAN_IR_PEA_MASK, kMCAN_BusOffIntFlag = CAN_IR_BO_MASK, kMCAN_ErrorWarningIntFlag = CAN_IR_EW_MASK, kMCAN_ErrorPassiveIntFlag = CAN_IR_EP_MASK }
	MCAN status flags. More...

enum	_mcan_rx_fifo_flags { kMCAN_RxFifo0NewFlag = CAN_IR_RF0N_MASK, kMCAN_RxFifo0WatermarkFlag = CAN_IR_RF0W_MASK, kMCAN_RxFifo0FullFlag = CAN_IR_RF0F_MASK, kMCAN_RxFifo0LostFlag = CAN_IR_RF0L_MASK, kMCAN_RxFifo1NewFlag = CAN_IR_RF1N_MASK, kMCAN_RxFifo1WatermarkFlag = CAN_IR_RF1W_MASK, kMCAN_RxFifo1FullFlag = CAN_IR_RF1F_MASK, kMCAN_RxFifo1LostFlag = CAN_IR_RF1L_MASK }
	MCAN Rx FIFO status flags. More...

enum	_mcan_tx_flags { kMCAN_TxTransmitCompleteFlag = CAN_IR_TC_MASK, kMCAN_TxTransmitCancelFinishFlag = CAN_IR_TCF_MASK, kMCAN_TxEventFifoLostFlag = CAN_IR_TEFL_MASK, kMCAN_TxEventFifoFullFlag = CAN_IR_TEFF_MASK, kMCAN_TxEventFifoWatermarkFlag = CAN_IR_TEFW_MASK, kMCAN_TxEventFifoNewFlag = CAN_IR_TEFN_MASK, kMCAN_TxEventFifoEmptyFlag = CAN_IR_TFE_MASK }
	MCAN Tx status flags. More...

enum	_mcan_interrupt_enable { kMCAN_BusOffInterruptEnable = CAN_IE_BOE_MASK, kMCAN_ErrorInterruptEnable = CAN_IE_EPE_MASK, kMCAN_WarningInterruptEnable = CAN_IE_EWE_MASK }
	MCAN interrupt configuration structure, default settings all disabled. More...

enum	mcan_frame_idformat_t { kMCAN_FrameIDStandard = 0x0U, kMCAN_FrameIDExtend = 0x1U }
	MCAN frame format. More...

enum	mcan_frame_type_t { kMCAN_FrameTypeData = 0x0U, kMCAN_FrameTypeRemote = 0x1U }
	MCAN frame type. More...

enum	mcan_bytes_in_datafield_t { kMCAN_8ByteDatafield = 0x0U, kMCAN_12ByteDatafield = 0x1U, kMCAN_16ByteDatafield = 0x2U, kMCAN_20ByteDatafield = 0x3U, kMCAN_24ByteDatafield = 0x4U, kMCAN_32ByteDatafield = 0x5U, kMCAN_48ByteDatafield = 0x6U, kMCAN_64ByteDatafield = 0x7U }
	MCAN frame datafield size. More...

enum	mcan_fifo_type_t { kMCAN_Fifo0 = 0x0U, kMCAN_Fifo1 = 0x1U }
	MCAN Rx FIFO block number. More...

enum	mcan_fifo_opmode_config_t { kMCAN_FifoBlocking = 0, kMCAN_FifoOverwrite = 1 }
	MCAN FIFO Operation Mode. More...

enum	mcan_txmode_config_t { kMCAN_txFifo = 0, kMCAN_txQueue = 1 }
	MCAN Tx FIFO/Queue Mode. More...

enum	mcan_remote_frame_config_t { kMCAN_filterFrame = 0, kMCAN_rejectFrame = 1 }
	MCAN remote frames treatment. More...

enum	mcan_nonmasking_frame_config_t { kMCAN_acceptinFifo0 = 0, kMCAN_acceptinFifo1 = 1, kMCAN_reject0 = 2, kMCAN_reject1 = 3 }
	MCAN non-masking frames treatment. More...

enum	mcan_fec_config_t { kMCAN_disable = 0, kMCAN_storeinFifo0 = 1, kMCAN_storeinFifo1 = 2, kMCAN_reject = 3, kMCAN_setprio = 4, kMCAN_setpriofifo0 = 5, kMCAN_setpriofifo1 = 6, kMCAN_storeinbuffer = 7 }
	MCAN Filter Element Configuration. More...

enum	mcan_filter_type_t { kMCAN_range = 0, kMCAN_dual = 1, kMCAN_classic = 2, kMCAN_disableORrange2 = 3 }
	MCAN Filter Type. More...

Driver version
#define	MCAN_DRIVER_VERSION (MAKE_VERSION(2, 0, 0))
	MCAN driver version 2.0.0. More...

Initialization and deinitialization
void	MCAN_Init (CAN_Type base, const mcan_config_t config, uint32_t sourceClock_Hz)
	Initializes an MCAN instance. More...

void	MCAN_Deinit (CAN_Type *base)
	Deinitializes an MCAN instance. More...

void	MCAN_GetDefaultConfig (mcan_config_t *config)
	Gets the default configuration structure. More...

void	MCAN_EnterNormalMode (CAN_Type *base)
	MCAN enters normal mode. More...

Configuration.
static void	MCAN_SetMsgRAMBase (CAN_Type *base, uint32_t value)
	Sets the MCAN Message RAM base address. More...

static uint32_t	MCAN_GetMsgRAMBase (CAN_Type *base)
	Gets the MCAN Message RAM base address. More...

void	MCAN_SetArbitrationTimingConfig (CAN_Type base, const mcan_timing_config_t config)
	Sets the MCAN protocol arbitration phase timing characteristic. More...

void	MCAN_SetRxFifo0Config (CAN_Type base, const mcan_rx_fifo_config_t config)
	Configures an MCAN receive fifo 0 buffer. More...

void	MCAN_SetRxFifo1Config (CAN_Type base, const mcan_rx_fifo_config_t config)
	Configures an MCAN receive fifo 1 buffer. More...

void	MCAN_SetRxBufferConfig (CAN_Type base, const mcan_rx_buffer_config_t config)
	Configures an MCAN receive buffer. More...

void	MCAN_SetTxEventfifoConfig (CAN_Type base, const mcan_tx_fifo_config_t config)
	Configures an MCAN transmit event fifo. More...

void	MCAN_SetTxBufferConfig (CAN_Type base, const mcan_tx_buffer_config_t config)
	Configures an MCAN transmit buffer. More...

void	MCAN_SetFilterConfig (CAN_Type base, const mcan_frame_filter_config_t config)
	Set filter configuration. More...

void	MCAN_SetSTDFilterElement (CAN_Type base, const mcan_frame_filter_config_t config, const mcan_std_filter_element_config_t *filter, uint8_t idx)
	Set filter configuration. More...

void	MCAN_SetEXTFilterElement (CAN_Type base, const mcan_frame_filter_config_t config, const mcan_ext_filter_element_config_t *filter, uint8_t idx)
	Set filter configuration. More...

Status
static uint32_t	MCAN_GetStatusFlag (CAN_Type *base, uint32_t mask)
	Gets the MCAN module interrupt flags. More...

static void	MCAN_ClearStatusFlag (CAN_Type *base, uint32_t mask)
	Clears the MCAN module interrupt flags. More...

static bool	MCAN_GetRxBufferStatusFlag (CAN_Type *base, uint8_t idx)
	Gets the new data flag of specific Rx Buffer. More...

static void	MCAN_ClearRxBufferStatusFlag (CAN_Type *base, uint8_t idx)
	Clears the new data flag of specific Rx Buffer. More...

Interrupts
static void	MCAN_EnableInterrupts (CAN_Type *base, uint32_t line, uint32_t mask)
	Enables MCAN interrupts according to the provided interrupt line and mask. More...

static void	MCAN_EnableTransmitBufferInterrupts (CAN_Type *base, uint8_t idx)
	Enables MCAN Tx Buffer interrupts according to the provided index. More...

static void	MCAN_DisableTransmitBufferInterrupts (CAN_Type *base, uint8_t idx)
	Disables MCAN Tx Buffer interrupts according to the provided index. More...

static void	MCAN_DisableInterrupts (CAN_Type *base, uint32_t mask)
	Disables MCAN interrupts according to the provided mask. More...

Bus Operations
status_t	MCAN_WriteTxBuffer (CAN_Type base, uint8_t idx, const mcan_tx_buffer_frame_t txFrame)
	Writes an MCAN Message to the Transmit Buffer. More...

status_t	MCAN_ReadRxFifo (CAN_Type base, uint8_t fifoBlock, mcan_rx_buffer_frame_t rxFrame)
	Reads an MCAN Message from Rx FIFO. More...

Transactional
static void	MCAN_TransmitAddRequest (CAN_Type *base, uint8_t idx)
	Tx Buffer add request to send message out. More...

static void	MCAN_TransmitCancelRequest (CAN_Type *base, uint8_t idx)
	Tx Buffer cancel sending request. More...

status_t	MCAN_TransferSendBlocking (CAN_Type base, uint8_t idx, mcan_tx_buffer_frame_t txFrame)
	Performs a polling send transaction on the CAN bus. More...

status_t	MCAN_TransferReceiveFifoBlocking (CAN_Type base, uint8_t fifoBlock, mcan_rx_buffer_frame_t rxFrame)
	Performs a polling receive transaction from Rx FIFO on the CAN bus. More...

void	MCAN_TransferCreateHandle (CAN_Type base, mcan_handle_t handle, mcan_transfer_callback_t callback, void *userData)
	Initializes the MCAN handle. More...

status_t	MCAN_TransferSendNonBlocking (CAN_Type base, mcan_handle_t handle, mcan_buffer_transfer_t *xfer)
	Sends a message using IRQ. More...

status_t	MCAN_TransferReceiveFifoNonBlocking (CAN_Type base, uint8_t fifoBlock, mcan_handle_t handle, mcan_fifo_transfer_t *xfer)
	Receives a message from Rx FIFO using IRQ. More...

void	MCAN_TransferAbortSend (CAN_Type base, mcan_handle_t handle, uint8_t bufferIdx)
	Aborts the interrupt driven message send process. More...

void	MCAN_TransferAbortReceiveFifo (CAN_Type base, uint8_t fifoBlock, mcan_handle_t handle)
	Aborts the interrupt driven message receive from Rx FIFO process. More...

void	MCAN_TransferHandleIRQ (CAN_Type base, mcan_handle_t handle)
	MCAN IRQ handle function. More...

Data Structure Documentation

struct mcan_tx_buffer_frame_t

Field Documentation

uint32_t mcan_tx_buffer_frame_t::id

uint32_t mcan_tx_buffer_frame_t::rtr

uint32_t mcan_tx_buffer_frame_t::xtd

uint32_t mcan_tx_buffer_frame_t::esi

uint32_t mcan_tx_buffer_frame_t::dlc

uint32_t mcan_tx_buffer_frame_t::brs

uint32_t mcan_tx_buffer_frame_t::fdf

uint32_t mcan_tx_buffer_frame_t::__pad1__

uint32_t mcan_tx_buffer_frame_t::efc

uint32_t mcan_tx_buffer_frame_t::mm

struct mcan_rx_buffer_frame_t

Field Documentation

uint32_t mcan_rx_buffer_frame_t::id

uint32_t mcan_rx_buffer_frame_t::rtr

uint32_t mcan_rx_buffer_frame_t::xtd

uint32_t mcan_rx_buffer_frame_t::esi

uint32_t mcan_rx_buffer_frame_t::rxts

uint32_t mcan_rx_buffer_frame_t::dlc

uint32_t mcan_rx_buffer_frame_t::brs

uint32_t mcan_rx_buffer_frame_t::fdf

uint32_t mcan_rx_buffer_frame_t::__pad0__

uint32_t mcan_rx_buffer_frame_t::fidx

uint32_t mcan_rx_buffer_frame_t::anmf

struct mcan_rx_fifo_config_t

Data Fields
uint32_t	address
	FIFOn start address. More...

uint32_t	elementSize
	FIFOn element number. More...

uint32_t	watermark
	FIFOn watermark level. More...

mcan_fifo_opmode_config_t	opmode
	FIFOn blocking/overwrite mode. More...

mcan_bytes_in_datafield_t	datafieldSize
	Data field size per frame, size>8 is for CANFD. More...

Field Documentation

uint32_t mcan_rx_fifo_config_t::address

uint32_t mcan_rx_fifo_config_t::elementSize

uint32_t mcan_rx_fifo_config_t::watermark

mcan_fifo_opmode_config_t mcan_rx_fifo_config_t::opmode

mcan_bytes_in_datafield_t mcan_rx_fifo_config_t::datafieldSize

struct mcan_rx_buffer_config_t

Data Fields
uint32_t	address
	Rx Buffer start address. More...

mcan_bytes_in_datafield_t	datafieldSize
	Data field size per frame, size>8 is for CANFD. More...

Field Documentation

uint32_t mcan_rx_buffer_config_t::address

mcan_bytes_in_datafield_t mcan_rx_buffer_config_t::datafieldSize

struct mcan_tx_fifo_config_t

Data Fields
uint32_t	address
	Event fifo start address. More...

uint32_t	elementSize
	FIFOn element number. More...

uint32_t	watermark
	FIFOn watermark level. More...

Field Documentation

uint32_t mcan_tx_fifo_config_t::address

uint32_t mcan_tx_fifo_config_t::elementSize

uint32_t mcan_tx_fifo_config_t::watermark

struct mcan_tx_buffer_config_t

Data Fields
uint32_t	address
	Tx Buffers Start Address. More...

uint32_t	dedicatedSize
	Number of Dedicated Transmit Buffers. More...

uint32_t	fqSize
	Transmit FIFO/Queue Size. More...

mcan_txmode_config_t	mode
	Tx FIFO/Queue Mode. More...

mcan_bytes_in_datafield_t	datafieldSize
	Data field size per frame, size>8 is for CANFD. More...

Field Documentation

uint32_t mcan_tx_buffer_config_t::address

uint32_t mcan_tx_buffer_config_t::dedicatedSize

uint32_t mcan_tx_buffer_config_t::fqSize

mcan_txmode_config_t mcan_tx_buffer_config_t::mode

mcan_bytes_in_datafield_t mcan_tx_buffer_config_t::datafieldSize

struct mcan_std_filter_element_config_t

Data Fields
uint32_t	sfid2: 11
	Standard Filter ID 2. More...

uint32_t	__pad0__: 5
	Reserved. More...

uint32_t	sfid1: 11
	Standard Filter ID 1. More...

mcan_fec_config_t	sfec: 3
	Standard Filter Element Configuration. More...

mcan_filter_type_t	sft: 2
	Standard Filter Type/.

Field Documentation

uint32_t mcan_std_filter_element_config_t::sfid2

uint32_t mcan_std_filter_element_config_t::__pad0__

uint32_t mcan_std_filter_element_config_t::sfid1

mcan_fec_config_t mcan_std_filter_element_config_t::sfec

struct mcan_ext_filter_element_config_t

Data Fields
uint32_t	efid1: 29
	Extended Filter ID 1. More...

mcan_fec_config_t	efec: 3
	Extended Filter Element Configuration. More...

uint32_t	efid2: 29
	Extended Filter ID 2. More...

uint32_t	__pad0__: 1
	Reserved. More...

mcan_filter_type_t	eft: 2
	Extended Filter Type. More...

Field Documentation

uint32_t mcan_ext_filter_element_config_t::efid1

mcan_fec_config_t mcan_ext_filter_element_config_t::efec

uint32_t mcan_ext_filter_element_config_t::efid2

uint32_t mcan_ext_filter_element_config_t::__pad0__

mcan_filter_type_t mcan_ext_filter_element_config_t::eft

struct mcan_frame_filter_config_t

Data Fields
uint32_t	address
	Filter start address. More...

uint32_t	listSize
	Filter list size. More...

mcan_frame_idformat_t	idFormat
	Frame format. More...

mcan_remote_frame_config_t	remFrame
	Remote frame treatment. More...

mcan_nonmasking_frame_config_t	nmFrame
	Non-masking frame treatment. More...

Field Documentation

uint32_t mcan_frame_filter_config_t::address

uint32_t mcan_frame_filter_config_t::listSize

mcan_frame_idformat_t mcan_frame_filter_config_t::idFormat

mcan_remote_frame_config_t mcan_frame_filter_config_t::remFrame

mcan_nonmasking_frame_config_t mcan_frame_filter_config_t::nmFrame

struct mcan_config_t

Data Fields
uint32_t	baudRateA
	Baud rate of Arbitration phase in bps. More...

uint32_t	baudRateD
	Baud rate of Data phase in bps. More...

bool	enableCanfdNormal
	Enable or Disable CANFD normal. More...

bool	enableCanfdSwitch
	Enable or Disable CANFD with baudrate switch. More...

bool	enableLoopBackInt
	Enable or Disable Internal Back. More...

bool	enableLoopBackExt
	Enable or Disable External Loop Back. More...

bool	enableBusMon
	Enable or Disable Bus Monitoring Mode. More...

Field Documentation

uint32_t mcan_config_t::baudRateA

uint32_t mcan_config_t::baudRateD

bool mcan_config_t::enableCanfdNormal

bool mcan_config_t::enableCanfdSwitch

bool mcan_config_t::enableLoopBackInt

bool mcan_config_t::enableLoopBackExt

bool mcan_config_t::enableBusMon

struct mcan_timing_config_t

Data Fields
uint16_t	preDivider
	Clock Pre-scaler Division Factor. More...

uint8_t	rJumpwidth
	Re-sync Jump Width. More...

uint8_t	seg1
	Data Time Segment 1. More...

uint8_t	seg2
	Data Time Segment 2. More...

Field Documentation

uint16_t mcan_timing_config_t::preDivider

uint8_t mcan_timing_config_t::rJumpwidth

uint8_t mcan_timing_config_t::seg1

uint8_t mcan_timing_config_t::seg2

struct mcan_buffer_transfer_t

Data Fields
mcan_tx_buffer_frame_t *	frame
	The buffer of CAN Message to be transfer. More...

uint8_t	bufferIdx
	The index of Message buffer used to transfer Message. More...

Field Documentation

mcan_tx_buffer_frame_t* mcan_buffer_transfer_t::frame

uint8_t mcan_buffer_transfer_t::bufferIdx

struct mcan_fifo_transfer_t

Data Fields
mcan_rx_buffer_frame_t *	frame
	The buffer of CAN Message to be received from Rx FIFO. More...

Field Documentation

mcan_rx_buffer_frame_t* mcan_fifo_transfer_t::frame

struct _mcan_handle

MCAN handle structure definition.

Data Fields
mcan_transfer_callback_t	callback
	Callback function. More...

void *	userData
	MCAN callback function parameter. More...

mcan_tx_buffer_frame_t *volatile	bufferFrameBuf [64]
	The buffer for received data from Buffers. More...

mcan_rx_buffer_frame_t *volatile	rxFifoFrameBuf
	The buffer for received data from Rx FIFO. More...

volatile uint8_t	txbufferIdx
	Message Buffer transfer state. More...

volatile uint8_t	bufferState [64]
	Message Buffer transfer state. More...

volatile uint8_t	rxFifoState
	Rx FIFO transfer state. More...

Field Documentation

mcan_transfer_callback_t mcan_handle_t::callback

void* mcan_handle_t::userData

mcan_tx_buffer_frame_t* volatile mcan_handle_t::bufferFrameBuf[64]

mcan_rx_buffer_frame_t* volatile mcan_handle_t::rxFifoFrameBuf

volatile uint8_t mcan_handle_t::txbufferIdx

volatile uint8_t mcan_handle_t::bufferState[64]

volatile uint8_t mcan_handle_t::rxFifoState

Macro Definition Documentation

#define MCAN_DRIVER_VERSION (MAKE_VERSION(2, 0, 0))

Typedef Documentation

typedef void(* mcan_transfer_callback_t)(CAN_Type *base, mcan_handle_t *handle, status_t status, uint32_t result, void *userData)

The MCAN transfer callback returns a value from the underlying layer. If the status equals to kStatus_MCAN_ErrorStatus, the result parameter is the Content of MCAN status register which can be used to get the working status(or error status) of MCAN module. If the status equals to other MCAN Message Buffer transfer status, the result is the index of Message Buffer that generate transfer event. If the status equals to other MCAN Message Buffer transfer status, the result is meaningless and should be Ignored.

Enumeration Type Documentation

enum _mcan_status

Enumerator
kStatus_MCAN_TxBusy	Tx Buffer is Busy.
kStatus_MCAN_TxIdle	Tx Buffer is Idle.
kStatus_MCAN_RxBusy	Rx Buffer is Busy.
kStatus_MCAN_RxIdle	Rx Buffer is Idle.
kStatus_MCAN_RxFifo0New	New message written to Rx FIFO 0.
kStatus_MCAN_RxFifo0Idle	Rx FIFO 0 is Idle.
kStatus_MCAN_RxFifo0Watermark	Rx FIFO 0 fill level reached watermark.
kStatus_MCAN_RxFifo0Full	Rx FIFO 0 full.
kStatus_MCAN_RxFifo0Lost	Rx FIFO 0 message lost.
kStatus_MCAN_RxFifo1New	New message written to Rx FIFO 1.
kStatus_MCAN_RxFifo1Idle	Rx FIFO 1 is Idle.
kStatus_MCAN_RxFifo1Watermark	Rx FIFO 1 fill level reached watermark.
kStatus_MCAN_RxFifo1Full	Rx FIFO 1 full.
kStatus_MCAN_RxFifo1Lost	Rx FIFO 1 message lost.
kStatus_MCAN_RxFifo0Busy	Rx FIFO 0 is busy.
kStatus_MCAN_RxFifo1Busy	Rx FIFO 1 is busy.
kStatus_MCAN_ErrorStatus	MCAN Module Error and Status.
kStatus_MCAN_UnHandled	UnHadled Interrupt asserted.

enum _mcan_flags

This provides constants for the MCAN status flags for use in the MCAN functions. Note: The CPU read action clears MCAN_ErrorFlag, therefore user need to read MCAN_ErrorFlag and distinguish which error is occur using _mcan_error_flags enumerations.

Enumerator
kMCAN_AccesstoRsvdFlag	CAN Synchronization Status.
kMCAN_ProtocolErrDIntFlag	Tx Warning Interrupt Flag.
kMCAN_ProtocolErrAIntFlag	Rx Warning Interrupt Flag.
kMCAN_BusOffIntFlag	Tx Error Warning Status.
kMCAN_ErrorWarningIntFlag	Rx Error Warning Status.
kMCAN_ErrorPassiveIntFlag	Rx Error Warning Status.

enum _mcan_rx_fifo_flags

The MCAN Rx FIFO Status enumerations are used to determine the status of the Rx FIFO.

Enumerator
kMCAN_RxFifo0NewFlag	Rx FIFO 0 new message flag.
kMCAN_RxFifo0WatermarkFlag	Rx FIFO 0 watermark reached flag.
kMCAN_RxFifo0FullFlag	Rx FIFO 0 full flag.
kMCAN_RxFifo0LostFlag	Rx FIFO 0 message lost flag.
kMCAN_RxFifo1NewFlag	Rx FIFO 0 new message flag.
kMCAN_RxFifo1WatermarkFlag	Rx FIFO 0 watermark reached flag.
kMCAN_RxFifo1FullFlag	Rx FIFO 0 full flag.
kMCAN_RxFifo1LostFlag	Rx FIFO 0 message lost flag.

enum _mcan_tx_flags

The MCAN Tx Status enumerations are used to determine the status of the Tx Buffer/Event FIFO.

Enumerator
kMCAN_TxTransmitCompleteFlag	Transmission completed flag.
kMCAN_TxTransmitCancelFinishFlag	Transmission cancellation finished flag.
kMCAN_TxEventFifoLostFlag	Tx Event FIFO element lost.
kMCAN_TxEventFifoFullFlag	Tx Event FIFO full.
kMCAN_TxEventFifoWatermarkFlag	Tx Event FIFO fill level reached watermark.
kMCAN_TxEventFifoNewFlag	Tx Handler wrote Tx Event FIFO element flag.
kMCAN_TxEventFifoEmptyFlag	Tx FIFO empty flag.

enum _mcan_interrupt_enable

This structure contains the settings for all of the MCAN Module interrupt configurations.

Enumerator
kMCAN_BusOffInterruptEnable	Bus Off interrupt.
kMCAN_ErrorInterruptEnable	Error interrupt.
kMCAN_WarningInterruptEnable	Rx Warning interrupt.

enum mcan_frame_idformat_t

Enumerator
kMCAN_FrameIDStandard	Standard frame format attribute.
kMCAN_FrameIDExtend	Extend frame format attribute.

enum mcan_frame_type_t

Enumerator
kMCAN_FrameTypeData	Data frame type attribute.
kMCAN_FrameTypeRemote	Remote frame type attribute.

enum mcan_bytes_in_datafield_t

Enumerator
kMCAN_8ByteDatafield	8 byte data field.
kMCAN_12ByteDatafield	12 byte data field.
kMCAN_16ByteDatafield	16 byte data field.
kMCAN_20ByteDatafield	20 byte data field.
kMCAN_24ByteDatafield	24 byte data field.
kMCAN_32ByteDatafield	32 byte data field.
kMCAN_48ByteDatafield	48 byte data field.
kMCAN_64ByteDatafield	64 byte data field.

enum mcan_fifo_type_t

Enumerator
kMCAN_Fifo0	CAN Rx FIFO 0.
kMCAN_Fifo1	CAN Rx FIFO 1.

enum mcan_fifo_opmode_config_t

Enumerator
kMCAN_FifoBlocking	FIFO blocking mode.
kMCAN_FifoOverwrite	FIFO overwrite mode.

enum mcan_txmode_config_t

Enumerator
kMCAN_txFifo	Tx FIFO operation.
kMCAN_txQueue	Tx Queue operation.

enum mcan_remote_frame_config_t

Enumerator
kMCAN_filterFrame	Filter remote frames.
kMCAN_rejectFrame	Reject all remote frames.

enum mcan_nonmasking_frame_config_t

Enumerator
kMCAN_acceptinFifo0	Accept non-masking frames in Rx FIFO 0.
kMCAN_acceptinFifo1	Accept non-masking frames in Rx FIFO 1.
kMCAN_reject0	Reject non-masking frames.
kMCAN_reject1	Reject non-masking frames.

enum mcan_fec_config_t

Enumerator
kMCAN_disable	Disable filter element.
kMCAN_storeinFifo0	Store in Rx FIFO 0 if filter matches.
kMCAN_storeinFifo1	Store in Rx FIFO 1 if filter matches.
kMCAN_reject	Reject ID if filter matches.
kMCAN_setprio	Set priority if filter matches.
kMCAN_setpriofifo0	Set priority and store in FIFO 0 if filter matches.
kMCAN_setpriofifo1	Set priority and store in FIFO 1 if filter matches.
kMCAN_storeinbuffer	Store into Rx Buffer or as debug message.

enum mcan_filter_type_t

Enumerator
kMCAN_range	Range filter from SFID1 to SFID2.
kMCAN_dual	Dual ID filter for SFID1 or SFID2.
kMCAN_classic	Classic filter: SFID1 = filter, SFID2 = mask.
kMCAN_disableORrange2	Filter element disabled for standard filter or Range filter, XIDAM mask not applied for extended filter.

Function Documentation

void MCAN_Init	(	CAN_Type *	base,
		const mcan_config_t *	config,
		uint32_t	sourceClock_Hz
	)

This function initializes the MCAN module with user-defined settings. This example shows how to set up the mcan_config_t parameters and how to call the MCAN_Init function by passing in these parameters.

*   mcan_config_t config;
*   config->baudRateA = 500000U;
*   config->baudRateD = 500000U;
*   config->enableCanfdNormal = false;
*   config->enableCanfdSwitch = false;
*   config->enableLoopBackInt = false;
*   config->enableLoopBackExt = false;
*   config->enableBusMon = false;
*   MCAN_Init(CANFD0, &config, 8000000UL);
*   

Parameters

base	MCAN peripheral base address.
config	Pointer to the user-defined configuration structure.
sourceClock_Hz	MCAN Protocol Engine clock source frequency in Hz.

void MCAN_Deinit ( CAN_Type * base )

This function deinitializes the MCAN module.

Parameters

base	MCAN peripheral base address.

void MCAN_GetDefaultConfig ( mcan_config_t * config )

This function initializes the MCAN configuration structure to default values. The default values are as follows. config->baudRateA = 500000U; config->baudRateD = 500000U; config->enableCanfdNormal = false; config->enableCanfdSwitch = false; config->enableLoopBackInt = false; config->enableLoopBackExt = false; config->enableBusMon = false;

Parameters

config Pointer to the MCAN configuration structure.

void MCAN_EnterNormalMode ( CAN_Type * base )

After initialization, INIT bit in CCCR register must be cleared to enter normal mode thus synchronizes to the CAN bus and ready for communication.

Parameters

base	MCAN peripheral base address.

static void MCAN_SetMsgRAMBase	(	CAN_Type *	base,
		uint32_t	value
	)

inlinestatic

This function sets the Message RAM base address.

Parameters

base	MCAN peripheral base address.
value	Desired Message RAM base.

static uint32_t MCAN_GetMsgRAMBase ( CAN_Type * base )

inlinestatic

This function gets the Message RAM base address.

Parameters

base	MCAN peripheral base address.

Returns: Message RAM base address.

void MCAN_SetArbitrationTimingConfig	(	CAN_Type *	base,
		const mcan_timing_config_t *	config
	)

This function gives user settings to CAN bus timing characteristic. The function is for an experienced user. For less experienced users, call the MCAN_Init() and fill the baud rate field with a desired value. This provides the default arbitration phase timing characteristics.

Note that calling MCAN_SetArbitrationTimingConfig() overrides the baud rate set in MCAN_Init().

Parameters

base	MCAN peripheral base address.
config	Pointer to the timing configuration structure.

void MCAN_SetRxFifo0Config	(	CAN_Type *	base,
		const mcan_rx_fifo_config_t *	config
	)

This function sets start address, element size, watermark, operation mode and datafield size of the recieve fifo 0.

Parameters

base	MCAN peripheral base address.
config	The receive fifo 0 configuration structure.

void MCAN_SetRxFifo1Config	(	CAN_Type *	base,
		const mcan_rx_fifo_config_t *	config
	)

This function sets start address, element size, watermark, operation mode and datafield size of the recieve fifo 1.

Parameters

base	MCAN peripheral base address.
config	The receive fifo 1 configuration structure.

void MCAN_SetRxBufferConfig	(	CAN_Type *	base,
		const mcan_rx_buffer_config_t *	config
	)

This function sets start address and datafield size of the recieve buffer.

Parameters

base	MCAN peripheral base address.
config	The receive buffer configuration structure.

void MCAN_SetTxEventfifoConfig	(	CAN_Type *	base,
		const mcan_tx_fifo_config_t *	config
	)

This function sets start address, element size, watermark of the transmit event fifo.

Parameters

base	MCAN peripheral base address.
config	The transmit event fifo configuration structure.

void MCAN_SetTxBufferConfig	(	CAN_Type *	base,
		const mcan_tx_buffer_config_t *	config
	)

This function sets start address, element size, fifo/queue mode and datafield size of the transmit buffer.

Parameters

base	MCAN peripheral base address.
config	The transmit buffer configuration structure.

void MCAN_SetFilterConfig	(	CAN_Type *	base,
		const mcan_frame_filter_config_t *	config
	)

This function sets remote and non masking frames in global filter configuration, also the start address, list size in standard/extended ID filter configuration.

Parameters

base	MCAN peripheral base address.
config	The MCAN filter configuration.

void MCAN_SetSTDFilterElement	(	CAN_Type *	base,
		const mcan_frame_filter_config_t *	config,
		const mcan_std_filter_element_config_t *	filter,
		uint8_t	idx
	)

This function sets remote and non masking frames in global filter configuration, also the start address, list size in standard/extended ID filter configuration.

Parameters

base	MCAN peripheral base address.
config	The MCAN filter configuration.

void MCAN_SetEXTFilterElement	(	CAN_Type *	base,
		const mcan_frame_filter_config_t *	config,
		const mcan_ext_filter_element_config_t *	filter,
		uint8_t	idx
	)

This function sets remote and non masking frames in global filter configuration, also the start address, list size in standard/extended ID filter configuration.

Parameters

base	MCAN peripheral base address.
config	The MCAN filter configuration.

static uint32_t MCAN_GetStatusFlag	(	CAN_Type *	base,
		uint32_t	mask
	)

inlinestatic

This function gets all MCAN interrupt status flags.

Parameters

base	MCAN peripheral base address.
mask	The ORed MCAN interrupt mask.

Returns: MCAN status flags which are ORed.

static void MCAN_ClearStatusFlag	(	CAN_Type *	base,
		uint32_t	mask
	)

inlinestatic

This function clears MCAN interrupt status flags.

Parameters

base	MCAN peripheral base address.
mask	The ORed MCAN interrupt mask.

static bool MCAN_GetRxBufferStatusFlag	(	CAN_Type *	base,
		uint8_t	idx
	)

inlinestatic

This function gets new data flag of specific Rx Buffer.

Parameters

base	MCAN peripheral base address.
idx	Rx Buffer index.

Returns: Rx Buffer new data status flag.

static void MCAN_ClearRxBufferStatusFlag	(	CAN_Type *	base,
		uint8_t	idx
	)

inlinestatic

This function clears new data flag of specific Rx Buffer.

Parameters

base	MCAN peripheral base address.
idx	Rx Buffer index.

static void MCAN_EnableInterrupts	(	CAN_Type *	base,
		uint32_t	line,
		uint32_t	mask
	)

inlinestatic

This function enables the MCAN interrupts according to the provided interrupt line and mask. The mask is a logical OR of enumeration members.

Parameters

base	MCAN peripheral base address.
line	Interrupt line number, 0 or 1.
mask	The interrupts to enable.

static void MCAN_EnableTransmitBufferInterrupts	(	CAN_Type *	base,
		uint8_t	idx
	)

inlinestatic

This function enables the MCAN Tx Buffer interrupts.

Parameters

base	MCAN peripheral base address.
idx	Tx Buffer index.

static void MCAN_DisableTransmitBufferInterrupts	(	CAN_Type *	base,
		uint8_t	idx
	)

inlinestatic

This function disables the MCAN Tx Buffer interrupts.

Parameters

base	MCAN peripheral base address.
idx	Tx Buffer index.

static void MCAN_DisableInterrupts	(	CAN_Type *	base,
		uint32_t	mask
	)

inlinestatic

This function disables the MCAN interrupts according to the provided mask. The mask is a logical OR of enumeration members.

Parameters

base	MCAN peripheral base address.
mask	The interrupts to disable.

status_t MCAN_WriteTxBuffer	(	CAN_Type *	base,
		uint8_t	idx,
		const mcan_tx_buffer_frame_t *	txFrame
	)

This function writes a CAN Message to the specified Transmit Message Buffer and changes the Message Buffer state to start CAN Message transmit. After that the function returns immediately.

Parameters

base	MCAN peripheral base address.
idx	The MCAN Tx Buffer index.
txFrame	Pointer to CAN message frame to be sent.

status_t MCAN_ReadRxFifo	(	CAN_Type *	base,
		uint8_t	fifoBlock,
		mcan_rx_buffer_frame_t *	rxFrame
	)

This function reads a CAN message from the Rx FIFO in the Message RAM.

Parameters

base	MCAN peripheral base address.
fifoBlock	Rx FIFO block 0 or 1.
rxFrame	Pointer to CAN message frame structure for reception.

Return values

kStatus_Success - Read Message from Rx FIFO successfully.

static void MCAN_TransmitAddRequest	(	CAN_Type *	base,
		uint8_t	idx
	)

inlinestatic

This function add sending request to corresponding Tx Buffer.

Parameters

base	MCAN peripheral base address.
idx	Tx Buffer index.

static void MCAN_TransmitCancelRequest	(	CAN_Type *	base,
		uint8_t	idx
	)

inlinestatic

This function clears Tx buffer request pending bit.

Parameters

base	MCAN peripheral base address.
idx	Tx Buffer index.

status_t MCAN_TransferSendBlocking	(	CAN_Type *	base,
		uint8_t	idx,
		mcan_tx_buffer_frame_t *	txFrame
	)

Note that a transfer handle does not need to be created before calling this API.

Parameters

base	MCAN peripheral base pointer.
idx	The MCAN buffer index.
txFrame	Pointer to CAN message frame to be sent.

Return values

kStatus_Success	- Write Tx Message Buffer Successfully.
kStatus_Fail	- Tx Message Buffer is currently in use.

status_t MCAN_TransferReceiveFifoBlocking	(	CAN_Type *	base,
		uint8_t	fifoBlock,
		mcan_rx_buffer_frame_t *	rxFrame
	)

Note that a transfer handle does not need to be created before calling this API.

Parameters

base	MCAN peripheral base pointer.
fifoBlock	Rx FIFO block, 0 or 1.
rxFrame	Pointer to CAN message frame structure for reception.

Return values

kStatus_Success	- Read Message from Rx FIFO successfully.
kStatus_Fail	- No new message in Rx FIFO.

void MCAN_TransferCreateHandle	(	CAN_Type *	base,
		mcan_handle_t *	handle,
		mcan_transfer_callback_t	callback,
		void *	userData
	)

This function initializes the MCAN handle, which can be used for other MCAN transactional APIs. Usually, for a specified MCAN instance, call this API once to get the initialized handle.

Parameters

base	MCAN peripheral base address.
handle	MCAN handle pointer.
callback	The callback function.
userData	The parameter of the callback function.

status_t MCAN_TransferSendNonBlocking	(	CAN_Type *	base,
		mcan_handle_t *	handle,
		mcan_buffer_transfer_t *	xfer
	)

This function sends a message using IRQ. This is a non-blocking function, which returns right away. When messages have been sent out, the send callback function is called.

Parameters

base	MCAN peripheral base address.
handle	MCAN handle pointer.
xfer	MCAN Buffer transfer structure. See the mcan_buffer_transfer_t.

Return values

kStatus_Success	Start Tx Buffer sending process successfully.
kStatus_Fail	Write Tx Buffer failed.
kStatus_MCAN_TxBusy	Tx Buffer is in use.

status_t MCAN_TransferReceiveFifoNonBlocking	(	CAN_Type *	base,
		uint8_t	fifoBlock,
		mcan_handle_t *	handle,
		mcan_fifo_transfer_t *	xfer
	)

This function receives a message using IRQ. This is a non-blocking function, which returns right away. When all messages have been received, the receive callback function is called.

Parameters

base	MCAN peripheral base address.
handle	MCAN handle pointer.
fifoBlock	Rx FIFO block, 0 or 1.
xfer	MCAN Rx FIFO transfer structure. See the mcan_fifo_transfer_t.

Return values

kStatus_Success	- Start Rx FIFO receiving process successfully.
kStatus_MCAN_RxFifo0Busy	- Rx FIFO 0 is currently in use.
kStatus_MCAN_RxFifo1Busy	- Rx FIFO 1 is currently in use.

void MCAN_TransferAbortSend	(	CAN_Type *	base,
		mcan_handle_t *	handle,
		uint8_t	bufferIdx
	)

This function aborts the interrupt driven message send process.

Parameters

base	MCAN peripheral base address.
handle	MCAN handle pointer.
bufferIdx	The MCAN Buffer index.

void MCAN_TransferAbortReceiveFifo	(	CAN_Type *	base,
		uint8_t	fifoBlock,
		mcan_handle_t *	handle
	)

This function aborts the interrupt driven message receive from Rx FIFO process.

Parameters

base	MCAN peripheral base address.
fifoBlock	MCAN Fifo block, 0 or 1.
handle	MCAN handle pointer.

void MCAN_TransferHandleIRQ	(	CAN_Type *	base,
		mcan_handle_t *	handle
	)

This function handles the MCAN Error, the Buffer, and the Rx FIFO IRQ request.

Parameters

base	MCAN peripheral base address.
handle	MCAN handle pointer.

Overview

Data Structures

Typedefs

Enumerations

Driver version

Initialization and deinitialization

Configuration.

Status

Interrupts

Bus Operations

Transactional

Data Structure Documentation

Field Documentation

Field Documentation

Data Fields

Field Documentation

Data Fields

Field Documentation

Data Fields

Field Documentation

Data Fields

Field Documentation

Data Fields

Field Documentation

Data Fields

Field Documentation

Data Fields

Field Documentation

Data Fields

Field Documentation

Data Fields

Field Documentation

Data Fields

Field Documentation

Data Fields

Field Documentation

Data Fields

Field Documentation

Macro Definition Documentation

Typedef Documentation

Enumeration Type Documentation

Function Documentation