Overview

This document consists of sections titled with Driver Overview, Data Structures, Enumerations, Functions, etc., each with an overview list and detailed documentation. It is recommended to read the Driver Overview first for it includes a comprehensive description of the peripheral, driver and driver changes. Other sections give detailed information for APIs, enums, macros, etc., for your further reference.

Modules
	The Driver Change Log
	The current MSCAN driver version is 2.1.0.

Data Structures
struct	MSCAN_IDR1Type
	MSCAN IDR1 struct. More...

struct	MSCAN_IDR3Type
	MSCAN IDR3 struct. More...

union	IDR1_3_UNION
	MSCAN idr1 and idr3 union. More...

struct	MSCAN_ExtendIDType
	MSCAN extend ID struct. More...

struct	MSCAN_StandardIDType
	MSCAN standard ID struct. More...

struct	mscan_mb_t
	MsCAN message buffer structure. More...

struct	mscan_frame_t
	MsCAN frame structure. More...

struct	mscan_idfilter_config_t
	MsCAN module acceptance filter configuration structure. More...

struct	mscan_timing_config_t
	MsCAN protocol timing characteristic configuration structure. More...

struct	mscan_config_t
	MsCAN module configuration structure. More...

struct	mscan_mb_transfer_t
	MSCAN Message Buffer transfer. More...

struct	mscan_handle_t
	MsCAN handle structure. More...

Macros
#define	MSCAN_RX_MB_STD_MASK(id)
	MsCAN Rx Message Buffer Mask helper macro. More...

#define	MSCAN_R_TSRR (1U)
	MsCAN SRR bit. More...

#define	MSCAN_R_TEIDE (1U)
	MsCAN IDE bit. More...

Typedefs
typedef void(*	mscan_transfer_callback_t )(CAN_Type base, mscan_handle_t handle, status_t status, void *userData)
	MsCAN transfer callback function. More...

Enumerations
enum	{ kStatus_MSCAN_TxBusy = MAKE_STATUS(kStatusGroup_MSCAN, 0), kStatus_MSCAN_TxIdle = MAKE_STATUS(kStatusGroup_MSCAN, 1), kStatus_MSCAN_TxSwitchToRx, kStatus_MSCAN_RxBusy = MAKE_STATUS(kStatusGroup_MSCAN, 3), kStatus_MSCAN_RxIdle = MAKE_STATUS(kStatusGroup_MSCAN, 4), kStatus_MSCAN_RxOverflow = MAKE_STATUS(kStatusGroup_MSCAN, 5), kStatus_MSCAN_RxFifoBusy = MAKE_STATUS(kStatusGroup_MSCAN, 6), kStatus_MSCAN_RxFifoIdle = MAKE_STATUS(kStatusGroup_MSCAN, 7), kStatus_MSCAN_RxFifoOverflow = MAKE_STATUS(kStatusGroup_MSCAN, 8), kStatus_MSCAN_RxFifoWarning = MAKE_STATUS(kStatusGroup_MSCAN, 9), kStatus_MSCAN_ErrorStatus = MAKE_STATUS(kStatusGroup_MSCAN, 10), kStatus_MSCAN_UnHandled = MAKE_STATUS(kStatusGroup_MSCAN, 11), kStatus_MSCAN_DataLengthError = MAKE_STATUS(kStatusGroup_MSCAN, 12) }
	FlexCAN transfer status. More...

enum	mscan_frame_format_t { kMSCAN_FrameFormatStandard = 0x0U, kMSCAN_FrameFormatExtend = 0x1U }
	MsCAN frame format. More...

enum	mscan_frame_type_t { kMSCAN_FrameTypeData = 0x0U, kMSCAN_FrameTypeRemote = 0x1U }
	MsCAN frame type. More...

enum	mscan_clock_source_t { kMSCAN_ClkSrcOsc = 0x0U, kMSCAN_ClkSrcBus = 0x1U }
	MsCAN clock source. More...

enum	mscan_busoffrec_mode_t { kMSCAN_BusoffrecAuto = 0x0U, kMSCAN_BusoffrecUsr = 0x1U }
	MsCAN bus-off recovery mode. More...

enum	_mscan_tx_buffer_empty_flag { kMSCAN_TxBuf0Empty = 0x1U, kMSCAN_TxBuf1Empty = 0x2U, kMSCAN_TxBuf2Empty = 0x4U, kMSCAN_TxBufFull = 0x0U }
	MsCAN Tx buffer empty flag. More...

enum	mscan_id_filter_mode_t { kMSCAN_Filter32Bit = 0x0U, kMSCAN_Filter16Bit = 0x1U, kMSCAN_Filter8Bit = 0x2U, kMSCAN_FilterClose = 0x3U }
	MsCAN id filter mode. More...

enum	_mscan_interrupt_enable { kMSCAN_WakeUpInterruptEnable = CAN_RIER_WUPIE_MASK, kMSCAN_StatusChangeInterruptEnable = CAN_RIER_CSCIE_MASK, kMSCAN_RxStatusChangeInterruptEnable = CAN_RIER_RSTATE_MASK, kMSCAN_TxStatusChangeInterruptEnable = CAN_RIER_TSTATE_MASK, kMSCAN_OverrunInterruptEnable = CAN_RIER_OVRIE_MASK, kMSCAN_RxFullInterruptEnable = CAN_RIER_RXFIE_MASK, kMSCAN_TxEmptyInterruptEnable = CAN_TIER_TXEIE_MASK }
	MsCAN interrupt configuration structure, default settings all disabled. More...

Driver version
#define	FSL_MSCAN_DRIVER_VERSION (MAKE_VERSION(2, 1, 0))
	MsCAN driver version. More...

Initialization and deinitialization
void	MSCAN_Init (CAN_Type base, const mscan_config_t config)
	Initializes a MsCAN instance. More...

void	MSCAN_Deinit (CAN_Type *base)
	De-initializes a MsCAN instance. More...

void	MSCAN_GetDefaultConfig (mscan_config_t *config, uint32_t sourceClock_Hz)
	Gets the default configuration structure. More...

Configuration.
static uint8_t	MSCAN_GetTxBufferEmptyFlag (CAN_Type *base)
	Get the transmit buffer empty status. More...

static void	MSCAN_TxBufferSelect (CAN_Type *base, uint8_t txBuf)
	The selection of the actual transmit message buffer. More...

static uint8_t	MSCAN_GetTxBufferSelect (CAN_Type *base)
	Get the actual transmit message buffer. More...

static void	MSCAN_TxBufferLaunch (CAN_Type *base, uint8_t txBuf)
	Clear TFLG to schedule for transmission. More...

static uint8_t	MSCAN_GetTxBufferStatusFlags (CAN_Type *base, uint8_t mask)
	Get Tx buffer status flag. More...

static uint8_t	MSCAN_GetRxBufferFullFlag (CAN_Type *base)
	Check Receive Buffer Full Flag. More...

static void	MSCAN_ClearRxBufferFullFlag (CAN_Type *base)
	Clear Receive buffer Full flag. More...

static uint8_t	MSCAN_ReadRIDR0 (CAN_Type *base)

static uint8_t	MSCAN_ReadRIDR1 (CAN_Type *base)

static uint8_t	MSCAN_ReadRIDR2 (CAN_Type *base)

static uint8_t	MSCAN_ReadRIDR3 (CAN_Type *base)

static void	MSCAN_WriteTIDR0 (CAN_Type *base, uint8_t id)

static void	MSCAN_WriteTIDR1 (CAN_Type *base, uint8_t id)

static void	MSCAN_WriteTIDR2 (CAN_Type *base, uint8_t id)

static void	MSCAN_WriteTIDR3 (CAN_Type *base, uint8_t id)

static void	MSCAN_SetIDFilterMode (CAN_Type *base, mscan_id_filter_mode_t mode)

static void	MSCAN_WriteIDAR0 (CAN_Type base, uint8_t pID)

static void	MSCAN_WriteIDAR1 (CAN_Type base, uint8_t pID)

static void	MSCAN_WriteIDMR0 (CAN_Type base, uint8_t pID)

static void	MSCAN_WriteIDMR1 (CAN_Type base, uint8_t pID)

bool	MSCAN_CalculateImprovedTimingValues (uint32_t baudRate, uint32_t sourceClock_Hz, mscan_timing_config_t *pconfig)
	Calculates the improved timing values by specific baudrates for classical MSCAN. More...

void	MSCAN_SetTimingConfig (CAN_Type base, const mscan_timing_config_t config)
	Sets the MsCAN protocol timing characteristic. More...

status_t	MSCAN_SetBaudRate (CAN_Type *base, uint32_t sourceClock_Hz, uint32_t baudRate_Bps)
	Set Baud Rate of MsCAN. More...

Status
static uint8_t	MSCAN_GetTxBufEmptyFlags (CAN_Type *base)
	Gets the MsCAN Tx buffer empty flags. More...

Interrupts
static void	MSCAN_EnableTxInterrupts (CAN_Type *base, uint8_t mask)
	Enables MsCAN Transmitter interrupts according to the provided mask. More...

static void	MSCAN_DisableTxInterrupts (CAN_Type *base, uint8_t mask)
	Disables MsCAN Transmitter interrupts according to the provided mask. More...

static void	MSCAN_EnableRxInterrupts (CAN_Type *base, uint8_t mask)
	Enables MsCAN Receiver interrupts according to the provided mask. More...

static void	MSCAN_DisableRxInterrupts (CAN_Type *base, uint8_t mask)
	Disables MsCAN Receiver interrupts according to the provided mask. More...

static void	MSCAN_AbortTxRequest (CAN_Type *base, uint8_t mask)
	Abort MsCAN Tx request. More...

Bus Operations
static void	MSCAN_Enable (CAN_Type *base, bool enable)
	Enables or disables the MsCAN module operation. More...

status_t	MSCAN_WriteTxMb (CAN_Type base, mscan_frame_t pTxFrame)
	Writes a MsCAN Message to the Transmit Message Buffer. More...

status_t	MSCAN_ReadRxMb (CAN_Type base, mscan_frame_t pRxFrame)
	Reads a MsCAN Message from Receive Message Buffer. More...

Transactional
void	MSCAN_TransferCreateHandle (CAN_Type base, mscan_handle_t handle, mscan_transfer_callback_t callback, void *userData)
	Initializes the MsCAN handle. More...

status_t	MSCAN_TransferSendBlocking (CAN_Type base, mscan_frame_t pTxFrame)
	Performs a polling send transaction on the CAN bus. More...

status_t	MSCAN_TransferReceiveBlocking (CAN_Type base, mscan_frame_t pRxFrame)
	Performs a polling receive transaction on the CAN bus. More...

status_t	MSCAN_TransferSendNonBlocking (CAN_Type base, mscan_handle_t handle, mscan_mb_transfer_t *xfer)
	Sends a message using IRQ. More...

status_t	MSCAN_TransferReceiveNonBlocking (CAN_Type base, mscan_handle_t handle, mscan_mb_transfer_t *xfer)
	Receives a message using IRQ. More...

void	MSCAN_TransferAbortSend (CAN_Type base, mscan_handle_t handle, uint8_t mask)
	Aborts the interrupt driven message send process. More...

void	MSCAN_TransferAbortReceive (CAN_Type base, mscan_handle_t handle, uint8_t mask)
	Aborts the interrupt driven message receive process. More...

void	MSCAN_TransferHandleIRQ (CAN_Type base, mscan_handle_t handle)
	MSCAN IRQ handle function. More...

Data Structure Documentation

struct MSCAN_IDR1Type

Data Fields
uint8_t	EID17_15: 3
	Extended Format Identifier 17-15.

uint8_t	R_TEIDE: 1
	ID Extended.

uint8_t	R_TSRR: 1
	Substitute Remote Request.

uint8_t	EID20_18_OR_SID2_0: 3
	Extended Format Identifier 18-20 or standard format bit 0-2.

struct MSCAN_IDR3Type

Data Fields
uint8_t	ERTR: 1
	Remote Transmission Request.

uint8_t	EID6_0: 7
	Extended Format Identifier 6-0.

union IDR1_3_UNION

Data Fields
MSCAN_IDR1Type	IDR1
	structure for identifier 1

MSCAN_IDR3Type	IDR3
	structure for identifier 3

uint8_t	Bytes
	bytes

struct MSCAN_ExtendIDType

Data Fields
uint32_t	EID6_0: 7
	ID[0:6].

uint32_t	EID14_7: 8
	ID[14:7].

uint32_t	EID17_15: 3
	ID[17:15].

uint32_t	EID20_18: 3
	ID[20:18].

uint32_t	EID28_21: 8
	ID[28:21].

struct MSCAN_StandardIDType

Data Fields
uint32_t	EID2_0: 3
	ID[0:2].

uint32_t	EID10_3: 8
	ID[10:3].

struct mscan_mb_t

Data Fields
uint8_t	EIDR0
	Extended Identifier Register 0.

uint8_t	EIDR1
	Extended Identifier Register 1.

uint8_t	EIDR2
	Extended Identifier Register 2.

uint8_t	EIDR3
	Extended Identifier Register 3.

uint8_t	EDSR [8]
	Extended Data Segment Register.

uint8_t	DLR
	data length field

uint8_t	BPR
	Buffer Priority Register.

uint8_t	TSRH
	Time Stamp Register High.

uint8_t	TSRL
	Time Stamp Register Low.

struct mscan_frame_t

Data Fields
union {
MSCAN_StandardIDType StdID
	standard format

MSCAN_ExtendIDType ExtID
	extend format

uint32_t ID
	Identifire with 32 bit format.

}	ID_Type
	identifier union

uint8_t	DLR
	data length

uint8_t	BPR
	transmit buffer priority

mscan_frame_type_t	type
	remote frame or data frame

mscan_frame_format_t	format
	extend frame or standard frame

uint8_t	TSRH
	time stamp high byte

uint8_t	TSRL
	time stamp low byte

uint8_t	DSR [8]
	data segment

uint32_t	dataWord0
	MSCAN Frame payload word0. More...

uint32_t	dataWord1
	MSCAN Frame payload word1. More...

uint8_t	dataByte0
	MSCAN Frame payload byte0. More...

uint8_t	dataByte1
	MSCAN Frame payload byte1. More...

uint8_t	dataByte2
	MSCAN Frame payload byte2. More...

uint8_t	dataByte3
	MSCAN Frame payload byte3. More...

uint8_t	dataByte4
	MSCAN Frame payload byte4. More...

uint8_t	dataByte5
	MSCAN Frame payload byte5. More...

uint8_t	dataByte6
	MSCAN Frame payload byte6. More...

uint8_t	dataByte7
	MSCAN Frame payload byte7. More...

Field Documentation

uint32_t mscan_frame_t::dataWord0

uint32_t mscan_frame_t::dataWord1

uint8_t mscan_frame_t::dataByte0

uint8_t mscan_frame_t::dataByte1

uint8_t mscan_frame_t::dataByte2

uint8_t mscan_frame_t::dataByte3

uint8_t mscan_frame_t::dataByte4

uint8_t mscan_frame_t::dataByte5

uint8_t mscan_frame_t::dataByte6

uint8_t mscan_frame_t::dataByte7

struct mscan_idfilter_config_t

Data Fields
mscan_id_filter_mode_t	filterMode
	MSCAN Identifier Acceptance Filter Mode.

uint32_t	u32IDAR0
	MSCAN Identifier Acceptance Register n of First Bank.

uint32_t	u32IDAR1
	MSCAN Identifier Acceptance Register n of Second Bank.

uint32_t	u32IDMR0
	MSCAN Identifier Mask Register n of First Bank.

uint32_t	u32IDMR1
	MSCAN Identifier Mask Register n of Second Bank.

struct mscan_timing_config_t

Data Fields
uint8_t	priDiv
	Baud rate prescaler. More...

uint8_t	sJumpwidth
	Sync Jump Width. More...

uint8_t	timeSeg1
	Time Segment 1. More...

uint8_t	timeSeg2
	Time Segment 2. More...

uint8_t	samp
	Number of samples per bit time. More...

Field Documentation

uint8_t mscan_timing_config_t::priDiv

uint8_t mscan_timing_config_t::sJumpwidth

uint8_t mscan_timing_config_t::timeSeg1

uint8_t mscan_timing_config_t::timeSeg2

uint8_t mscan_timing_config_t::samp

struct mscan_config_t

Note: The baudRate/sourceClock and timingConfig members will not participate in configuration at the same time. The user can decide to use one of them by configuring the enableTimingCalc parameter value.

Data Fields
bool	enableTimer
	Enable or Disable free running timer. More...

bool	enableWakeup
	Enable or Disable Wakeup Mode. More...

mscan_clock_source_t	clkSrc
	Clock source for MsCAN Protocol Engine. More...

bool	enableLoopBack
	Enable or Disable Loop Back Self Test Mode. More...

bool	enableListen
	Enable or Disable Listen Only Mode. More...

mscan_busoffrec_mode_t	busoffrecMode
	Bus-Off Recovery Mode. More...

mscan_idfilter_config_t	filterConfig
	MsCAN acceptance filter configuration. More...

bool	enableTimingCalc
	Enable or Disable automatically calculate bit timing during initialization. More...

uint32_t	baudRate
	MsCAN baud rate in bps. More...

uint32_t	sourceClock
	MsCAN peripheral clock in HZ. More...

mscan_timing_config_t	timingConfig
	User's precise MsCAN protocol timing characteristic configuration. More...

Field Documentation

bool mscan_config_t::enableTimer

bool mscan_config_t::enableWakeup

mscan_clock_source_t mscan_config_t::clkSrc

bool mscan_config_t::enableLoopBack

bool mscan_config_t::enableListen

mscan_busoffrec_mode_t mscan_config_t::busoffrecMode

mscan_idfilter_config_t mscan_config_t::filterConfig

bool mscan_config_t::enableTimingCalc

uint32_t mscan_config_t::baudRate

Only meaningful when the enableTimingCalc is true.

uint32_t mscan_config_t::sourceClock

Only meaningful when the enableTimingCalc is true.

mscan_timing_config_t mscan_config_t::timingConfig

Only meaningful when the enableTimingCalc is false.

struct mscan_mb_transfer_t

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

uint8_t	mask
	The mask of Tx buffer. More...

Field Documentation

mscan_frame_t* mscan_mb_transfer_t::frame

uint8_t mscan_mb_transfer_t::mask

struct _mscan_handle

MsCAN handle structure definition.

Data Fields
mscan_transfer_callback_t	callback
	Callback function. More...

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

mscan_frame_t *volatile	mbFrameBuf
	The buffer for received data from Message Buffers. More...

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

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

Field Documentation

mscan_transfer_callback_t mscan_handle_t::callback

void* mscan_handle_t::userData

mscan_frame_t* volatile mscan_handle_t::mbFrameBuf

volatile uint8_t mscan_handle_t::mbStateTx

volatile uint8_t mscan_handle_t::mbStateRx

Macro Definition Documentation

#define FSL_MSCAN_DRIVER_VERSION (MAKE_VERSION(2, 1, 0))

#define MSCAN_RX_MB_STD_MASK ( id )

Value:

((uint32_t)((((uint32_t)(id)&0x7) << 21) | \

((((uint32_t)(id) >> 3) & 0xFF) << 24)))

Standard Rx Message Buffer Mask helper macro.

#define MSCAN_R_TSRR (1U)

#define MSCAN_R_TEIDE (1U)

Typedef Documentation

typedef void(* mscan_transfer_callback_t)(CAN_Type *base, mscan_handle_t *handle, status_t status, void *userData)

The MsCAN transfer callback returns a value from the underlying layer. If the status equals to kStatus_MSCAN_ErrorStatus, the result parameter is the Content of MsCAN status register which can be used to get the working status(or error status) of MsCAN module. If the status equals to other MsCAN Message Buffer transfer status, the result is the index of Message Buffer that generate transfer event. If the status equals to other MsCAN Message Buffer transfer status, the result is meaningless and should be Ignored. If the status equals kStatus_MSCAN_DataLengthError, it means the received frame data length code (DLC) is wrong.

Enumeration Type Documentation

anonymous enum

Enumerator
kStatus_MSCAN_TxBusy	Tx Message Buffer is Busy.
kStatus_MSCAN_TxIdle	Tx Message Buffer is Idle.
kStatus_MSCAN_TxSwitchToRx	Remote Message is send out and Message buffer changed to Receive one.
kStatus_MSCAN_RxBusy	Rx Message Buffer is Busy.
kStatus_MSCAN_RxIdle	Rx Message Buffer is Idle.
kStatus_MSCAN_RxOverflow	Rx Message Buffer is Overflowed.
kStatus_MSCAN_RxFifoBusy	Rx Message FIFO is Busy.
kStatus_MSCAN_RxFifoIdle	Rx Message FIFO is Idle.
kStatus_MSCAN_RxFifoOverflow	Rx Message FIFO is overflowed.
kStatus_MSCAN_RxFifoWarning	Rx Message FIFO is almost overflowed.
kStatus_MSCAN_ErrorStatus	FlexCAN Module Error and Status.
kStatus_MSCAN_UnHandled	UnHadled Interrupt asserted.
kStatus_MSCAN_DataLengthError	Frame data length is wrong.

enum mscan_frame_format_t

Enumerator
kMSCAN_FrameFormatStandard	Standard frame format attribute.
kMSCAN_FrameFormatExtend	Extend frame format attribute.

enum mscan_frame_type_t

Enumerator
kMSCAN_FrameTypeData	Data frame type attribute.
kMSCAN_FrameTypeRemote	Remote frame type attribute.

enum mscan_clock_source_t

Enumerator
kMSCAN_ClkSrcOsc	MsCAN Protocol Engine clock from Oscillator.
kMSCAN_ClkSrcBus	MsCAN Protocol Engine clock from Bus Clock.

enum mscan_busoffrec_mode_t

Enumerator
kMSCAN_BusoffrecAuto	MsCAN automatic bus-off recovery.
kMSCAN_BusoffrecUsr	MsCAN bus-off recovery upon user request.

enum _mscan_tx_buffer_empty_flag

Enumerator
kMSCAN_TxBuf0Empty	MsCAN Tx Buffer 0 empty.
kMSCAN_TxBuf1Empty	MsCAN Tx Buffer 1 empty.
kMSCAN_TxBuf2Empty	MsCAN Tx Buffer 2 empty.
kMSCAN_TxBufFull	MsCAN Tx Buffer all not empty.

enum mscan_id_filter_mode_t

Enumerator
kMSCAN_Filter32Bit	Two 32-bit acceptance filters.
kMSCAN_Filter16Bit	Four 16-bit acceptance filters.
kMSCAN_Filter8Bit	Eight 8-bit acceptance filters.
kMSCAN_FilterClose	Filter closed.

enum _mscan_interrupt_enable

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

Enumerator
kMSCAN_WakeUpInterruptEnable	Wake Up interrupt.
kMSCAN_StatusChangeInterruptEnable	Status change interrupt.
kMSCAN_RxStatusChangeInterruptEnable	Rx status change interrupt.
kMSCAN_TxStatusChangeInterruptEnable	Tx status change interrupt.
kMSCAN_OverrunInterruptEnable	Overrun interrupt.
kMSCAN_RxFullInterruptEnable	Rx buffer full interrupt.
kMSCAN_TxEmptyInterruptEnable	Tx buffer empty interrupt.

Function Documentation

void MSCAN_Init	(	CAN_Type *	base,
		const mscan_config_t *	config
	)

This function initializes the MsCAN module with user-defined settings. This example shows how to set up the mscan_config_t parameters and how to call the MSCAN_Init function by passing in these parameters.When mscanConfig.enableTimingCalc is true and the clock and baudrate parameters are not completely matched, there will be a certain error in the automatically calculated bit timing value. The user can know whether the clock and baudrate match by calling MSCAN_CalculateImprovedTimingValues() API, and get the calculated bit timing.

*   mscan_config_t mscanConfig;
*   mscanConfig.clkSrc            = kMSCAN_ClkSrcBus;
*   mscanConfig.sourceClock       = 40000000U;
*   mscanConfig.baudRate          = 500000U;
*   mscanConfig.enableTimingCalc  = true;
*   mscanConfig.enableTimer       = false;
*   mscanConfig.enableLoopBack    = false;
*   mscanConfig.enableWakeup      = false;
*   mscanConfig.enableListen      = false;
*   mscanConfig.busoffrecMode     = kMSCAN_BusoffrecAuto;
*   mscanConfig.filterConfig.filterMode = kMSCAN_Filter32Bit;
*   MSCAN_Init(MSCAN, &mscanConfig);
*  

param base MsCAN peripheral base address. param config Pointer to the user-defined configuration structure.

void MSCAN_Deinit ( CAN_Type * base )

This function disables the MsCAN module clock and sets all register values to the reset value.

Parameters

base	MsCAN peripheral base address.

void MSCAN_GetDefaultConfig	(	mscan_config_t *	config,
		uint32_t	sourceClock_Hz
	)

This function initializes the MsCAN configuration structure to default values. User is requested to provide the clock frequency for the peripheral.

Parameters

config	Pointer to the MsCAN configuration structure.
sourceClock_Hz	MsCAN peripheral clock

static uint8_t MSCAN_GetTxBufferEmptyFlag ( CAN_Type * base )

inlinestatic

This flag indicates that the associated transmit message buffer is empty.

Parameters

base	MsCAN peripheral base address.

static void MSCAN_TxBufferSelect	(	CAN_Type *	base,
		uint8_t	txBuf
	)

inlinestatic

To get the next available transmit buffer, read the TFLG register and write its value back into the TBSEL register.

Parameters

base	MsCAN peripheral base address.
txBuf	The value read from TFLG.

static uint8_t MSCAN_GetTxBufferSelect ( CAN_Type * base )

inlinestatic

After write TFLG value back into the TBSEL register, read again CANBSEL to get the actual trasnsmit message buffer.

Parameters

base	MsCAN peripheral base address.

static void MSCAN_TxBufferLaunch	(	CAN_Type *	base,
		uint8_t	txBuf
	)

inlinestatic

The CPU must clear the flag after a message is set up in the transmit buffer and is due for transmission.

Parameters

base	MsCAN peripheral base address.
txBuf	Message buffer(s) to be cleared.

static uint8_t MSCAN_GetTxBufferStatusFlags	(	CAN_Type *	base,
		uint8_t	mask
	)

inlinestatic

The bit is set after successful transmission.

Parameters

base	MsCAN peripheral base address.
mask	Message buffer(s) mask.

static uint8_t MSCAN_GetRxBufferFullFlag ( CAN_Type * base )

inlinestatic

RXF is set by the MSCAN when a new message is shifted in the receiver FIFO. This flag indicates whether the shifted buffer is loaded with a correctly received message.

Parameters

base	MsCAN peripheral base address.

static void MSCAN_ClearRxBufferFullFlag ( CAN_Type * base )

inlinestatic

After the CPU has read that message from the RxFG buffer in the receiver FIFO The RXF flag must be cleared to release the buffer.

Parameters

base	MsCAN peripheral base address.

bool MSCAN_CalculateImprovedTimingValues	(	uint32_t	baudRate,
		uint32_t	sourceClock_Hz,
		mscan_timing_config_t *	pconfig
	)

Parameters

baudRate	The classical MSCAN speed in bps defined by user
sourceClock_Hz	The Source clock frequency in Hz.
pconfig	Pointer to the MSCAN timing configuration structure.

Returns: TRUE if timing configuration found, FALSE if failed to find configuration

void MSCAN_SetTimingConfig	(	CAN_Type *	base,
		const mscan_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 MSCAN_GetDefaultConfig() and the MSCAN_Init() to fill the baud rate field with auto-calculates values (base on the default baud rate). This provides the default timing characteristics to the module. Users also can call MSCAN_SetBaudRate() to set auto-calculates timing values base on the desired baud rate.

Note: that calling MSCAN_SetTimingConfig() overrides the baud rate set in MSCAN_Init() or MSCAN_SetBaudRate().

Parameters

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

status_t MSCAN_SetBaudRate	(	CAN_Type *	base,
		uint32_t	sourceClock_Hz,
		uint32_t	baudRate_Bps
	)

This function calculation and configuration the protocol timing characteristic of MsCAN based on the peripheral clock and target bit rate.

Parameters

base	MsCAN peripheral base address.
sourceClock_Hz	Source Clock in Hz.
baudRate_Bps	Baud Rate in Bps.

Return values

kStatus_Success	Set baud rate success.
kStatus_Fail	Set baud rate fail.

static uint8_t MSCAN_GetTxBufEmptyFlags ( CAN_Type * base )

inlinestatic

This function gets MsCAN Tx buffer empty flags. It's returned as the value of the enumerators _mscan_tx_buffer_empty_flag.

Parameters

base	MsCAN peripheral base address.

Returns: Tx buffer empty flags in the _mscan_tx_buffer_empty_flag.

static void MSCAN_EnableTxInterrupts	(	CAN_Type *	base,
		uint8_t	mask
	)

inlinestatic

This function enables the MsCAN Tx empty interrupts according to the mask.

Parameters

base	MsCAN peripheral base address.
mask	The Tx interrupts mask to enable.

static void MSCAN_DisableTxInterrupts	(	CAN_Type *	base,
		uint8_t	mask
	)

inlinestatic

This function disables the MsCAN Tx emtpy interrupts according to the mask.

Parameters

base	MsCAN peripheral base address.
mask	The Tx interrupts mask to disable.

static void MSCAN_EnableRxInterrupts	(	CAN_Type *	base,
		uint8_t	mask
	)

inlinestatic

This function enables the MsCAN Rx interrupts according to the provided mask which is a logical OR of enumeration members, see _mscan_interrupt_enable.

Parameters

base	MsCAN peripheral base address.
mask	The interrupts to enable. Logical OR of _mscan_interrupt_enable.

static void MSCAN_DisableRxInterrupts	(	CAN_Type *	base,
		uint8_t	mask
	)

inlinestatic

This function disables the MsCAN Rx interrupts according to the provided mask which is a logical OR of enumeration members, see _mscan_interrupt_enable.

Parameters

base	MsCAN peripheral base address.
mask	The interrupts to disable. Logical OR of _mscan_interrupt_enable.

static void MSCAN_AbortTxRequest	(	CAN_Type *	base,
		uint8_t	mask
	)

inlinestatic

This function allows abort request of queued messages.

Parameters

base	MsCAN peripheral base address.
mask	The Tx mask to abort.

static void MSCAN_Enable	(	CAN_Type *	base,
		bool	enable
	)

inlinestatic

This function enables or disables the MsCAN module.

Parameters

base	MsCAN base pointer.
enable	true to enable, false to disable.

status_t MSCAN_WriteTxMb	(	CAN_Type *	base,
		mscan_frame_t *	pTxFrame
	)

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	MsCAN peripheral base address.
pTxFrame	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.
kStatus_MSCAN_DataLengthError	- Tx Message Buffer data length is wrong.

status_t MSCAN_ReadRxMb	(	CAN_Type *	base,
		mscan_frame_t *	pRxFrame
	)

This function reads a CAN message from a specified Receive Message Buffer. The function fills a receive CAN message frame structure with just received data and activates the Message Buffer again. The function returns immediately.

Parameters

base	MsCAN peripheral base address.
pRxFrame	Pointer to CAN message frame structure for reception.

Return values

kStatus_Success	- Rx Message Buffer is full and has been read successfully.
kStatus_Fail	- Rx Message Buffer is empty.
kStatus_MSCAN_DataLengthError	- Rx Message data length is wrong.

void MSCAN_TransferCreateHandle	(	CAN_Type *	base,
		mscan_handle_t *	handle,
		mscan_transfer_callback_t	callback,
		void *	userData
	)

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

Parameters

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

status_t MSCAN_TransferSendBlocking	(	CAN_Type *	base,
		mscan_frame_t *	pTxFrame
	)

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

Parameters

base	MsCAN peripheral base pointer.
pTxFrame	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.
kStatus_MSCAN_DataLengthError	- Tx Message Buffer data length is wrong.

status_t MSCAN_TransferReceiveBlocking	(	CAN_Type *	base,
		mscan_frame_t *	pRxFrame
	)

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

Parameters

base	MsCAN peripheral base pointer.
pRxFrame	Pointer to CAN message frame to be received.

Return values

kStatus_Success	- Read Rx Message Buffer Successfully.
kStatus_Fail	- Tx Message Buffer is currently in use.
kStatus_MSCAN_DataLengthError	- Rx Message data length is wrong.

status_t MSCAN_TransferSendNonBlocking	(	CAN_Type *	base,
		mscan_handle_t *	handle,
		mscan_mb_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	MsCAN peripheral base address.
handle	MsCAN handle pointer.
xfer	MsCAN Message Buffer transfer structure. See the mscan_mb_transfer_t.

Return values

kStatus_Success	Start Tx Message Buffer sending process successfully.
kStatus_Fail	Write Tx Message Buffer failed.
kStatus_MSCAN_DataLengthError	- Tx Message Buffer data length is wrong.

status_t MSCAN_TransferReceiveNonBlocking	(	CAN_Type *	base,
		mscan_handle_t *	handle,
		mscan_mb_transfer_t *	xfer
	)

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

Parameters

base	MsCAN peripheral base address.
handle	MsCAN handle pointer.
xfer	MsCAN Message Buffer transfer structure. See the mscan_mb_transfer_t.

Return values

kStatus_Success	- Start Rx Message Buffer receiving process successfully.
kStatus_MSCAN_RxBusy	- Rx Message Buffer is in use.

void MSCAN_TransferAbortSend	(	CAN_Type *	base,
		mscan_handle_t *	handle,
		uint8_t	mask
	)

This function aborts the interrupt driven message send process.

Parameters

base	MsCAN peripheral base address.
handle	MsCAN handle pointer.
mask	The MsCAN Tx Message Buffer mask.

void MSCAN_TransferAbortReceive	(	CAN_Type *	base,
		mscan_handle_t *	handle,
		uint8_t	mask
	)

This function aborts the interrupt driven message receive process.

Parameters

base	MsCAN peripheral base address.
handle	MsCAN handle pointer.
mask	The MsCAN Rx Message Buffer mask.

void MSCAN_TransferHandleIRQ	(	CAN_Type *	base,
		mscan_handle_t *	handle
	)

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

Parameters

base	MSCAN peripheral base address.
handle	MSCAN handle pointer.

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