Introduction

This is the header file for the CANFD driver which exposes the data structures and exported API which can be used by the applications to use the CANFD driver.

Go to the source code of this file.

Data Structures
struct	CANFDLLD_MCANLoopbackCfgParams
	Data structure defines the MCAN Loopback parameters. More...

struct	CANFDLLD_MCANBitTimingParams
	Data structure defines the parameters for bit timing calculation. Bit timing related to data phase will be valid only in case where MCAN is put in CANFD mode and will be '0' otherwise. More...

struct	CANFDLLD_MCANTdcConfig
	Data structure defines the MCAN Transmitter Delay Compensation parameters. More...

struct	CANFDLLD_MCANGlobalFiltConfig
	Data structure defines the MCAN Global Filter Configuration parameters. More...

struct	CANFDLLD_MCANMsgRAMCfgParams
	Data structure defines the 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). More...

struct	CANFDLLD_MCANECCConfigParams
	Data structure defines the MCAN ECC configuration parameters. More...

struct	CANFDLLD_MCANErrCntStatus
	Data structure defines the MCAN error logging counters status. More...

struct	CANFDLLD_MCANProtocolStatus
	Data structure defines the MCAN protocol status. More...

struct	CANFDLLD_MCANECCErrForceParams
	Data structure defines the ECC Error forcing. More...

struct	CANFDLLD_MCANECCErrStatus
	Data structure defines the ECC Error Status. More...

struct	CANFDLLD_ErrStatusResp
	Response structure definition for Error and status information. More...

struct	CANFDLLD_MCANInitParams
	Data structure defines the MCAN initialization parameters. More...

struct	CANFDLLD_OptionTLV
	Options TLV data structure. More...

struct	CANFDLLD_Object
	CANFD Master Control Block. More...

struct	CANFDLLD_DmaMsgConfig
	CANFD DMA message configuration used for Tx. More...

struct	CANFDLLD_DmaRxBuf
	CANFD Rx Buffer used in DMA mode. More...

struct	CANFDLLD_MessageObject
	CAN message object block. More...

struct	CANFDLLD_MCANMsgObjectStats
	Data structure defines the software maintained message object statistics. More...

Macros
#define	ATTRIBUTE_WEAK __attribute__((weak))

#define	MCAN_MAX_TX_MSG_OBJECTS (32U)
	Maximum number of Tx message objects that can be supported by CANFD. More...

#define	MCAN_MAX_RX_MSG_OBJECTS (32U)
	Maximum number of Rx message objects that can be supported by CANFD. More...

#define	MCAN_MAX_MSG_OBJECTS (MCAN_MAX_TX_MSG_OBJECTS + MCAN_MAX_RX_MSG_OBJECTS)
	Maximum number of message objects that can be supported by CANFD. More...

#define	MCAN_MSG_RAM_STD_ELEM_SIZE (1U)
	Standard ID Filter Element Size. More...

#define	MCAN_MSG_RAM_EXT_ELEM_SIZE (2U)
	Extended ID Filter Element Size. More...

#define	MCAN_MSG_HEADER_SIZE (8U)
	MCAN Header size in Bytes. More...

#define	MCAN_MSG_RAM_TX_RX_ELEM_SIZE (18U)
	Tx/Rx Element Size. 18 words = 18 * 4 = 72 bytes: 8 bytes of header and 64 bytes of data. More...

#define	XTD_MSGID_MASK (0x1fffffffU)
	Message Identifier Masks. More...

#define	STD_MSGID_MASK (0x7ffU)

#define	STD_MSGID_SHIFT (18U)

#define	MCAN_MAX_PAYLOAD_BYTES (64U)
	Maximum payload supported by CAN-FD protocol in bytes. More...

#define	MCAN_MAX_RX_BUFFERS (64U)
	Maximum number of Rx buffers. More...

#define	MCAN_MAX_TX_BUFFERS (32U)
	Maximum number of Tx buffers. More...

#define	CANFD_UTILS_ARRAYSIZE(x) (sizeof(x) / sizeof(x[0]))
	Macro to get the size of an array. More...

#define	CANFD_UTILS_GETARRAYINDEX(member, array) (member - &array[0])
	Get the index of the given element within an array. More...

#define	CANFD_UTILS_ARRAYISMEMBER(member, array)
	Macro to determine if a member is part of an array. More...

#define	MCAN_INTR_MASK
	Defines all the interrupt are enabled. More...

#define	CANFD_DMA_TX_COMPLETION_INTERMEDIATE (1U)
	completion type for Tx in dma mode - Intermediate completion More...

#define	CANFD_DMA_TX_COMPLETION_FINAL (2U)
	completion type for Tx in dma mode - Final completion More...

#define	CANFD_DMA_RX_COMPLETION_INTERMEDIATE (1U)
	completion type for Rx in dma mode - Intermediate completion More...

#define	CANFD_DMA_RX_COMPLETION_FINAL (2U)
	completion type for Rx in dma mode - Final completion More...

Typedefs
typedef void *	CANFDLLD_DmaHandle

typedef void *	CANFDLLD_DmaChConfig

typedef CANFDLLD_Object *	CANFDLLD_Handle
	CANFD module handle returned by the CANFD_lld_init() API call. More...

typedef CANFDLLD_MessageObject *	CANFDLLD_MsgObjHandle
	CANFD message object handle returned by the CANFD_lld_createMsgObject() API call. More...

Enumerations
enum	CANFDLLD_MCANElemSize { CANFDLLD_MCANElemSize_8BYTES = 0U, CANFDLLD_MCANElemSize_12BYTES = 1U, CANFDLLD_MCANElemSize_16BYTES = 2U, CANFDLLD_MCANElemSize_20BYTES = 3U, CANFDLLD_MCANElemSize_24BYTES = 4U, CANFDLLD_MCANElemSize_32BYTES = 5U, CANFDLLD_MCANElemSize_48BYTES = 6U, CANFDLLD_MCANElemSize_64BYTES = 7U }
	This enumeration defines the MCAN FIFO/Buffer element Size. More...

enum	CANFDLLD_DriverState { CANFDLLD_DriverState_UNINIT, CANFDLLD_DriverState_STARTED, CANFDLLD_DriverState_STOPPED, CANFDLLD_DriverState_SLEEP }
	This enumeration defines the values used to represent the CANFD driver state. More...

enum	CANFDLLD_MCANOperationMode { CANFDLLD_MCANOperationMode_NORMAL = 0U, CANFDLLD_MCANOperationMode_SW_INIT = 1U }
	Enumerates the values used to represent the MCAN mode of operation. More...

enum	CANFDLLD_Direction { CANFDLLD_Direction_RX, CANFDLLD_Direction_TX }
	This enumeration defines the values used to set the direction of message object. More...

enum	CANFDLLD_MCANXidType { CANFDLLD_MCANXidType_11_BIT, CANFDLLD_MCANXidType_29_BIT }
	This enumeration defines the values used to represent the CAN Identifier Type. More...

enum	CANFDLLD_MCANFrameType { CANFDLLD_MCANFrameType_CLASSIC, CANFDLLD_MCANFrameType_FD }
	This enumeration defines the CAN frame type. More...

enum	CANFDLLD_MCANTimeOutSelect { CANFDLLD_MCANTimeOutSelect_CONT = 0U, CANFDLLD_MCANTimeOutSelect_TX_EVENT_FIFO = 1U, CANFDLLD_MCANTimeOutSelect_RX_FIFO0 = 2U, CANFDLLD_MCANTimeOutSelect_RX_FIFO1 = 3U }
	This enumeration defines the MCAN timeout counter configuration. More...

enum	CANFDLLD_MCANECCErrType { CANFDLLD_MCANECCErrType_SEC = 0U, CANFDLLD_MCANECCErrType_DED = 1U }
	This enumeration defines the MCAN ECC Error Types. More...

enum	CANFDLLD_MCANLoopBackMode { CANFDLLD_MCANLoopBackMode_INTERNAL = 0U, CANFDLLD_MCANLoopBackMode_EXTERNAL = 1U }
	This enumeration defines the MCAN Loopback mode. More...

enum	CANFDLLD_MCANCommState { CANFDLLD_MCANCommState_SYNCHRONIZING = 0U, CANFDLLD_MCANCommState_IDLE = 1U, CANFDLLD_MCANCommState_RECEIVER = 2U, CANFDLLD_MCANCommState_TRANSMITTER = 3U }
	This enumeration defines the MCAN's communication state. More...

enum	CANFDLLD_MCANErrCode { CANFDLLD_MCANErrCode_NO_ERROR = 0U, CANFDLLD_MCANErrCode_STUFF_ERROR = 1U, CANFDLLD_MCANErrCode_FORM_ERROR = 2U, CANFDLLD_MCANErrCode_ACK_ERROR = 3U, CANFDLLD_MCANErrCode_BIT1_ERROR = 4U, CANFDLLD_MCANErrCode_BIT0_ERROR = 5U, CANFDLLD_MCANErrCode_CRC_ERROR = 6U, CANFDLLD_MCANErrCode_NO_CHANGE = 7U }
	This enumeration defines the MCAN's Error Code. More...

enum	CANFDLLD_Reason { CANFDLLD_Reason_RX = 0x1, CANFDLLD_Reason_TX_COMPLETION = 0x2, CANFDLLD_Reason_TX_CANCELED = 0x3, CANFDLLD_Reason_ECC_ERROR = 0x4, CANFDLLD_Reason_BUSOFF = 0x5, CANFDLLD_Reason_PROTOCOL_ERR_DATA_PHASE = 0x6, CANFDLLD_Reason_PROTOCOL_ERR_ARB_PHASE = 0x7 }
	This enumeration describes a list of all the reasons for which the driver will invoke application callback functions. More...

enum	CANFDLLD_Option { CANFDLLD_Option_MCAN_ERROR_COUNTER, CANFDLLD_Option_MCAN_PROTOCOL_STATUS, CANFDLLD_Option_MCAN_MSG_OBJECT_STATS, CANFDLLD_Option_MCAN_MODE, CANFDLLD_Option_MCAN_LOOPBACK, CANFDLLD_Option_MCAN_POWER_DOWN }
	This enumeration defines the values used to represent the GET/SET options. More...

Functions
int32_t	CANFD_lld_init (CANFDLLD_Handle hCanfd)

int32_t	CANFD_lld_deInit (CANFDLLD_Handle handle)

int32_t	CANFD_lld_configBitTime (CANFDLLD_Handle handle, const CANFDLLD_MCANBitTimingParams *bitTimeParams)

int32_t	CANFD_lld_createMsgObject (CANFDLLD_Handle handle, CANFDLLD_MessageObject *ptrCanMsgObj)

int32_t	CANFD_lld_createRxRangeMsgObject (CANFDLLD_Handle handle, CANFDLLD_MessageObject *ptrCanMsgObj)

int32_t	CANFD_lld_deleteMsgObject (CANFDLLD_MsgObjHandle handle)

int32_t	CANFD_lld_write (CANFDLLD_MsgObjHandle handle, uint32_t id, CANFDLLD_MCANFrameType frameType, uint32_t dataLength, const uint8_t *data)

int32_t	CANFD_lld_writeCancel (CANFDLLD_MsgObjHandle handle)

int32_t	CANFD_lld_writeDma (CANFDLLD_MsgObjHandle handle, uint32_t id, CANFDLLD_MCANFrameType frameType, uint32_t dataLengthPerMsg, uint32_t numMsgs, void *data)

int32_t	CANFD_lld_writeDmaTriggerNext (CANFDLLD_MsgObjHandle handle)

uint32_t	CANFD_lld_getFilterEventConfig (uint32_t eventNum)

int32_t	CANFD_lld_read (CANFDLLD_MsgObjHandle handle, uint32_t id, CANFDLLD_MCANFrameType ptrFrameType, CANFDLLD_MCANXidType idType, uint32_t ptrDataLength, uint8_t *data)

int32_t	CANFD_lld_readDmaConfig (CANFDLLD_MsgObjHandle handle, void *data, uint32_t numDmaRxBuf)

int32_t	CANFD_lld_getOptions (CANFDLLD_Handle handle, CANFDLLD_OptionTLV *ptrOptInfo)

int32_t	CANFD_lld_setOptions (CANFDLLD_Handle handle, const CANFDLLD_OptionTLV *ptrOptInfo)

void	CANFD_lld_int0Isr (CANFDLLD_Object *ptrCanFdObj)

void	CANFD_lld_int1Isr (CANFDLLD_Object *ptrCanFdObj)

ATTRIBUTE_WEAK void	CANFD_lld_dataAppCallBack (CANFDLLD_MsgObjHandle handle, CANFDLLD_Reason reason)
	Application specified callback function which is invoked by the CANFD driver once transmit is complete or data has been received for the specified message object. More...

ATTRIBUTE_WEAK void	CANFD_lld_errStatusAppCallBack (CANFDLLD_Handle handle, CANFDLLD_Reason reason, CANFDLLD_ErrStatusResp *errStatusResp)
	Application specified callback function which is invoked by the CANFD driver on error or status change. More...

int32_t	CANFD_lld_dmaOpen (CANFDLLD_Handle canfdHandle, CANFDLLD_DmaChConfig dmaChCfg)
	API to open an CANFD DMA channel. More...

int32_t	CANFD_lld_dmaClose (CANFDLLD_Handle canfdHandle)
	API to close an CANFD DMA channel. More...

int32_t	CANFD_lld_createDmaTxMsgObject (CANFDLLD_Object ptrCanFdObj, CANFDLLD_MessageObject ptrCanMsgObj)
	API to configure dma for the Tx message object. Called from the API CANFD_lld_createMsgObject. More...

int32_t	CANFD_lld_deleteDmaTxMsgObject (CANFDLLD_Object ptrCanFdObj, CANFDLLD_MessageObject ptrCanMsgObj)
	API to delete dma configuration for the Tx message object. Called from the API CANFD_lld_deleteMsgObject. More...

int32_t	CANFD_lld_configureDmaTx (CANFDLLD_Object ptrCanFdObj, CANFDLLD_MessageObject ptrCanMsgObj, uint32_t dataLengthPerMsg, uint32_t numMsgs, const void *data)
	API to enable dma event transfer for the Tx. Called from the API CANFD_lld_writeDma. More...

int32_t	CANFD_lld_cancelDmaTx (CANFDLLD_Object ptrCanFdObj, CANFDLLD_MessageObject ptrCanMsgObj)
	API to disbale dma event transfer for the Tx to cancel the transfer. More...

ATTRIBUTE_WEAK void	CANFD_dmaTxCompletionCallback (CANFDLLD_MessageObject ptrCanMsgObj, void data, uint32_t completionType)
	Callback function for the Tx completion. This is called for each message in the array of msgs provided in CANFD_lld_configureDmaTx. data will point to the current transmitted message. For intermediate message transfer completion the completionType will be set to CANFD_DMA_TX_COMPLETION_INTERMEDIATE for last message transfer completion the completionType will be set to CANFD_DMA_TX_COMPLETION_FINAL. More...

int32_t	CANFD_lld_createDmaRxMsgObject (CANFDLLD_Object ptrCanFdObj, CANFDLLD_MessageObject ptrCanMsgObj)
	API to configure dma for the Rx message object. Called from the CANFD_lld_createMsgObject. More...

int32_t	CANFD_lld_deleteDmaRxMsgObject (CANFDLLD_Object ptrCanFdObj, CANFDLLD_MessageObject ptrCanMsgObj)
	API to delete dma configuration for the Rx message object. Called from the CANFD_lld_deleteMsgObject. More...

int32_t	CANFD_lld_configureDmaRx (CANFDLLD_Object ptrCanFdObj, CANFDLLD_MessageObject ptrCanMsgObj, uint32_t dataLengthPerMsg, uint32_t numMsgs, const void *data)
	API to enable dma event transfer for the Rx. Called from the API CANFD_lld_readDma. More...

ATTRIBUTE_WEAK void	CANFD_dmaRxCompletionCallback (CANFDLLD_MessageObject ptrCanMsgObj, void data, uint32_t completionType)
	Callback function for the Rx completion. This is called for each message in the array of msgs provided in CANFD_lld_configureDmaRx. data will point to the current received message. For intermediate message transfer completion the completionType will be set to CANFD_DMA_RX_COMPLETION_INTERMEDIATE for last message transfer completion the completionType will be set to CANFD_DMA_RX_COMPLETION_FINAL. More...

Macro Definition Documentation

◆ ATTRIBUTE_WEAK

#define ATTRIBUTE_WEAK __attribute__((weak))

◆ MCAN_MAX_TX_MSG_OBJECTS

#define MCAN_MAX_TX_MSG_OBJECTS (32U)

Maximum number of Tx message objects that can be supported by CANFD.

◆ MCAN_MAX_RX_MSG_OBJECTS

#define MCAN_MAX_RX_MSG_OBJECTS (32U)

Maximum number of Rx message objects that can be supported by CANFD.

◆ MCAN_MAX_MSG_OBJECTS

#define MCAN_MAX_MSG_OBJECTS (MCAN_MAX_TX_MSG_OBJECTS + MCAN_MAX_RX_MSG_OBJECTS)

Maximum number of message objects that can be supported by CANFD.

◆ MCAN_MSG_RAM_STD_ELEM_SIZE

#define MCAN_MSG_RAM_STD_ELEM_SIZE (1U)

Standard ID Filter Element Size.

◆ MCAN_MSG_RAM_EXT_ELEM_SIZE

#define MCAN_MSG_RAM_EXT_ELEM_SIZE (2U)

Extended ID Filter Element Size.

◆ MCAN_MSG_HEADER_SIZE

#define MCAN_MSG_HEADER_SIZE (8U)

MCAN Header size in Bytes.

◆ MCAN_MSG_RAM_TX_RX_ELEM_SIZE

#define MCAN_MSG_RAM_TX_RX_ELEM_SIZE (18U)

Tx/Rx Element Size. 18 words = 18 * 4 = 72 bytes: 8 bytes of header and 64 bytes of data.

◆ XTD_MSGID_MASK

#define XTD_MSGID_MASK (0x1fffffffU)

Message Identifier Masks.

◆ STD_MSGID_MASK

#define STD_MSGID_MASK (0x7ffU)

◆ STD_MSGID_SHIFT

#define STD_MSGID_SHIFT (18U)

◆ MCAN_MAX_PAYLOAD_BYTES

#define MCAN_MAX_PAYLOAD_BYTES (64U)

Maximum payload supported by CAN-FD protocol in bytes.

◆ MCAN_MAX_RX_BUFFERS

#define MCAN_MAX_RX_BUFFERS (64U)

Maximum number of Rx buffers.

◆ MCAN_MAX_TX_BUFFERS

#define MCAN_MAX_TX_BUFFERS (32U)

Maximum number of Tx buffers.

◆ CANFD_UTILS_ARRAYSIZE

#define CANFD_UTILS_ARRAYSIZE ( x ) (sizeof(x) / sizeof(x[0]))

Macro to get the size of an array.

◆ CANFD_UTILS_GETARRAYINDEX

#define CANFD_UTILS_GETARRAYINDEX	(	member,
		array
	)	(member - &array[0])

Get the index of the given element within an array.

◆ CANFD_UTILS_ARRAYISMEMBER

#define CANFD_UTILS_ARRAYISMEMBER	(	member,
		array
	)

Value:

    (((((uint32)member - (uint32) & array[0]) % sizeof(array[0])) == 0)       \
     && (member >= &array[0])                                                 \
     && (CANFD_UTILS_GETARRAYINDEX(member, array) < CANFD_UTILS_ARRAYSIZE(array)))

Macro to determine if a member is part of an array.

◆ MCAN_INTR_MASK

#define MCAN_INTR_MASK

Value:

                              ((uint32_t)MCAN_INTR_SRC_RX_FIFO0_NEW_MSG | \
                              (uint32_t)MCAN_INTR_SRC_RX_FIFO0_MSG_LOST |  \
                              (uint32_t)MCAN_INTR_SRC_RX_FIFO1_NEW_MSG | \
                              (uint32_t)MCAN_INTR_SRC_TRANS_COMPLETE |  \
                              (uint32_t)MCAN_INTR_SRC_TRANS_CANCEL_FINISH |  \
                              (uint32_t)MCAN_INTR_SRC_DEDICATED_RX_BUFF_MSG |  \
                              (uint32_t)MCAN_INTR_SRC_PROTOCOL_ERR_ARB |  \
                              (uint32_t)MCAN_INTR_SRC_PROTOCOL_ERR_DATA |  \
                              (uint32_t)MCAN_INTR_SRC_BUS_OFF_STATUS)

Defines all the interrupt are enabled.

◆ CANFD_DMA_TX_COMPLETION_INTERMEDIATE

#define CANFD_DMA_TX_COMPLETION_INTERMEDIATE (1U)

completion type for Tx in dma mode - Intermediate completion

◆ CANFD_DMA_TX_COMPLETION_FINAL

#define CANFD_DMA_TX_COMPLETION_FINAL (2U)

completion type for Tx in dma mode - Final completion

◆ CANFD_DMA_RX_COMPLETION_INTERMEDIATE

#define CANFD_DMA_RX_COMPLETION_INTERMEDIATE (1U)

completion type for Rx in dma mode - Intermediate completion

◆ CANFD_DMA_RX_COMPLETION_FINAL

#define CANFD_DMA_RX_COMPLETION_FINAL (2U)

completion type for Rx in dma mode - Final completion