CAN

Driver for CAN, Controller Area Network. More...

Data Structures
struct	can_instance_ctrl_t
struct	can_extended_cfg_t

Functions
ssp_err_t	R_CAN_Open (can_ctrl_t *const p_ctrl, can_cfg_t const *const p_cfg)
	Open and configure the CAN channel for operation. Implements can_api_t::open() More...
ssp_err_t	R_CAN_Close (can_ctrl_t *const p_ctrl)
	Close the CAN channel. Implements can_api_t::close() More...
ssp_err_t	R_CAN_Read (can_ctrl_t *const p_ctrl, uint32_t mailbox, can_frame_t *const p_frame)
	Read data from the CAN channel. Return up to eight bytes read from the channel mailbox. Implements can_api_t::read() More...
ssp_err_t	R_CAN_Write (can_ctrl_t *const p_ctrl, uint32_t mailbox, can_frame_t *const p_frame)
	Write data to the CAN channel. Write up to eight bytes to the channel mailbox. Implements can_api_t::write() More...
ssp_err_t	R_CAN_Control (can_ctrl_t *const p_ctrl, can_command_t const command, void *p_data)
	CAN Control is used to control extended features. Implements can_api_t::control() More...
ssp_err_t	R_CAN_InfoGet (can_ctrl_t *const p_ctrl, can_info_t *const p_info)
	Get CAN state and status information for the channel. Implements can_api_t::infoGet() More...
ssp_err_t	R_CAN_VersionGet (ssp_version_t *const p_version)
	Get CAN module code and API versions. Implements can_api_t::versionGet() More...

Detailed Description

Driver for CAN, Controller Area Network.

This module supports the Controller Area Network peripheral. It implements the following interfaces:

• CAN Interface

Function Documentation

R_CAN_Close()

ssp_err_t R_CAN_Close

(

can_ctrl_t *const

p_ctrl

)

Close the CAN channel. Implements can_api_t::close()

Return values

SSP_SUCCESS	Channel closed successfully.
SSP_ERR_NOT_OPEN	Control block not open.
SSP_ERR_ASSERTION	Null pointer presented.

Mark the channel not open so other APIs cannot use it.

Disable transmit, receive and error interrupts

Enable module stop for the CAN channel

Unlock the CAN channel

R_CAN_Control()

ssp_err_t R_CAN_Control	(	can_ctrl_t *const	p_ctrl,
		can_command_t const	command,
		void *	p_data
	)

CAN Control is used to control extended features. Implements can_api_t::control()

Return values

SSP_SUCCESS	Operation succeeded.
SSP_ERR_NOT_OPEN	Control block not open.
SSP_ERR_INVALID_ARGUMENT	Invalid command.
SSP_ERR_ASSERTION	Null pointer presented
SSP_ERR_CAN_MODE_SWITCH_FAILED	Switching modes failed.

Verify command is CAN_COMMAND_MODE_SWITCH

Change operating mode. Returns false if invalid mode or mode switch failed.

Save mode for diagnostic purposes.

R_CAN_InfoGet()

ssp_err_t R_CAN_InfoGet	(	can_ctrl_t *const	p_ctrl,
		can_info_t *const	p_info
	)

Get CAN state and status information for the channel. Implements can_api_t::infoGet()

Return values

SSP_SUCCESS	Operation succeeded.
SSP_ERR_NOT_OPEN	Control block not open.
SSP_ERR_CAN_DATA_UNAVAILABLE	Channel failed to return info.
SSP_ERR_ASSERTION	Null pointer presented

Get status for channel.

Error encountered when retrieving info.

Save the operation mode

R_CAN_Open()

ssp_err_t R_CAN_Open	(	can_ctrl_t *const	p_ctrl,
		can_cfg_t const *const	p_cfg
	)

Open and configure the CAN channel for operation. Implements can_api_t::open()

Return values

SSP_SUCCESS	Channel opened successfully
SSP_ERR_INVALID_ARGUMENT	Invalid channel passed as argument.
SSP_ERR_HW_LOCKED	Lock already owned by another user.
SSP_ERR_CAN_MODE_SWITCH_FAILED	Channel failed to switch modes.
SSP_ERR_CAN_INIT_FAILED	Channel failed to initialize.
SSP_ERR_ASSERTION	Null pointer presented.

Returns

See Common Error Codes or functions called by this function for other possible return codes. This function calls:

• fmi_api_t::productFeatureGet
• fmi_api_t::eventInfoGet
• cgc_api_t::clockCheck

Check for valid parameters.

Make sure the feature exists on this MCU.

Return if failed to get feature information.

Try to get channel lock.

Return if channel is already open so return error

Enter module start state.

Disable interrupts while initializing

Initialize and configure CAN module to run.

Set channel, callback function, context, id mode, mailbox count, message mode, op mode and opened status.

If successful, Lookup and store IRQ numbers. Enable interrupts.

If successful, Mark the control block as open

If the device failed to initialize, disable interrupts, stop and unlock the hardware and mark the control block as closed.

Process errors before returning.

Log error or assertion.

R_CAN_Read()

ssp_err_t R_CAN_Read	(	can_ctrl_t *const	p_ctrl,
		uint32_t	mailbox,
		can_frame_t *const	p_frame
	)

Read data from the CAN channel. Return up to eight bytes read from the channel mailbox. Implements can_api_t::read()

Return values

SSP_SUCCESS	Data successfully read.
SSP_ERR_NOT_OPEN	Control block not open.
SSP_ERR_CAN_DATA_UNAVAILABLE	No data available.
SSP_ERR_CAN_TRANSMIT_MAILBOX	Mailbox is not setup for receive.
SSP_ERR_ASSERTION	Null pointer presented.

Check for receive data

Get frame data.

Check for other mailboxes in an overrun state.

Check for other mailboxes with received messages pending.

R_CAN_VersionGet()

ssp_err_t R_CAN_VersionGet

(

ssp_version_t *const

p_version

)

Get CAN module code and API versions. Implements can_api_t::versionGet()

Return values

SSP_SUCCESS	Operation succeeded.
SSP_ERR_ASSERTION	Null pointer presented note This function is reentrant.

Return module version information.

R_CAN_Write()

ssp_err_t R_CAN_Write	(	can_ctrl_t *const	p_ctrl,
		uint32_t	mailbox,
		can_frame_t *const	p_frame
	)

Write data to the CAN channel. Write up to eight bytes to the channel mailbox. Implements can_api_t::write()

Return values

SSP_SUCCESS	Operation succeeded.
SSP_ERR_NOT_OPEN	Control block not open.
SSP_ERR_CAN_TRANSMIT_NOT_READY	Transmit in progress, cannot write data at this time.
SSP_ERR_CAN_RECEIVE_MAILBOX	Mailbox is setup for receive and cannot send.
SSP_ERR_INVALID_ARGUMENT	Data length or frame type invalid.
SSP_ERR_ASSERTION	Null pointer presented

Check transmit ready flag.

Transmit ready flag is not set, return error/status.

Transmit ready flag set, so clear it.

Send transmit frame.