MCAN Module¶

The Modular Controller Area Network (MCAN) module supports both classic CAN and CAN FD (CAN with Flexible Data-Rate) specifications. CAN FD feature allows high throughput and increased payload per data frame. The classic CAN and CAN FD devices can coexist on the same network without any conflict. Functions are provided to setup and configure the module operating options, setup the different types of message objects, send and read messages, and setup and handle interrupts and events.

group mcan_api

Defines

MCANSS_MSG_RAM_NUM (0U)¶: MCAN MSG RAM BANK number for ECC AGGR.

MCANSS_RX_BUFFER_MAX (64U)¶: Maximum Number of Rx Buffers.

MCANSS_TX_BUFFER_MAX (32U)¶: Maximum Number of Tx Buffers.

MCANSS_STD_ID_FILTER_SIZE_WORDS (1U)¶: Macro for standard Message ID filter.

MCANSS_EXT_ID_FILTER_SIZE_WORDS (2U)¶: Macro for extended Message ID filter.

MCANSS_TX_EVENT_FIFO_SIZE_WORDS (2U)¶: Macro for Tx Event FIFO element size.

MCANSS_INTR_LINE_EN_MASK ((MCAN_ILE_EINT0_MASK | MCAN_ILE_EINT1_MASK))¶: Macro for Interrupt Line enable mask.

MCAN_INTR_MASK_ALL (MCAN_IR_RF0N_MASK | \ MCAN_IR_RF0W_MASK | \ MCAN_IR_RF0F_MASK | \ MCAN_IR_RF0L_MASK | \ MCAN_IR_RF1N_MASK | \ MCAN_IR_RF1W_MASK | \ MCAN_IR_RF1F_MASK | \ MCAN_IR_RF1L_MASK | \ MCAN_IR_HPM_MASK | \ MCAN_IR_TC_MASK | \ MCAN_IR_TCF_MASK | \ MCAN_IR_TFE_MASK | \ MCAN_IR_TEFN_MASK | \ MCAN_IR_TEFW_MASK | \ MCAN_IR_TEFF_MASK | \ MCAN_IR_TEFL_MASK | \ MCAN_IR_TSW_MASK | \ MCAN_IR_MRAF_MASK | \ MCAN_IR_TOO_MASK | \ MCAN_IR_DRX_MASK | \ MCAN_IR_BEC_MASK | \ MCAN_IR_BEU_MASK | \ MCAN_IR_ELO_MASK | \ MCAN_IR_EP_MASK | \ MCAN_IR_EW_MASK | \ MCAN_IR_BO_MASK | \ MCAN_IR_WDI_MASK | \ MCAN_IR_PEA_MASK | \ MCAN_IR_PED_MASK | \ MCAN_IR_ARA_MASK)¶: Macro defines mask for all the interrupts status for MCAN.

MCAN_MAX_PAYLOAD_BYTES (64U)¶: Maximum payload supported by CAN-FD protocol in bytes.

MCAN_STDFILT_RANGE (0U)¶: Range Filter from SFID1 to SFID2

MCAN_STDFILT_DUAL (1U)¶: Dual ID Filter for SFID1 or SFID2

MCAN_STDFILT_CLASSIC (2U)¶: Classic Filter: SFID1 = filter, SFID2 = mask

MCAN_STDFILT_DISABLED (3U)¶: Filter Element Disabled

MCAN_STDFILTEC_DISABLE (0U)¶: Filter Element Disabled

MCAN_STDFILTEC_FIFO0 (1U)¶: Store in RX FIFO 0 if filter matches

MCAN_STDFILTEC_FIFO1 (2U)¶: Store in RX FIFO 1 if filter matches

MCAN_STDFILTEC_REJECT (3U)¶: Reject ID if filter matches

MCAN_STDFILTEC_PRI (4U)¶: Set priority if filter matches

MCAN_STDFILTEC_PRI_FIFO0 (5U)¶: Set priority and store in RX FIFO 0 if filter matches

MCAN_STDFILTEC_PRI_FIFO1 (6U)¶: Set priority and store in RX FIFO 1 if filter matches

MCAN_STDFILTEC_RXBUFF (7U)¶: Store in RX Buffer

Enums

enum MCAN_IntrLineNum¶

Enum to select the MCAN interrupt lines.

Values:

enumerator MCAN_INTR_LINE_NUM_0 = 0U¶: MCAN interrupt line 0

enumerator MCAN_INTR_LINE_NUM_1 = 1U¶: MCAN interrupt line 1

enum MCAN_IdType¶

Enum to represent the MCAN Identifier Type.

Values:

enumerator MCAN_ID_TYPE_11_BIT = 0U¶: 11bit MCAN Identifier

enumerator MCAN_ID_TYPE_29_BIT = 1U¶: 29bit MCAN Identifier

enum MCAN_OperationMode¶

Enum to represent the MCAN mode of operation.

Values:

enumerator MCAN_OPERATION_MODE_NORMAL = 0U¶: MCAN normal mode

enumerator MCAN_OPERATION_MODE_SW_INIT = 1U¶: MCAN SW initialization mode

enum MCAN_MemType¶

Enum to represent the MCAN Message RAM type.

Values:

enumerator MCAN_MEM_TYPE_BUF = 0U¶: MCAN Msg RAM buffers

enumerator MCAN_MEM_TYPE_FIFO = 1U¶: MCAN Msg RAM FIFO/Queue

enum MCAN_RxFIFONum¶

Enum to represent the MCAN Rx FIFO number.

Values:

enumerator MCAN_RX_FIFO_NUM_0 = 0U¶: MCAN Rx FIFO 0

enumerator MCAN_RX_FIFO_NUM_1 = 1U¶: MCAN Rx FIFO 1

enum MCAN_PinType¶

Enum to represent the MCAN pin type.

Values:

enumerator MCAN_PIN_TYPE_RX = 0U¶: MCAN Rx Pin

enumerator MCAN_PIN_TYPE_TX = 1U¶: MCAN Tx Pin

enum MCAN_ElemSize¶

Enum to represent FIFO/Buffer element Size.

Values:

enumerator MCAN_ELEM_SIZE_8BYTES = 0U¶: 8 byte data field

enumerator MCAN_ELEM_SIZE_12BYTES = 1U¶: 12 byte data field

enumerator MCAN_ELEM_SIZE_16BYTES = 2U¶: 16 byte data field

enumerator MCAN_ELEM_SIZE_20BYTES = 3U¶: 20 byte data field

enumerator MCAN_ELEM_SIZE_24BYTES = 4U¶: 24 byte data field

enumerator MCAN_ELEM_SIZE_32BYTES = 5U¶: 32 byte data field

enumerator MCAN_ELEM_SIZE_48BYTES = 6U¶: 48 byte data field

enumerator MCAN_ELEM_SIZE_64BYTES = 7U¶: 64 byte data field

enum MCAN_TimeOutSelect¶

Enum to represent the MCAN time-out counter configuration.

Values:

enumerator MCAN_TIMEOUT_SELECT_CONT = 0U¶: Continuous operation Mode

enumerator MCAN_TIMEOUT_SELECT_TX_EVENT_FIFO = 1U¶: Timeout controlled by Tx Event FIFO

enumerator MCAN_TIMEOUT_SELECT_RX_FIFO0 = 2U¶: Timeout controlled by Rx FIFO 0

enumerator MCAN_TIMEOUT_SELECT_RX_FIFO1 = 3U¶: Timeout controlled by Rx FIFO 1

enum MCAN_IntrSrc¶

Enum for MCAN interrupts.

Values:

enumerator MCAN_INTR_SRC_RX_FIFO0_NEW_MSG = (0x00000001U)¶: Rx FIFO 0 New Message interrupt

enumerator MCAN_INTR_SRC_RX_FIFO0_WATERMARK = (0x00000002U)¶: Rx FIFO 0 Watermark Reached interrupt

enumerator MCAN_INTR_SRC_RX_FIFO0_FULL = (0x00000004U)¶: Rx FIFO 0 Full interrupt

enumerator MCAN_INTR_SRC_RX_FIFO0_MSG_LOST = (0x00000008U)¶: Rx FIFO 0 Message Lost interrupt

enumerator MCAN_INTR_SRC_RX_FIFO1_NEW_MSG = (0x00000010U)¶: Rx FIFO 1 New Message interrupt

enumerator MCAN_INTR_SRC_RX_FIFO1_WATERMARK = (0x00000020U)¶: Rx FIFO 1 Watermark Reached interrupt

enumerator MCAN_INTR_SRC_RX_FIFO1_FULL = (0x00000040U)¶: Rx FIFO 1 Full interrupt

enumerator MCAN_INTR_SRC_RX_FIFO1_MSG_LOST = (0x00000080U)¶: Rx FIFO 1 Message Lost interrupt

enumerator MCAN_INTR_SRC_HIGH_PRIO_MSG = (0x00000100U)¶: High Priority Message interrupt

enumerator MCAN_INTR_SRC_TRANS_COMPLETE = (0x00000200U)¶: Transmission Completed interrupt

enumerator MCAN_INTR_SRC_TRANS_CANCEL_FINISH = (0x00000400U)¶: Transmission Cancellation Finished interrupt

enumerator MCAN_INTR_SRC_TX_FIFO_EMPTY = (0x00000800U)¶: Tx FIFO Empty interrupt

enumerator MCAN_INTR_SRC_TX_EVT_FIFO_NEW_ENTRY = (0x00001000U)¶: Tx Event FIFO New Entry interrupt

enumerator MCAN_INTR_SRC_TX_EVT_FIFO_WATERMARK = (0x00002000U)¶: Tx Event FIFO Watermark Reached interrupt

enumerator MCAN_INTR_SRC_TX_EVT_FIFO_FULL = (0x00004000U)¶: Tx Event FIFO Full interrupt

enumerator MCAN_INTR_SRC_TX_EVT_FIFO_ELEM_LOST = (0x00008000U)¶: Tx Event FIFO Element Lost interrupt

enumerator MCAN_INTR_SRC_TIMESTAMP_WRAPAROUND = (0x00010000U)¶: Timestamp Wraparound interrupt

enumerator MCAN_INTR_SRC_MSG_RAM_ACCESS_FAILURE = (0x00020000U)¶: Message RAM Access Failure interrupt

enumerator MCAN_INTR_SRC_TIMEOUT = (0x00040000U)¶: Timeout Occurred interrupt

enumerator MCAN_INTR_SRC_DEDICATED_RX_BUFF_MSG = (0x00080000U)¶: Message stored to Dedicated Rx Buffer interrupt

enumerator MCAN_INTR_SRC_BIT_ERR_CORRECTED = (0x00100000U)¶: Bit Error Corrected interrupt

enumerator MCAN_INTR_SRC_BIT_ERR_UNCORRECTED = (0x00200000U)¶: Bit Error Uncorrected interrupt

enumerator MCAN_INTR_SRC_ERR_LOG_OVRFLW = (0x00400000U)¶: Error Logging Overflow interrupt

enumerator MCAN_INTR_SRC_ERR_PASSIVE = (0x00800000U)¶: Error Passive interrupt

enumerator MCAN_INTR_SRC_WARNING_STATUS = (0x01000000U)¶: Warning Status interrupt

enumerator MCAN_INTR_SRC_BUS_OFF_STATUS = (0x02000000U)¶: Bus_Off Status interrupt

enumerator MCAN_INTR_SRC_WATCHDOG = (0x04000000U)¶: Watchdog Interrupt interrupt

enumerator MCAN_INTR_SRC_PROTOCOL_ERR_ARB = (0x08000000U)¶: Protocol Error in Arbitration Phase interrupt

enumerator MCAN_INTR_SRC_PROTOCOL_ERR_DATA = (0x10000000U)¶: Protocol Error in Data Phase interrupt

enumerator MCAN_INTR_SRC_RES_ADDR_ACCESS = (0x20000000U)¶: Access to Reserved Address interrupt

enum MCAN_ECCErrType¶

Enum to represent the ECC Error Types.

Values:

enumerator MCAN_ECC_ERR_TYPE_SEC = 0U¶: ECC Single Error Correction

enumerator MCAN_ECC_ERR_TYPE_DED = 1U¶: ECC Single Error Detection

enum MCAN_LpbkMode¶

Enum to select the MCAN Loopback mode.

Values:

enumerator MCAN_LPBK_MODE_INTERNAL = 0U¶: Internal Loop Back Mode This mode can be used for hot self-test and this mode will not affect bus state.

enumerator MCAN_LPBK_MODE_EXTERNAL = 1U¶: External Loop Back Mode In this mode, MCAN the M_CAN treats its own transmitted messages as received messages and stores them (if they pass acceptance filtering) into an Rx Buffer or an Rx FIFO. This mode will affect bus state

enum MCAN_ComState¶

Enum to represent MCAN’s communication state.

Values:

enumerator MCAN_COM_STATE_SYNCHRONIZING = 0U¶: MCAN is synchronizing on CAN communication

enumerator MCAN_COM_STATE_IDLE = 1U¶: MCAN is neither receiver nor transmitter

enumerator MCAN_COM_STATE_RECEIVER = 2U¶: MCAN is operating as receiver

enumerator MCAN_COM_STATE_TRANSMITTER = 3U¶: MCAN is operating as transmitter

enum MCAN_ErrCode¶

Enum to represent MCAN’s Error Code.

Values:

enumerator MCAN_ERR_CODE_NO_ERROR = 0U¶: No error occurred since LEC has been reset by successful reception or transmission.

enumerator MCAN_ERR_CODE_STUFF_ERROR = 1U¶: More than 5 equal bits in a sequence have occurred in a part of a received message where this is not allowed.

enumerator MCAN_ERR_CODE_FORM_ERROR = 2U¶: A fixed format part of a received frame has the wrong format.

enumerator MCAN_ERR_CODE_ACK_ERROR = 3U¶: The message transmitted by the M_CAN was not acknowledged by another node.

enumerator MCAN_ERR_CODE_BIT1_ERROR = 4U¶: During the transmission of a message (with the exception of the arbitration field), the device wanted to send a recessive level (bit of logical value ‘1’), but the monitored bus value was dominant.

enumerator MCAN_ERR_CODE_BIT0_ERROR = 5U¶: During the transmission of a message (or acknowledge bit, or active error flag, or overload flag), the device wanted to send a dominant level (data or identifier bit logical value ‘0’), but the monitored bus value was recessive. During Bus_Off recovery this status is set each time a sequence of 11 recessive bits has been monitored. This enables the CPU to monitor the proceeding of the Bus_Off recovery sequence (indicating the bus is not stuck at dominant or continuously disturbed).

enumerator MCAN_ERR_CODE_CRC_ERROR = 6U¶: The CRC check sum of a received message was incorrect. The CRC of an incoming message does not match with the CRC calculated from the received data.

enumerator MCAN_ERR_CODE_NO_CHANGE = 7U¶: Any read access to the Protocol Status Register re-initializes the LEC to ‘7’. When the LEC shows the value ‘7’, no CAN bus event was detected since the last CPU read access to the Protocol Status Register.

enum MCAN_ClockSource¶

Enum to determine the clock source that will be set up via a call to the MCAN_selectClockSource() API.

Values:

enumerator MCAN_CLOCK_SOURCE_SYS = 0x0¶: Peripheral System Clock Source.

enumerator MCAN_CLOCK_SOURCE_AUXPLL = 0x1¶: Auxiliary PLL Clock Source.

enumerator MCAN_CLOCK_SOURCE_AUXIN = 0x2¶: Auxiliary Clock Input Source.

Functions

void MCAN_selectClockSource(uint32_t baseAddr, MCAN_ClockSource source)¶

This function selects the specified clock source for the MCAN controller.

The

source parameter can be any one of the following:

MCAN_CLOCK_SOURCE_SYS - Peripheral System Clock
MCAN_CLOCK_SOURCE_AUXPLL - Auxiliary PLL Clock
MCAN_CLOCK_SOURCE_AUXIN - Auxiliary Clock Input

Parameters

baseAddr: Base Address of the MCAN Registers.
source: Clock source to use for the MCAN controller.

Return Value

None:

uint32_t MCAN_isInReset(uint32_t baseAddr)¶

This function checks if the MCAN module is in Reset.

Parameters

baseAddr: Base Address of the MCAN Registers.

Return Value

state: Returns TRUE if reset is in progress. Else returns FALSE.

uint32_t MCAN_isFDOpEnable(uint32_t baseAddr)¶

This API will return flexible data rate operation status MCAN module.

Return

state Returns TRUE if flexible data rate operation is enabled. Else returns FALSE.

Parameters

baseAddr: Base Address of the MCAN Registers.

uint32_t MCAN_isMemInitDone(uint32_t baseAddr)¶

This function checks if the memory initialization is done for MCAN module.

Parameters

baseAddr: Base Address of the MCAN Registers.

Return Value

state: Returns TRUE if memory initialization is done. Else returns FALSE.

void MCAN_setOpMode(uint32_t baseAddr, uint32_t mode)¶

This API will set MCAN module mode of operation.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
mode: Mode of operation. Refer enum MCAN_OperationMode.

uint32_t MCAN_getOpMode(uint32_t baseAddr)¶

This API will return MCAN module mode of operation.

Return

mode Mode of operation. Refer enum MCAN_OperationMode.

Parameters

baseAddr: Base Address of the MCAN Registers.

int32_t MCAN_init(uint32_t baseAddr, const MCAN_InitParams *initParams)¶

This API will initialize MCAN module.

Return

status Initialization status.

Parameters

baseAddr: Base Address of the MCAN Registers.
initParams: Initialization parameters. Refer struct MCAN_InitParams.

int32_t MCAN_config(uint32_t baseAddr, const MCAN_ConfigParams *configParams)¶

This API will configure MCAN module.

Return

status Configuration status.

Parameters

baseAddr: Base Address of the MCAN Registers.
configParams: configuration parameters. Refer struct MCAN_ConfigParams.

void MCAN_eccConfig(uint32_t baseAddr, const MCAN_ECCConfigParams *configParams)¶

This API will enable/disable ECC on the Message RAM.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
configParams: MCAN ECC Configuration Parameters. Refer #struct MCAN_ECCConfigParams.

int32_t MCAN_setBitTime(uint32_t baseAddr, const MCAN_BitTimingParams *configParams)¶

This API will configure a bit timings for MCAN module.

Return

status Bit Timings configuration status.

Parameters

baseAddr: Base Address of the MCAN Registers.
configParams: Configuration parameters for MCAN bit timing. Refer struct MCAN_BitTimingParams.

int32_t MCAN_msgRAMConfig(uint32_t baseAddr, const MCAN_MsgRAMConfigParams *msgRAMConfigParams)¶

This API will configure Different sections of Message RAM.

Return

status Configuration Status.

Parameters

baseAddr: Base Address of the MCAN Registers.
msgRAMConfigParams: Message RAM Configuration parameters. Refer struct MCAN_MsgRAMConfigParams.

int32_t MCAN_setExtIDAndMask(uint32_t baseAddr, uint32_t idMask)¶

This API will configure Extended ID AND Mask.

Return

status Extended ID AND Mask configuration status.

Parameters

baseAddr: Base Address of the MCAN Registers.
idMask: Configuration parameters for MCAN Extended Id mask. This value is 29 bit wide.

void MCAN_writeMsgRam(uint32_t baseAddr, uint32_t memType, uint32_t bufNum, const MCAN_TxBufElement *elem)¶

This API is used to write Tx message to message RAM.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
memType: Part of message ram to which given message to write. Refer enum MCAN_MemType.
bufNum: Buffer number where message to write. This parameter will ignored if memType is FIFO/Q.
elem: Message Object. Refer struct MCAN_TxBufElement.

int32_t MCAN_txBufAddReq(uint32_t baseAddr, uint32_t bufNum)¶

This API will set Tx Buffer Add Request.

Return

status Configuration Status.

Parameters

baseAddr: Base Address of the MCAN Registers.
bufNum: Tx Buffer number for which request is to be added.

void MCAN_getNewDataStatus(uint32_t baseAddr, MCAN_RxNewDataStatus *newDataStatus)¶

This API will return New Data Message Status.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
newDataStatus: Rx Buffer new data status. Refer struct MCAN_RxNewDataStatus.

void MCAN_clearNewDataStatus(uint32_t baseAddr, const MCAN_RxNewDataStatus *newDataStatus)¶

This API clear New Data Message Status.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
newDataStatus: Rx Buffer new data status. Refer struct MCAN_RxNewDataStatus.

void MCAN_readMsgRam(uint32_t baseAddr, uint32_t memType, uint32_t bufNum, uint32_t fifoNum, MCAN_RxBufElement *elem)¶

This API is used to read received message from Message RAM.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
memType: Part of message ram to which given message to write. Refer enum MCAN_MemType.
bufNum: Buffer number from where message is to read. This parameter will ignored if memType is FIFO/Q.
fifoNum: FIFOs number from where message is to read. Refer enum MCAN_RxFIFONum. This parameter will ignored if memType is buffer.
elem: Message Object. Refer struct MCAN_RxBufElement.

void MCAN_readTxEventFIFO(uint32_t baseAddr, MCAN_TxEventFIFOElement *txEventElem)¶

This API is used to read from Tx Event FIFO.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
txEventElem: Tx Event FIFO Message Object. Refer struct MCAN_TxEventFIFOElement.

void MCAN_addStdMsgIDFilter(uint32_t baseAddr, uint32_t filtNum, const MCAN_StdMsgIDFilterElement *elem)¶

This API is used to add Standard Message ID Filter Element.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
filtNum: Filter number.
elem: Filter Object. Refer struct MCAN_StdMsgIDFilterElement.

void MCAN_addExtMsgIDFilter(uint32_t baseAddr, uint32_t filtNum, const MCAN_ExtMsgIDFilterElement *elem)¶

This API is used to add Extended Message ID Filter Element.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
filtNum: Filter number.
elem: Filter Object. Refer struct MCAN_ExtMsgIDFilterElement.

void MCAN_lpbkModeEnable(uint32_t baseAddr, uint32_t lpbkMode, uint32_t enable)¶

This API will enable/disable Loop Back Test Mode for MCAN module.

Return

None.

Note

This API can be called only when MCAN is in Software Initialization mode of operation.

Parameters

baseAddr: Base Address of the MCAN Registers.
lpbkMode: Loopback mode for MCAN. Refer #enum MCAN_LpbkMode.
enable: Loop Back Mode is enabled if it is TRUE. Loop Back Mode is disabled if it is FALSE.

void MCAN_getErrCounters(uint32_t baseAddr, MCAN_ErrCntStatus *errCounter)¶

This API will return error counter status for MCAN module.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
errCounter: Error Counter Status. Refer struct MCAN_ErrCntStatus.

void MCAN_getProtocolStatus(uint32_t baseAddr, MCAN_ProtocolStatus *protStatus)¶

This API will return protocol status for MCAN module.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
protStatus: Protocol Status. Refer struct MCAN_ProtocolStatus.

void MCAN_enableIntr(uint32_t baseAddr, uint32_t intrMask, uint32_t enable)¶

This API is used to enable/disable interrupts.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
intrMask: Interrupts to enable. Refer enum MCAN_IntrSrc.
enable: Interrupt is enabled if it is TRUE. Interrupt is disabled if it is FALSE.

void MCAN_selectIntrLine(uint32_t baseAddr, uint32_t intrMask, uint32_t lineNum)¶

This API is used to select interrupt line.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
intrMask: Interrupt Number for which interrupt line is to be selected. Refer enum MCAN_IntrSrc.
lineNum: Interrupt Line to select. Refer enum MCAN_IntrLineNum,

uint32_t MCAN_getIntrLineSelectStatus(uint32_t baseAddr)¶

This API is used to get interrupt line selected for each interrupt.

Return

status Interrupt Line Select Status.

Parameters

baseAddr: Base Address of the MCAN Registers.

void MCAN_enableIntrLine(uint32_t baseAddr, uint32_t lineNum, uint32_t enable)¶

This API is used to enable/disable selected interrupt line.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
lineNum: Interrupt Line to select. Refer enum MCAN_IntrLineNum,
enable: Interrupt Line is enabled if it is 1. Interrupt Line is disabled if it is 0.

uint32_t MCAN_getIntrStatus(uint32_t baseAddr)¶

This API will return interrupt status.

Return

status Interrupt Status.

Parameters

baseAddr: Base Address of the MCAN Registers.

void MCAN_clearIntrStatus(uint32_t baseAddr, uint32_t intrMask)¶

This API is used to clear the interrupt status.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
intrMask: Interrupts to clear status.

void MCAN_clearInterrupt(uint32_t baseAddr, uint16_t intrNum)¶

This API is used to clear the interrupt.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
intrMask: Interrupts to clear. 0x00 External TS Interrupt is cleared 0x01 Interrupt Line 0 is cleared 0x02 Interrupt Line 1 is cleared Other writes are ignored

void MCAN_getHighPriorityMsgStatus(uint32_t baseAddr, MCAN_HighPriorityMsgInfo *hpm)¶

This API will return High Priority Message Status.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
hpm: High Priority Message Status. Refer struct MCAN_HighPriorityMsgInfo.

void MCAN_readHighPriorityMsgRam(uint32_t baseAddr, MCAN_RxBufElement *elem)¶

This API will read the High Priority message object from Message RAM.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
elem: Message Object. Refer struct MCAN_RxBufElement.

void MCAN_getRxFIFOStatus(uint32_t baseAddr, MCAN_RxFIFOStatus *fifoStatus)¶

This API will Rx FIFO status.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
fifoStatus: Rx FIFO Status. Refer struct MCAN_RxFIFOStatus.

int32_t MCAN_writeRxFIFOAck(uint32_t baseAddr, uint32_t fifoNum, uint32_t idx)¶

This API will write Rx FIFO Acknowledgement.

Return

status Acknowledgement Status.

Parameters

baseAddr: Base Address of the MCAN Registers. Refer enum MCAN_RxFIFONum.
fifoNum: FIFO Number.
idx: Rx FIFO Acknowledge Index

void MCAN_getTxFIFOQueStatus(uint32_t baseAddr, MCAN_TxFIFOStatus *fifoStatus)¶

This API will Tx FIFO status.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
fifoStatus: Tx FIFO Status. Refer struct MCAN_TxFIFOStatus.

uint32_t MCAN_getTxBufReqPend(uint32_t baseAddr)¶

This API will return Tx Buffer Request Pending status.

Return

status Tx Buffer Request Pending status.

Parameters

baseAddr: Base Address of the MCAN Registers.

int32_t MCAN_txBufCancellationReq(uint32_t baseAddr, uint32_t buffNum)¶

This API will set Tx Buffer Cancellation Request.

Return

status Configuration Status.

Parameters

baseAddr: Base Address of the MCAN Registers.
buffNum: Tx Buffer number for which request is to be added.

uint32_t MCAN_getTxBufTransmissionStatus(uint32_t baseAddr)¶

This API will return Tx Buffer Transmission Occurred status.

Return

status Tx Buffer Transmission Occurred status.

Parameters

baseAddr: Base Address of the MCAN Registers.

uint32_t MCAN_txBufCancellationStatus(uint32_t baseAddr)¶

This API will return Transmit Buffer Cancellation Finished status.

Return

status Transmit Buffer Cancellation Finished status.

Parameters

baseAddr: Base Address of the MCAN Registers.

int32_t MCAN_txBufTransIntrEnable(uint32_t baseAddr, uint32_t bufNum, uint32_t enable)¶

This API is used to enable/disable Tx Buffer Transmission Interrupt.

Return

status Configuration status.

Parameters

baseAddr: Base Address of the MCAN Registers.
bufNum: Buffer number for which interrupt is to enable.
enable: Interrupt is enabled if it is TRUE. Interrupt is disabled if it is FALSE.

int32_t MCAN_getTxBufCancellationIntrEnable(uint32_t baseAddr, uint32_t bufNum, uint32_t enable)¶

This API is used to enable/disable Tx Buffer Cancellation Finished Interrupt.

Return

status Configuration status.

Parameters

baseAddr: Base Address of the MCAN Registers.
bufNum: Buffer number for which interrupt is to enable.
enable: Interrupt is enabled if it is TRUE. Interrupt is disabled if it is FALSE.

void MCAN_addClockStopRequest(uint32_t baseAddr, uint32_t enable)¶

This API add clock stop request for MCAN module to put it in power down mode.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
enable: Add CLock Stop Request. Adds Clock Clock stop Request is TRUE otherwise removes it.

void MCAN_getTxEventFIFOStatus(uint32_t baseAddr, MCAN_TxEventFIFOStatus *fifoStatus)¶

This API will Tx Event FIFO status.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
fifoStatus: Tx Event FIFO Status. Refer struct MCAN_TxEventFIFOStatus.

int32_t MCAN_writeTxEventFIFOAck(uint32_t baseAddr, uint32_t idx)¶

This API will write Event FIFO Acknowledge Index.

Return

status Acknowledgement Status.

Parameters

baseAddr: Base Address of the MCAN Registers.
idx: Event FIFO Acknowledge Index

void MCAN_eccForceError(uint32_t baseAddr, const MCAN_ECCErrForceParams *eccErr)¶

This API will Force Error on ECC.

Return

status configuration status.

Parameters

baseAddr: Base Address of the MCAN Registers.
eccErr: Force Error on ECC configuration. Refer struct MCAN_ECCErrForceParams.

void MCAN_eccGetErrorStatus(uint32_t baseAddr, MCAN_ECCErrStatus *eccErr)¶

This API will return ECC Error status.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
eccErr: ECC error status. Refer struct MCAN_ECCErrStatus.

void MCAN_eccClearErrorStatus(uint32_t baseAddr, uint32_t errType)¶

This API is used to clear the ECC Error status.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
errType: Error type to clear status. Refer enum MCAN_ECCErrType.

void MCAN_eccWriteEOI(uint32_t baseAddr, uint32_t errType)¶

This API is used to write End of Interrupt for ECC interrupt.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
errType: Interrupt to enable. Refer enum MCAN_ECCErrType.

void MCAN_eccEnableIntr(uint32_t baseAddr, uint32_t errType, uint32_t enable)¶

This API is used to enable ECC interrupt.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
errType: Interrupt to enable. Refer enum MCAN_ECCErrType.
enable: ECC Interrupt is enabled if it is TRUE. ECC Interrupt is disabled if it is FALSE.

uint32_t MCAN_eccGetIntrStatus(uint32_t baseAddr, uint32_t errType)¶

This API is used to get ECC interrupt status.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
errType: Interrupt status to read. Refer enum MCAN_ECCErrType.

void MCAN_eccClearIntrStatus(uint32_t baseAddr, uint32_t errType)¶

This API is used to clear ECC interrupt status.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
errType: Interrupt status to clear. Refer enum MCAN_ECCErrType.

void MCAN_extTSCounterConfig(uint32_t baseAddr, uint32_t prescalar)¶

This API will configure external timestamp counter for MCAN module.

Return

None.

Note

Actual value programmed prescalar values is (prescalar - 1).

Parameters

baseAddr: Base Address of the MCAN Registers.
prescalar: Timestamp Counter Prescaler. Range:[0x0-0xFFFFFF]

void MCAN_extTSCounterEnable(uint32_t baseAddr, uint32_t enable)¶

This API will enable/disable fast external time stamp counter for MCAN module.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
enable: External TS is enabled if it is 1. External TS is disabled if it is 0.

void MCAN_extTSEnableIntr(uint32_t baseAddr, uint32_t enable)¶

This API will enable/disable External TimeStamp Counter Overflow Interrupt for MCAN module.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
enable: External TimeStamp Counter Overflow Interrupt is enabled if it is TRUE. External TimeStamp Counter Overflow Interrupt is disabled if it is FALSE.

void MCAN_extTSWriteEOI(uint32_t baseAddr)¶

This API is used to write End of Interrupt for External TimeStamp Counter Overflow Interrupt.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.

uint32_t MCAN_extTSGetUnservicedIntrCount(uint32_t baseAddr)¶

This API returns Number of unserviced rollover/overflow interrupts for external TimeStamp counter.

Return

status Returns Number of unserviced rollover/overflow interrupts for external TimeStamp counter. Maximum number of unserviced interrupts is 0xF.

Parameters

baseAddr: Base Address of the MCAN Registers.

void MCAN_getRevisionId(uint32_t baseAddr, MCAN_RevisionId *revId)¶

This API is check the MCAN base address.

This API is used get the MCAN revision ID.

Return

Returns true if base address is valid, otherwise false

Parameters

baseAddr: Base Address of the MCAN Registers.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
revId: Contains Revision ID of MCAN module. Refer struct MCAN_RevisionId.

uint32_t MCAN_getClockStopAck(uint32_t baseAddr)¶

This API get clock stop acknowledgement for MCAN module. It return whether MCAN is power down mode or not.

Return

status Return Clock Stop Acknowledgement status. Return ‘1’ if M_CAN is set in power down mode else returns ‘0’.

Parameters

baseAddr: Base Address of the MCAN Registers.

void MCAN_extTSSetRawStatus(uint32_t baseAddr)¶

This API will set External TimeStamp Counter Overflow Interrupt Raw status for MCAN module.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.

void MCAN_extTSClearRawStatus(uint32_t baseAddr)¶

This API will clear External TimeStamp Counter Overflow Interrupt raw status for MCAN module.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.

uint32_t MCAN_getRxPinState(uint32_t baseAddr)¶

This API will return Rx pin state of MCAN module.

Return

state MCAN Rx Pin State. 0= The CAN bus is dominant 1= The CAN bus is recessive

Parameters

baseAddr: Base Address of the MCAN Registers.

void MCAN_setTxPinState(uint32_t baseAddr, uint32_t state)¶

This API will set Tx pin state of MCAN module.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
state: MCAN Tx Pin State. 00= Reset value 01= Sample Point can be monitored at tx pin 10= The CAN bus is dominant 11= The CAN bus is recessive other= It will treated as 11.

uint32_t MCAN_getTxPinState(uint32_t baseAddr)¶

This API will return Tx pin state of MCAN module.

Return

state MCAN Tx Pin State. 00= Reset value 01= Sample Point can be monitored at tx pin 10= The CAN bus is dominant 11= The CAN bus is recessive

Parameters

baseAddr: Base Address of the MCAN Registers.

uint32_t MCAN_getTSCounterVal(uint32_t baseAddr)¶

This API will return current timestamp counter value.

Return

val Current Timestamp counter value.

Parameters

baseAddr: Base Address of the MCAN Registers.

uint32_t MCAN_getClkStopAck(uint32_t baseAddr)¶

This API will return clock stop acknowledgement for MCAN module.

Return

ack Clock Stop Acknowledge 0= No clock stop acknowledged 1= M_CAN may be set in power down

Parameters

baseAddr: Base Address of the MCAN Registers.

void MCAN_getBitTime(uint32_t baseAddr, MCAN_BitTimingParams *configParams)¶

This API will get the configured bit timings for MCAN module.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
configParams: Configuration parameters for MCAN bit timing. Refer struct MCAN_BitTimingParams.

void MCAN_resetTSCounter(uint32_t baseAddr)¶

This API will reset timestamp counter value.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.

uint32_t MCAN_getTOCounterVal(uint32_t baseAddr)¶

This API will return current time-out counter value.

Return

val Current Time-out counter value.

Parameters

baseAddr: Base Address of the MCAN Registers.

void MCAN_eccAggrGetRevisionId(uint32_t baseAddr, MCAN_ECCAggrRevisionId *revId)¶

This API is used get the ECC AGGR revision ID.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
revId: Contains Revision ID of ECC AGGR. Refer struct MCAN_ECCAggrRevisionId.

void MCAN_eccWrapGetRevisionId(uint32_t baseAddr, MCAN_ECCWrapRevisionId *revId)¶

This API is used get the ECC Wrapper revision ID.

Return

None.

Parameters

baseAddr: Base Address of the MCAN Registers.
revId: Contains Revision ID of ECC Wrapper Refer struct MCAN_ECCWrapRevisionId.

uint32_t MCAN_extTSIsIntrEnable(uint32_t baseAddr)¶

This API returns External TimeStamp Counter Overflow Interrupt enable status for MCAN module.

Return

status Returns TRUE if External TimeStamp Counter Overflow Interrupt is enabled. Else returns FALSE.

Parameters

baseAddr: Base Address of the MCAN Registers.

uint32_t MCAN_getEndianVal(uint32_t baseAddr)¶

This function return endianness value of MCAN module.

Parameters

baseAddr: Base Address of the MCAN Registers.

Return Value

val: Endianness value. (0x87654321)

uint32_t MCAN_getExtIDANDMask(uint32_t baseAddr)¶

This API will get the configured Extended ID AND Mask.

Return

idMask Extended ID AND Mask.

Parameters

baseAddr: Base Address of the MCAN Registers.

uint32_t MCAN_getMsgObjSize(uint32_t elemSize)¶

This API will return message object size.

Return

message object size Size of the message object stored in Message RAM.

Parameters

elemSize: Element Size.

struct MCAN_BitTimingParams¶: #include <mcan.h>
Structure for bit timing calculation. Bit timing related to data phase will be valid only in case where MCAN is put in CAN-FD mode and will be ‘0’ otherwise.

struct MCAN_TDCConfig¶: #include <mcan.h>
Structure for MCAN Transmitter Delay Compensation parameters.

struct MCAN_GlobalFiltConfig¶: #include <mcan.h>
Structure for MCAN Global Filter Configuration parameters.

struct MCAN_InitParams¶: #include <mcan.h>
Structure for MCAN initialization parameters.

struct MCAN_ConfigParams¶: #include <mcan.h>
Structure for MCAN configuration parameters.

struct MCAN_ErrCntStatus¶: #include <mcan.h>
Structure for MCAN error logging counters status.

struct MCAN_ProtocolStatus¶: #include <mcan.h>
Structure for MCAN protocol status.

struct MCAN_MsgRAMConfigParams¶: #include <mcan.h>
Structure for MCAN Message RAM Configuration Parameters. Message RAM can contain following sections: Standard ID filters, Extended ID filters, TX FIFO(or TX Q), TX Buffers, TX EventFIFO, RX FIFO0, RX FIFO1, RX Buffer. Note: If particular section in the RAM is not used then it’s size should be initialized to ‘0’ (Number of buffers in case of Tx/Rx buffer).

struct MCAN_HighPriorityMsgInfo¶: #include <mcan.h>
Structure for MCAN High Priority Message.

struct MCAN_RxNewDataStatus¶: #include <mcan.h>
Structure for MCAN new data flag for Rx buffer.

struct MCAN_RxFIFOStatus¶: #include <mcan.h>
Structure for MCAN Rx FIFO Status.

struct MCAN_TxFIFOStatus¶: #include <mcan.h>
Structure for MCAN Tx FIFO Status.

struct MCAN_TxEventFIFOStatus¶: #include <mcan.h>
Structure for MCAN Tx Event FIFO Status.

struct MCAN_ECCErrForceParams¶: #include <mcan.h>
Structure for ECC Error forcing.

struct MCAN_ECCErrStatus¶: #include <mcan.h>
Structure for ECC Error Status.

struct MCAN_RevisionId¶: #include <mcan.h>
Structure for accessing Revision ID and Core Release Info. of MCAN module.

struct MCAN_ECCAggrRevisionId¶: #include <mcan.h>
Structure for accessing Revision ID of ECC AGGR.

struct MCAN_ECCConfigParams¶: #include <mcan.h>
Structure for MCAN ECC configuration parameters.

struct MCAN_ECCWrapRevisionId¶: #include <mcan.h>
Structure for accessing Revision ID of ECC wrapper.

struct MCAN_TxBufElement¶: #include <mcan.h>
Structure for MCAN Tx Buffer element.

struct MCAN_RxBufElement¶: #include <mcan.h>
Structure for MCAN Rx Buffer element.

struct MCAN_TxEventFIFOElement¶: #include <mcan.h>
Structure for MCAN Tx Event FIFO element.

struct MCAN_StdMsgIDFilterElement¶: #include <mcan.h>
Structure for MCAN Standard Message ID Filter Element.

struct MCAN_ExtMsgIDFilterElement¶: #include <mcan.h>
Structure for MCAN Extended Message ID Filter Element.

The following describes important details and recommendations when using the MCAN API.

Once system control enables the MCAN module, MCAN_setOpMode() needs to be called to put the controller in SW initialization mode. The MCAN_init() intializes the CAN Controller and MCAN_config() configures the CAN Module which sets the MCAN bit timing values for the bit rate and timing parameters. For tighter timing requirements, use MCAN_setBitTime() and to configure the Message RAM use the API MCAN_msgRAMConfig.

Once all of the module configurations are setup, MCAN_setOpMode() starts the MCAN module’s operations and disables access to the configuration registers.

The code for this module is contained in driverlib/mcan.c, with driverlib/mcan.h containing the API declarations for use by applications.