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
	MCAN Tx Buffer structure. More...

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

struct	_mcan_rx_fifo_config
	MCAN Rx FIFO configuration. More...

struct	_mcan_rx_buffer_config
	MCAN Rx Buffer configuration. More...

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

struct	_mcan_tx_buffer_config
	MCAN Tx Buffer configuration. More...

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

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

struct	_mcan_frame_filter_config
	MCAN Rx filter configuration. More...

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

struct	_mcan_timing_param
	MCAN bit timing parameter configuration structure. More...

struct	_mcan_memory_config
	MCAN Message RAM related configuration structure. More...

struct	_mcan_config
	MCAN module configuration structure. More...

struct	_mcan_buffer_transfer
	MCAN Buffer transfer. More...

struct	_mcan_fifo_transfer
	MCAN Rx FIFO transfer. More...

struct	_mcan_handle
	MCAN handle structure. More...

Typedefs
typedef enum _mcan_frame_idformat	mcan_frame_idformat_t
	MCAN frame format. More...

typedef enum _mcan_frame_type	mcan_frame_type_t
	MCAN frame type. More...

typedef enum _mcan_bytes_in_datafield	mcan_bytes_in_datafield_t
	MCAN frame datafield size. More...

typedef struct _mcan_tx_buffer_frame	mcan_tx_buffer_frame_t
	MCAN Tx Buffer structure. More...

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

typedef enum _mcan_fifo_type	mcan_fifo_type_t
	MCAN Rx FIFO block number. More...

typedef enum _mcan_fifo_opmode_config	mcan_fifo_opmode_config_t
	MCAN FIFO Operation Mode. More...

typedef enum _mcan_txmode_config	mcan_txmode_config_t
	MCAN Tx FIFO/Queue Mode. More...

typedef enum _mcan_remote_frame_config	mcan_remote_frame_config_t
	MCAN remote frames treatment. More...

typedef enum _mcan_nonmasking_frame_config	mcan_nonmasking_frame_config_t
	MCAN non-masking frames treatment. More...

typedef enum _mcan_fec_config	mcan_fec_config_t
	MCAN Filter Element Configuration. More...

typedef struct _mcan_rx_fifo_config	mcan_rx_fifo_config_t
	MCAN Rx FIFO configuration. More...

typedef struct _mcan_rx_buffer_config	mcan_rx_buffer_config_t
	MCAN Rx Buffer configuration. More...

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

typedef struct _mcan_tx_buffer_config	mcan_tx_buffer_config_t
	MCAN Tx Buffer configuration. More...

typedef enum _mcan_std_filter_type	mcan_filter_type_t
	MCAN Filter Type. More...

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

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

typedef struct _mcan_frame_filter_config	mcan_frame_filter_config_t
	MCAN Rx filter configuration. More...

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

typedef struct _mcan_timing_param	mcan_timing_param_t
	MCAN bit timing parameter configuration structure. More...

typedef struct _mcan_memory_config	mcan_memory_config_t
	MCAN Message RAM related configuration structure. More...

typedef struct _mcan_config	mcan_config_t
	MCAN module configuration structure. More...

typedef struct _mcan_buffer_transfer	mcan_buffer_transfer_t
	MCAN Buffer transfer. More...

typedef struct _mcan_fifo_transfer	mcan_fifo_transfer_t
	MCAN Rx FIFO transfer. More...

typedef struct _mcan_handle	mcan_handle_t
	MCAN handle structure definition. More...

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

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

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

enum	_mcan_fifo_opmode_config { kMCAN_FifoBlocking = 0x0U, kMCAN_FifoOverwrite = 0x1U }
	MCAN FIFO Operation Mode. More...

enum	_mcan_txmode_config { kMCAN_txFifo = 0x0U, kMCAN_txQueue = 0x1U }
	MCAN Tx FIFO/Queue Mode. More...

enum	_mcan_remote_frame_config { kMCAN_filterFrame = 0x0U, kMCAN_rejectFrame = 0x1U }
	MCAN remote frames treatment. More...

enum	_mcan_nonmasking_frame_config { kMCAN_acceptinFifo0 = 0x0U, kMCAN_acceptinFifo1 = 0x1U, kMCAN_reject0 = 0x2U, kMCAN_reject1 = 0x3U }
	MCAN non-masking frames treatment. More...

enum	_mcan_fec_config { kMCAN_disable = 0x0U, kMCAN_storeinFifo0 = 0x1U, kMCAN_storeinFifo1 = 0x2U, kMCAN_reject = 0x3U, kMCAN_setprio = 0x4U, kMCAN_setpriofifo0 = 0x5U, kMCAN_setpriofifo1 = 0x6U, kMCAN_storeinbuffer = 0x7U }
	MCAN Filter Element Configuration. More...

enum	_mcan_std_filter_type { kMCAN_range = 0x0U, kMCAN_dual = 0x1U, kMCAN_classic = 0x2U, kMCAN_disableORrange2 = 0x3U }
	MCAN Filter Type. More...

Driver version
#define	FSL_MCAN_DRIVER_VERSION (MAKE_VERSION(2, 4, 2))
	MCAN driver version. 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...

static void	MCAN_EnterInitialMode (CAN_Type *base)
	MCAN enters initialization mode. More...

static 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...

bool	MCAN_CalculateImprovedTimingValues (uint32_t baudRate, uint32_t sourceClock_Hz, mcan_timing_config_t *pconfig)
	Calculates the improved timing values by specific baudrates for classical CAN. More...

bool	MCAN_CalculateSpecifiedTimingValues (uint32_t sourceClock_Hz, mcan_timing_config_t pconfig, const mcan_timing_param_t pParamConfig)
	Calculates the specified timing values for classical CAN with user-defined settings. More...

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

status_t	MCAN_SetBaudRate (CAN_Type *base, uint32_t sourceClock_Hz, uint32_t baudRate_Bps)
	Set Baud Rate of MCAN classic mode. More...

bool	MCAN_FDCalculateImprovedTimingValues (uint32_t baudRate, uint32_t baudRateFD, uint32_t sourceClock_Hz, mcan_timing_config_t *pconfig)
	Calculates the improved timing values by specific baudrates for CANFD. More...

bool	MCAN_FDCalculateSpecifiedTimingValues (uint32_t sourceClock_Hz, mcan_timing_config_t pconfig, const mcan_timing_param_t pParamConfig)
	Calculates the specified timing values for CANFD with user-defined settings. More...

status_t	MCAN_SetBaudRateFD (CAN_Type *base, uint32_t sourceClock_Hz, uint32_t baudRateN_Bps, uint32_t baudRateD_Bps)
	Set Baud Rate of MCAN FD mode. More...

void	MCAN_SetDataTimingConfig (CAN_Type base, const mcan_timing_config_t config)
	Sets the MCAN protocol data 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...

status_t	MCAN_SetMessageRamConfig (CAN_Type base, const mcan_memory_config_t config)
	Set Message RAM related 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 standard message ID filter element 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 extended message ID filter element 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
uint32_t	MCAN_IsTransmitRequestPending (CAN_Type *base, uint8_t idx)
	Gets the Tx buffer request pending status. More...

uint32_t	MCAN_IsTransmitOccurred (CAN_Type *base, uint8_t idx)
	Gets the Tx buffer transmission occurred status. More...

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

status_t	MCAN_ReadRxBuffer (CAN_Type base, uint8_t idx, mcan_rx_buffer_frame_t pRxFrame)
	Reads an MCAN Message from Rx Buffer. More...

status_t	MCAN_ReadRxFifo (CAN_Type base, uint8_t fifoBlock, mcan_rx_buffer_frame_t pRxFrame)
	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 pTxFrame)
	Performs a polling send transaction on the CAN bus. More...

status_t	MCAN_TransferReceiveBlocking (CAN_Type base, uint8_t idx, mcan_rx_buffer_frame_t pRxFrame)
	Performs a polling receive transaction on the CAN bus. More...

status_t	MCAN_TransferReceiveFifoBlocking (CAN_Type base, uint8_t fifoBlock, mcan_rx_buffer_frame_t pRxFrame)
	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

Data Fields
uint8_t	size
	classical CAN is 8(bytes), FD is 12/64 such. More...

uint32_t	id: 29
	CAN Frame Identifier. More...

uint32_t	rtr: 1
	CAN Frame Type(DATA or REMOTE). More...

uint32_t	xtd: 1
	CAN Frame Type(STD or EXT). More...

uint32_t	esi: 1
	CAN Frame Error State Indicator. More...

uint32_t	dlc: 4
	Data Length Code 9 10 11 12 13 14 15 Number of data bytes 12 16 20 24 32 48 64.

uint32_t	brs: 1
	Bit Rate Switch. More...

uint32_t	fdf: 1
	CAN FD format. More...

uint32_t	__pad1__: 1
	Reserved. More...

uint32_t	efc: 1
	Event FIFO control. More...

uint32_t	mm: 8
	Message Marker. More...

Field Documentation

uint32_t _mcan_tx_buffer_frame::id

uint32_t _mcan_tx_buffer_frame::rtr

uint32_t _mcan_tx_buffer_frame::xtd

uint32_t _mcan_tx_buffer_frame::esi

uint32_t _mcan_tx_buffer_frame::brs

uint32_t _mcan_tx_buffer_frame::fdf

uint32_t _mcan_tx_buffer_frame::__pad1__

uint32_t _mcan_tx_buffer_frame::efc

uint32_t _mcan_tx_buffer_frame::mm

uint8_t _mcan_tx_buffer_frame::size

struct _mcan_rx_buffer_frame

Data Fields
uint8_t	size
	classical CAN is 8(bytes), FD is 12/64 such. More...

uint32_t	id: 29
	CAN Frame Identifier. More...

uint32_t	rtr: 1
	CAN Frame Type(DATA or REMOTE). More...

uint32_t	xtd: 1
	CAN Frame Type(STD or EXT). More...

uint32_t	esi: 1
	CAN Frame Error State Indicator. More...

uint32_t	rxts: 16
	Rx Timestamp. More...

uint32_t	dlc: 4
	Data Length Code 9 10 11 12 13 14 15 Number of data bytes 12 16 20 24 32 48 64.

uint32_t	brs: 1
	Bit Rate Switch. More...

uint32_t	fdf: 1
	CAN FD format. More...

uint32_t	__pad0__: 2
	Reserved. More...

uint32_t	fidx: 7
	Filter Index. More...

uint32_t	anmf: 1
	Accepted Non-matching Frame. More...

Field Documentation

uint32_t _mcan_rx_buffer_frame::id

uint32_t _mcan_rx_buffer_frame::rtr

uint32_t _mcan_rx_buffer_frame::xtd

uint32_t _mcan_rx_buffer_frame::esi

uint32_t _mcan_rx_buffer_frame::rxts

uint32_t _mcan_rx_buffer_frame::brs

uint32_t _mcan_rx_buffer_frame::fdf

uint32_t _mcan_rx_buffer_frame::__pad0__

uint32_t _mcan_rx_buffer_frame::fidx

uint32_t _mcan_rx_buffer_frame::anmf

uint8_t _mcan_rx_buffer_frame::size

struct _mcan_rx_fifo_config

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::address

uint32_t _mcan_rx_fifo_config::elementSize

uint32_t _mcan_rx_fifo_config::watermark

mcan_fifo_opmode_config_t _mcan_rx_fifo_config::opmode

mcan_bytes_in_datafield_t _mcan_rx_fifo_config::datafieldSize

struct _mcan_rx_buffer_config

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::address

mcan_bytes_in_datafield_t _mcan_rx_buffer_config::datafieldSize

struct _mcan_tx_fifo_config

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::address

uint32_t _mcan_tx_fifo_config::elementSize

uint32_t _mcan_tx_fifo_config::watermark

struct _mcan_tx_buffer_config

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::address

uint32_t _mcan_tx_buffer_config::dedicatedSize

uint32_t _mcan_tx_buffer_config::fqSize

mcan_txmode_config_t _mcan_tx_buffer_config::mode

mcan_bytes_in_datafield_t _mcan_tx_buffer_config::datafieldSize

struct _mcan_std_filter_element_config

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...

uint32_t	sfec: 3
	Standard Filter Element Configuration. More...

uint32_t	sft: 2
	Standard Filter Type. More...

Field Documentation

uint32_t _mcan_std_filter_element_config::sfid2

uint32_t _mcan_std_filter_element_config::__pad0__

uint32_t _mcan_std_filter_element_config::sfid1

uint32_t _mcan_std_filter_element_config::sfec

uint32_t _mcan_std_filter_element_config::sft

struct _mcan_ext_filter_element_config

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

uint32_t	efec: 3
	Extended Filter Element Configuration. More...

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

uint32_t	__pad0__: 1
	Reserved. More...

uint32_t	eft: 2
	Extended Filter Type. More...

Field Documentation

uint32_t _mcan_ext_filter_element_config::efid1

uint32_t _mcan_ext_filter_element_config::efec

uint32_t _mcan_ext_filter_element_config::efid2

uint32_t _mcan_ext_filter_element_config::__pad0__

uint32_t _mcan_ext_filter_element_config::eft

struct _mcan_frame_filter_config

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::address

uint32_t _mcan_frame_filter_config::listSize

mcan_frame_idformat_t _mcan_frame_filter_config::idFormat

mcan_remote_frame_config_t _mcan_frame_filter_config::remFrame

mcan_nonmasking_frame_config_t _mcan_frame_filter_config::nmFrame

struct _mcan_timing_config

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

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

uint8_t	seg1
	Nominal Time Segment 1. More...

uint8_t	seg2
	Nominal Time Segment 2. More...

uint16_t	datapreDivider
	Data Clock Pre-scaler Division Factor. More...

uint8_t	datarJumpwidth
	Data Re-sync Jump Width. More...

uint8_t	dataseg1
	Data Time Segment 1. More...

uint8_t	dataseg2
	Data Time Segment 2. More...

Field Documentation

uint16_t _mcan_timing_config::preDivider

uint8_t _mcan_timing_config::rJumpwidth

uint8_t _mcan_timing_config::seg1

uint8_t _mcan_timing_config::seg2

uint16_t _mcan_timing_config::datapreDivider

uint8_t _mcan_timing_config::datarJumpwidth

uint8_t _mcan_timing_config::dataseg1

uint8_t _mcan_timing_config::dataseg2

struct _mcan_timing_param

Data Fields
uint32_t	busLength
	Maximum Bus length in meter. More...

uint32_t	propTxRx
	Transceiver propagation delay in nanosecond. More...

uint32_t	nominalbaudRate
	Baud rate of Arbitration phase in bps. More...

uint32_t	nominalSP
	Sample point of Arbitration phase, range in 10 ~ 990, 800 means 80%. More...

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

uint32_t	dataSP
	Sample point of Data phase, range in 0 ~ 1000, 800 means 80%. More...

Field Documentation

uint32_t _mcan_timing_param::busLength

uint32_t _mcan_timing_param::propTxRx

uint32_t _mcan_timing_param::nominalbaudRate

uint32_t _mcan_timing_param::nominalSP

uint32_t _mcan_timing_param::databaudRate

uint32_t _mcan_timing_param::dataSP

struct _mcan_memory_config

Data Fields
uint32_t	baseAddr
	Message RAM base address, should be 4k alignment. More...

Field Documentation

uint32_t _mcan_memory_config::baseAddr

struct _mcan_config

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...

mcan_timing_config_t	timingConfig
	Protocol timing . More...

Field Documentation

uint32_t _mcan_config::baudRateA

uint32_t _mcan_config::baudRateD

bool _mcan_config::enableCanfdNormal

bool _mcan_config::enableCanfdSwitch

bool _mcan_config::enableLoopBackInt

bool _mcan_config::enableLoopBackExt

bool _mcan_config::enableBusMon

mcan_timing_config_t _mcan_config::timingConfig

struct _mcan_buffer_transfer

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::frame

uint8_t _mcan_buffer_transfer::bufferIdx

struct _mcan_fifo_transfer

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::frame

struct _mcan_handle

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

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

Field Documentation

mcan_transfer_callback_t _mcan_handle::callback

void* _mcan_handle::userData

mcan_tx_buffer_frame_t* volatile _mcan_handle::bufferFrameBuf[64]

mcan_rx_buffer_frame_t* volatile _mcan_handle::rxFifoFrameBuf

volatile uint8_t _mcan_handle::bufferState[64]

volatile uint8_t _mcan_handle::rxFifoState

Macro Definition Documentation

#define FSL_MCAN_DRIVER_VERSION (MAKE_VERSION(2, 4, 2))

Typedef Documentation

typedef enum _mcan_frame_idformat mcan_frame_idformat_t

typedef enum _mcan_frame_type mcan_frame_type_t

typedef enum _mcan_bytes_in_datafield mcan_bytes_in_datafield_t

typedef struct _mcan_tx_buffer_frame mcan_tx_buffer_frame_t

typedef struct _mcan_rx_buffer_frame mcan_rx_buffer_frame_t

typedef enum _mcan_fifo_type mcan_fifo_type_t

typedef enum _mcan_fifo_opmode_config mcan_fifo_opmode_config_t

typedef enum _mcan_txmode_config mcan_txmode_config_t

typedef enum _mcan_remote_frame_config mcan_remote_frame_config_t

typedef enum _mcan_nonmasking_frame_config mcan_nonmasking_frame_config_t

typedef enum _mcan_fec_config mcan_fec_config_t

typedef struct _mcan_rx_fifo_config mcan_rx_fifo_config_t

typedef struct _mcan_rx_buffer_config mcan_rx_buffer_config_t

typedef struct _mcan_tx_fifo_config mcan_tx_fifo_config_t

typedef struct _mcan_tx_buffer_config mcan_tx_buffer_config_t

typedef enum _mcan_std_filter_type mcan_filter_type_t

typedef struct _mcan_std_filter_element_config mcan_std_filter_element_config_t

typedef struct _mcan_ext_filter_element_config mcan_ext_filter_element_config_t

typedef struct _mcan_frame_filter_config mcan_frame_filter_config_t

typedef struct _mcan_timing_config mcan_timing_config_t

typedef struct _mcan_timing_param mcan_timing_param_t

typedef struct _mcan_memory_config mcan_memory_config_t

typedef struct _mcan_config mcan_config_t

typedef struct _mcan_buffer_transfer mcan_buffer_transfer_t

typedef struct _mcan_fifo_transfer mcan_fifo_transfer_t

typedef struct _mcan_handle mcan_handle_t

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

anonymous enum

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

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

enum _mcan_frame_type

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

enum _mcan_bytes_in_datafield

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

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

enum _mcan_fifo_opmode_config

Enumerator
kMCAN_FifoBlocking	FIFO blocking mode.
kMCAN_FifoOverwrite	FIFO overwrite mode.

enum _mcan_txmode_config

Enumerator
kMCAN_txFifo	Tx FIFO operation.
kMCAN_txQueue	Tx Queue operation.

enum _mcan_remote_frame_config

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

enum _mcan_nonmasking_frame_config

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

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_std_filter_type

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 = 1000000U;
*   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 = 1000000U; config->enableCanfdNormal = false; config->enableCanfdSwitch = false; config->enableLoopBackInt = false; config->enableLoopBackExt = false; config->enableBusMon = false;

Parameters

config Pointer to the MCAN configuration structure.

static void MCAN_EnterInitialMode ( CAN_Type * base )

inlinestatic

After enter initialization mode, users can write access to the protected conﬁguration registers.

Parameters

base	MCAN peripheral base address.

static void MCAN_EnterNormalMode ( CAN_Type * base )

inlinestatic

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.

bool MCAN_CalculateImprovedTimingValues	(	uint32_t	baudRate,
		uint32_t	sourceClock_Hz,
		mcan_timing_config_t *	pconfig
	)

Parameters

baudRate	The classical CAN speed in bps defined by user
sourceClock_Hz	The Source clock data speed in bps. Zero to disable baudrate switching
pconfig	Pointer to the MCAN timing configuration structure.

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

bool MCAN_CalculateSpecifiedTimingValues	(	uint32_t	sourceClock_Hz,
		mcan_timing_config_t *	pconfig,
		const mcan_timing_param_t *	pParamConfig
	)

User can specify baudrates, sample point position, bus length, and transceiver propagation delay. This example shows how to set up the mcan_timing_param_t parameters and how to call the this function by passing in these parameters.

*   mcan_timing_config_t timing_config;
*   mcan_timing_param_t timing_param;
*   timing_param.busLength = 1U;
*   timing_param.propTxRx = 230U;
*   timing_param.nominalbaudRate = 500000U;
*   timing_param.nominalSP = 800U;
*   MCAN_CalculateSpecifiedTimingValues(MCAN_CLK_FREQ, &timing_config, &timing_param);
*  

Note that due to integer division will sacrifice the precision, actual sample point may not equal to expected. If actual sample point is not in allowed 2% range, this function will return false. So it is better to select higher source clock when baudrate is relatively high. This will ensure more time quanta and higher precision of sample point. Parameter busLength and propTxRx are optional and intended to verify whether propagation delay is too long to corrupt sample point. User can set these parameter zero if you do not want to consider this factor.

Parameters

sourceClock_Hz	The Source clock data speed in bps.
pconfig	Pointer to the MCAN timing configuration structure.
config	Pointer to the MCAN timing parameters structure.

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

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.

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

This function set the baud rate of MCAN base on MCAN_CalculateImprovedTimingValues() API calculated timing values.

Parameters

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

Returns: kStatus_Success - Set CAN baud rate (only has Nominal phase) successfully.

bool MCAN_FDCalculateImprovedTimingValues	(	uint32_t	baudRate,
		uint32_t	baudRateFD,
		uint32_t	sourceClock_Hz,
		mcan_timing_config_t *	pconfig
	)

Parameters

baudRate	The CANFD bus control speed in bps defined by user
baudRateFD	The CANFD bus data speed in bps defined by user
sourceClock_Hz	The Source clock data speed in bps.
pconfig	Pointer to the MCAN timing configuration structure.

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

bool MCAN_FDCalculateSpecifiedTimingValues	(	uint32_t	sourceClock_Hz,
		mcan_timing_config_t *	pconfig,
		const mcan_timing_param_t *	pParamConfig
	)

User can specify baudrates, sample point position, bus length, and transceiver propagation delay. This example shows how to set up the mcan_timing_param_t parameters and how to call the this function by passing in these parameters.

*   mcan_timing_config_t timing_config;
*   mcan_timing_param_t timing_param;
*   timing_param.busLength = 1U;
*   timing_param.propTxRx = 230U;
*   timing_param.nominalbaudRate = 500000U;
*   timing_param.nominalSP = 800U;
*   timing_param.databaudRate = 4000000U;
*   timing_param.dataSP = 700U;
*   MCAN_FDCalculateSpecifiedTimingValues(MCAN_CLK_FREQ, &timing_config, &timing_param);
*  

Note that due to integer division will sacrifice the precision, actual sample point may not equal to expected. So it is better to select higher source clock when baudrate is relatively high. Select higher nominal baudrate when source clock is relatively high because large clock predivider will lead to less time quanta in data phase. This function will set predivider in arbitration phase equal to data phase. These methods will ensure more time quanta and higher precision of sample point. Parameter busLength and propTxRx are optional and intended to verify whether propagation delay is too long to corrupt sample point. User can set these parameter zero if you do not want to consider this factor.

Parameters

sourceClock_Hz	The Source clock data speed in bps.
pconfig	Pointer to the MCAN timing configuration structure.
config	Pointer to the MCAN timing parameters structure.

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

status_t MCAN_SetBaudRateFD	(	CAN_Type *	base,
		uint32_t	sourceClock_Hz,
		uint32_t	baudRateN_Bps,
		uint32_t	baudRateD_Bps
	)

This function set the baud rate of MCAN FD base on MCAN_FDCalculateImprovedTimingValues API calculated timing values.

Parameters

base	MCAN peripheral base address.
sourceClock_Hz	Source Clock in Hz.
baudRateN_Bps	Nominal Baud Rate in Bps.
baudRateD_Bps	Data Baud Rate in Bps.

Returns: kStatus_Success - Set CAN FD baud rate (include Nominal and Data phase) successfully.

void MCAN_SetDataTimingConfig	(	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 data 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.

status_t MCAN_SetMessageRamConfig	(	CAN_Type *	base,
		const mcan_memory_config_t *	config
	)

Note: This function include Standard/extended ID filter, Rx FIFO 0/1, Rx buffer, Tx event FIFO and Tx buffer configurations

Parameters

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

Return values

kStatus_Success	- Message RAM related configuration Successfully.
kStatus_Fail	- Message RAM related configure fail due to wrong address parameter.

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

Parameters

base	MCAN peripheral base address.
config	The MCAN filter configuration.
filter	The MCAN standard message ID filter element configuration.
idx	The standard message ID filter element index.

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

Parameters

base	MCAN peripheral base address.
config	The MCAN filter configuration.
filter	The MCAN extended message ID filter element configuration.
idx	The extended message ID filter element index.

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.

uint32_t MCAN_IsTransmitRequestPending	(	CAN_Type *	base,
		uint8_t	idx
	)

This function returns Tx Message Buffer transmission request pending status.

Parameters

base	MCAN peripheral base address.
idx	The MCAN Tx Buffer index.

uint32_t MCAN_IsTransmitOccurred	(	CAN_Type *	base,
		uint8_t	idx
	)

This function returns Tx Message Buffer transmission occurred status.

Parameters

base	MCAN peripheral base address.
idx	The MCAN Tx Buffer index.

status_t MCAN_WriteTxBuffer	(	CAN_Type *	base,
		uint8_t	idx,
		const mcan_tx_buffer_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	MCAN peripheral base address.
idx	The MCAN Tx Buffer index.
pTxFrame	Pointer to CAN message frame to be sent.

status_t MCAN_ReadRxBuffer	(	CAN_Type *	base,
		uint8_t	idx,
		mcan_rx_buffer_frame_t *	pRxFrame
	)

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

Parameters

base	MCAN peripheral base address.
idx	The MCAN Rx Buffer index.
pRxFrame	Pointer to CAN message frame structure for reception.

Return values

kStatus_Success - Read Message from Rx Buffer successfully.

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

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.
pRxFrame	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 *	pTxFrame
	)

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.
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.

status_t MCAN_TransferReceiveBlocking	(	CAN_Type *	base,
		uint8_t	idx,
		mcan_rx_buffer_frame_t *	pRxFrame
	)

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.
pRxFrame	Pointer to CAN message frame structure for reception.

Return values

kStatus_Success	- Read Rx Message Buffer Successfully.
kStatus_Fail	- No new message.

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

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.
pRxFrame	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

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