Detailed Description

The core functions provide the direct interface to the CAN controller (hardware). Please note that due to hardware limitations maybe certain functions are not implemented on the target platform. A call to an unsupported function will always return the error code eCP_ERR_NOT_SUPPORTED.

For a "FullCAN" controller (i.e. a CAN controller that has several message buffers) an extended set of powerful functions (CpCoreBuffer..())is provided.

Initialisation Process

The CAN driver is initialised with the function CpCoreDriverInit(). This routine will setup the CAN controller, but not configure a certain bitrate nor switch the CAN controller to active operation. The following core functions must be called in that order:

CpCoreDriverInit()
CpCoreBitrate()
CpCoreCanMode()

The function CpCoreDriverInit() must be called before any other core function in order to have a valid handle / pointer to the open CAN interface.

Example

void MyCanInit(void)
{
   CpPort_ts tsCanPortT; // logical CAN port
   //---------------------------------------------------
   // setup the CAN controller / open a physical CAN
   // port
   //
   CpCoreDriverInit(eCP_CHANNEL_1, &tsCanPortT);
   //---------------------------------------------------
   // setup 500 kBit/s
   //
   CpCoreBitrate(&tsCanPortT, eCP_BITRATE_500K, eCP_BITRATE_NONE);
   //---------------------------------------------------
   // start CAN operation
   //
   CpCoreCanMode(&tsCanPortT, eCP_MODE_START);
   //.. now we are operational
}

Driver Configuration

Each CANpie FD driver is individually configured, the CANpie FD configuration options are defined inside the cp_platform.h file.

Include dependency graph for cp_core.h:

Functions
CpStatus_tv	CpCoreBitrate (CpPort_ts *ptsPortV, int32_t slNomBitRateV, int32_t slDatBitRateV)

CpStatus_tv	CpCoreBufferConfig (CpPort_ts *ptsPortV, uint8_t ubBufferIdxV, uint32_t ulIdentifierV, uint32_t ulAcceptMaskV, uint8_t ubFormatV, uint8_t ubDirectionV)

CpStatus_tv	CpCoreBufferGetData (CpPort_ts ptsPortV, uint8_t ubBufferIdxV, uint8_t pubDestDataV, uint8_t ubStartPosV, uint8_t ubSizeV)

CpStatus_tv	CpCoreBufferGetDlc (CpPort_ts ptsPortV, uint8_t ubBufferIdxV, uint8_t pubDlcV)

CpStatus_tv	CpCoreBufferRelease (CpPort_ts *ptsPortV, uint8_t ubBufferIdxV)

CpStatus_tv	CpCoreBufferSend (CpPort_ts *ptsPortV, uint8_t ubBufferIdxV)

CpStatus_tv	CpCoreBufferSetData (CpPort_ts ptsPortV, uint8_t ubBufferIdxV, uint8_t pubSrcDataV, uint8_t ubStartPosV, uint8_t ubSizeV)

CpStatus_tv	CpCoreBufferSetDlc (CpPort_ts *ptsPortV, uint8_t ubBufferIdxV, uint8_t ubDlcV)

CpStatus_tv	CpCoreCanMode (CpPort_ts *ptsPortV, uint8_t ubModeV)

CpStatus_tv	CpCoreCanState (CpPort_ts ptsPortV, CpState_ts ptsStateV)

CpStatus_tv	CpCoreDriverInit (uint8_t ubPhyIfV, CpPort_ts *ptsPortV, uint8_t ubConfigV)

CpStatus_tv	CpCoreDriverRelease (CpPort_ts *ptsPortV)

CpStatus_tv	CpCoreFifoConfig (CpPort_ts ptsPortV, uint8_t ubBufferIdxV, CpFifo_ts ptsFifoV)

CpStatus_tv	CpCoreFifoRead (CpPort_ts ptsPortV, uint8_t ubBufferIdxV, CpCanMsg_ts ptsCanMsgV, uint32_t *pulMsgCntV)

CpStatus_tv	CpCoreFifoRelease (CpPort_ts *ptsPortV, uint8_t ubBufferIdxV)

CpStatus_tv	CpCoreFifoWrite (CpPort_ts ptsPortV, uint8_t ubBufferIdxV, CpCanMsg_ts ptsCanMsgV, uint32_t *pulMsgCntV)

CpStatus_tv	CpCoreHDI (CpPort_ts ptsPortV, CpHdi_ts ptsHdiV)

CpStatus_tv	CpCoreIntFunctions (CpPort_ts *ptsPortV, CpRcvHandler_Fn pfnRcvHandlerV, CpTrmHandler_Fn pfnTrmHandlerV, CpErrHandler_Fn pfnErrHandlerV)

CpStatus_tv	CpCoreStatistic (CpPort_ts ptsPortV, CpStatistic_ts ptsStatsV)

CpStatus_tv	CpCoreStatisticClear (CpPort_ts *ptsPortV)

Function Documentation

◆ CpCoreBitrate()

CpStatus_tv CpCoreBitrate	(	CpPort_ts *	ptsPortV,
		int32_t	slNomBitRateV,
		int32_t	slDatBitRateV )

Set bit-rate of CAN controller.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[in]	slNomBitRateV	Nominal Bit Timing selection
[in]	slDatBitRateV	Data Bit Timing selection

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

This function initializes the bit timing registers of a CAN controller to pre-defined values. The values are defined by the enumeration CpBitrate_e. For a classical CAN controller (or if bit-rate switching is not required) the parameter slDatBitRateV is set to eCP_BITRATE_NONE.

◆ CpCoreBufferConfig()

CpStatus_tv CpCoreBufferConfig	(	CpPort_ts *	ptsPortV,
		uint8_t	ubBufferIdxV,
		uint32_t	ulIdentifierV,
		uint32_t	ulAcceptMaskV,
		uint8_t	ubFormatV,
		uint8_t	ubDirectionV )

Initialise message buffer.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[in]	ubBufferIdxV	Buffer number
[in]	ulIdentifierV	Identifier value
[in]	ulAcceptMaskV	Acceptance mask value
[in]	ubFormatV	Message format
[in]	ubDirectionV	Message direction

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

See also: CpCoreBufferRelease()

This function allocates a message buffer in a CAN controller. The number of the message buffer inside the CAN controller is denoted via the parameter ubBufferIdxV. The first buffer starts at position eCP_BUFFER_1. The message buffer is allocated with the identifier value ulIdentifierV. If the buffer is used for reception (parameter ubDirectionV is eCP_BUFFER_DIR_RCV), the parameter ulAcceptMaskV is used for acceptance filtering.

The parameter ubFormatV can have the following values:

CP_MSG_FORMAT_CBFF : Classic CAN frame, Standard Identifier
CP_MSG_FORMAT_CEFF : Classic CAN frame, Extended Identifier
CP_MSG_FORMAT_FBFF : ISO CAN FD frame, Standard Identifier
CP_MSG_FORMAT_FEFF : ISO CAN FD frame, Extended Identifier

The following example shows the setup of a transmit buffer

An allocated transmit buffer can be sent via the function CpCoreBufferSend().

The function initialises the DLC value of a message buffer to 0, a subsequent call of CpCoreBufferSetDlc() is necessary to change the default value.

◆ CpCoreBufferGetData()

CpStatus_tv CpCoreBufferGetData	(	CpPort_ts *	ptsPortV,
		uint8_t	ubBufferIdxV,
		uint8_t *	pubDestDataV,
		uint8_t	ubStartPosV,
		uint8_t	ubSizeV )

Get data from message buffer.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[in]	ubBufferIdxV	Buffer number
[out]	pubDestDataV	Pointer to destination data buffer
[in]	ubStartPosV	Array start position
[in]	ubSizeV	Number of bytes to read

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

The functions copies ubSizeV data bytes from the CAN message buffer defined by ubBufferIdxV. The first message buffer starts at the index eCP_BUFFER_1. The parameter ubStartPosV denotes the start position, the first data byte is at position 0. The destination buffer (pointer pubDestDataV) must have sufficient space for the data. The buffer has to be configured by CpCoreBufferConfig() in advance.

◆ CpCoreBufferGetDlc()

CpStatus_tv CpCoreBufferGetDlc	(	CpPort_ts *	ptsPortV,
		uint8_t	ubBufferIdxV,
		uint8_t *	pubDlcV )

Get DLC of specified buffer.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[in]	ubBufferIdxV	Buffer number
[out]	pubDlcV	Data Length Code

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

This function retrieves the Data Length Code (DLC) of the selected buffer ubBufferIdxV. The first message buffer starts at the index eCP_BUFFER_1. The parameter pubDlcV is a pointer to a memory location where the function will store the DLC value on success. The buffer has to be configured by CpCoreBufferConfig() in advance.

◆ CpCoreBufferRelease()

CpStatus_tv CpCoreBufferRelease	(	CpPort_ts *	ptsPortV,
		uint8_t	ubBufferIdxV )

Release message buffer.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[in]	ubBufferIdxV	Buffer number

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

See also: CpCoreBufferConfig()

The function releases the allocated message buffer specified by the parameter ubBufferIdxV. The first message buffer starts at the index eCP_BUFFER_1. Both - reception and transmission - will be disabled on the specified message buffer afterwards.

◆ CpCoreBufferSend()

CpStatus_tv CpCoreBufferSend	(	CpPort_ts *	ptsPortV,
		uint8_t	ubBufferIdxV )

Send message from message buffer.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[in]	ubBufferIdxV	Index of message buffer

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

This function transmits a message from the specified message buffer ubBufferIdxV. The first message buffer starts at the index eCP_BUFFER_1. The message buffer has to be configured as transmit buffer (eCP_BUFFER_DIR_TRM) by a call to CpCoreBufferConfig() in advance. A transmission request on a receive buffer will fail with the return code eCP_ERR_INIT_FAIL.

◆ CpCoreBufferSetData()

CpStatus_tv CpCoreBufferSetData	(	CpPort_ts *	ptsPortV,
		uint8_t	ubBufferIdxV,
		uint8_t *	pubSrcDataV,
		uint8_t	ubStartPosV,
		uint8_t	ubSizeV )

Set data of message buffer.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[in]	ubBufferIdxV	Buffer number
[in]	pubSrcDataV	Pointer to source data buffer
[in]	ubStartPosV	Array start position
[in]	ubSizeV	Number of bytes to write

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

This function copies ubSizeV data bytes from the source buffer (pointer pubSrcDataV) into the message buffer defined by the parameter ubBufferIdxV. The first message buffer starts at the index eCP_BUFFER_1. The parameter ubStartPosV denotes the start position, the first data byte is at position 0. The message buffer has to be configured by CpCoreBufferConfig() in advance.

The following example demonstrates the access to the data bytes of a CAN message:

 uint8_t aubDataT[8];   // buffer for 8 bytes
 
aubDataT[0] = 0x11;  // byte 0: set to 11hex
aubDataT[1] = 0x22;  // byte 1: set to 22hex
 
//--- copy the stuff to message buffer 1 ---------------
CpCoreBufferSetData(ptsCanPortS, eCP_BUFFER_1, &aubDataT, 0, 2);
 
//--- send this message out ----------------------------
CpCoreBufferSend(ptsCanPortS, eCP_BUFFER_1);

◆ CpCoreBufferSetDlc()

CpStatus_tv CpCoreBufferSetDlc	(	CpPort_ts *	ptsPortV,
		uint8_t	ubBufferIdxV,
		uint8_t	ubDlcV )

Set DLC of specified buffer.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[in]	ubBufferIdxV	Buffer number
[in]	ubDlcV	Data Length Code

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

This function sets the Data Length Code (DLC) of the specified message buffer ubBufferIdxV. The DLC value ubDlcV must be in the range from 0 to 8 for Classical CAN frames and 0 to 15 for ISO CAN FD frames. An invalid DLC value is rejected with the return value eCP_ERR_CAN_DLC. The message buffer has to be configured by a call to CpCoreBufferConfig() in advance.

◆ CpCoreCanMode()

CpStatus_tv CpCoreCanMode	(	CpPort_ts *	ptsPortV,
		uint8_t	ubModeV )

Set state of CAN controller.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[in]	ubModeV	Mode selection

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

This function changes the operating mode of the CAN controller FSA. Possible values for the parameter ubModeV are defined in the CpMode_e enumeration. At least the modes eCP_MODE_INIT and eCP_MODE_OPERATION shall be supported. Other modes depend on the capabilities of the CAN controller.

CAN controller FSA

◆ CpCoreCanState()

CpStatus_tv CpCoreCanState	(	CpPort_ts *	ptsPortV,
		CpState_ts *	ptsStateV )

Retrieve state of CAN controller.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[out]	ptsStateV	Pointer to CAN state structure

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

This function retrieves the present state of the CAN controller. The parameter ptsStateV is a pointer to a memory location where the function will store the state. The value of the structure element CpState_ts::ubCanErrState is defined by the CpState_e enumeration. The value of the structure element CpState_ts::ubCanErrType is defined by the CpErrType_e enumeration.

◆ CpCoreDriverInit()

CpStatus_tv CpCoreDriverInit	(	uint8_t	ubPhyIfV,
		CpPort_ts *	ptsPortV,
		uint8_t	ubConfigV )

Initialise the CAN driver.

Parameters

[in]	ubPhyIfV	CAN channel of the hardware
[out]	ptsPortV	Pointer to CAN port structure
[in]	ubConfigV	This parameter is reserved for future enhancement

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

See also: CpCoreDriverRelease()

The functions opens the physical CAN interface defined by the parameter ubPhyIfV. The value for ubPhyIfV is taken from the enumeration CpChannel_e. The function sets up the field members of the CAN port structure CpPort_ts. The parameter ptsPortV is a pointer to a memory location where structure CpPort_ts is stored. An opened CAN port must be closed via the CpCoreDriverRelease() function.

◆ CpCoreDriverRelease()

CpStatus_tv CpCoreDriverRelease ( CpPort_ts * ptsPortV )

Release the CAN driver.

Parameters

[in] ptsPortV Pointer to CAN port structure

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

See also: CpCoreDriverInit()

The function closes a CAN port. The parameter ptsPortV is a pointer to a memory location where structure CpPort_ts is stored. The implementation of this function is dependent on the operating system. Typical tasks might be:

clear the interrupt vector / routine
close all open paths to the hardware

◆ CpCoreFifoConfig()

CpStatus_tv CpCoreFifoConfig	(	CpPort_ts *	ptsPortV,
		uint8_t	ubBufferIdxV,
		CpFifo_ts *	ptsFifoV )

Assign FIFO to message buffer.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[in]	ubBufferIdxV	Buffer number
[in]	ptsFifoV	Pointer to FIFO structure

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

This function assigns a FIFO to a message buffer defined by the parameter ubBufferIdxV. The first message buffer starts at the index eCP_BUFFER_1. The buffer has to be configured by CpCoreBufferConfig() in advance. The parameter ptsFifoV is a pointer to a memory location where a FIFO has been initialized using the CpFifoInit() function.

The following example shows the configuration of a receive FIFO

◆ CpCoreFifoRead()

CpStatus_tv CpCoreFifoRead	(	CpPort_ts *	ptsPortV,
		uint8_t	ubBufferIdxV,
		CpCanMsg_ts *	ptsCanMsgV,
		uint32_t *	pulMsgCntV )

Read a CAN message from FIFO.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[in]	ubBufferIdxV	Buffer number
[out]	ptsCanMsgV	Pointer to a CAN message structure
[in,out]	pulMsgCntV	Pointer to message count variable

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

This function reads CAN messages from a receive FIFO defined by the parameter ubBufferIdxV. The first message buffer starts at the index eCP_BUFFER_1. The FIFO has to be configured by CpCoreFifoConfig() in advance. The parameter ptsCanMsgV is a pointer to the application buffer as array of CpCanMsg_ts objects to store the received CAN messages. The parameter pulMsgCntV is a pointer to a memory location which has to be initialized before the call to the size of the buffer referenced by ptsCanMsgV as multiple of CpCanMsg_ts objects. Upon return, the driver has stored the number of messages copied into the application buffer into this parameter.

The following example shows a read operation from a receive FIFO

◆ CpCoreFifoRelease()

CpStatus_tv CpCoreFifoRelease	(	CpPort_ts *	ptsPortV,
		uint8_t	ubBufferIdxV )

Release FIFO from message buffer.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[in]	ubBufferIdxV	Buffer number

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

This function releases an assigned FIFO from a message buffer defined by the parameter ubBufferIdxV. The first message buffer starts at the index eCP_BUFFER_1. The FIFO has to be configured by CpCoreFifoConfig() in advance.

◆ CpCoreFifoWrite()

CpStatus_tv CpCoreFifoWrite	(	CpPort_ts *	ptsPortV,
		uint8_t	ubBufferIdxV,
		CpCanMsg_ts *	ptsCanMsgV,
		uint32_t *	pulMsgCntV )

Transmit a CAN message.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[in]	ubBufferIdxV	Buffer number
[in]	ptsCanMsgV	Pointer to a CAN message structure
[in,out]	pulMsgCntV	Pointer to message count variable

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

This function writes CAN messages to a transmit FIFO defined by the parameter ubBufferIdxV. The first message buffer starts at the index eCP_BUFFER_1. The FIFO has to be configured by CpCoreFifoConfig() in advance. The parameter ptsCanMsgV is a pointer to the application buffer as array of CpCanMsg_ts objects which contain the CAN messages that should be transmitted. The parameter pulMsgCntV is a pointer to a memory location which has to be initialized before the call to the size of the buffer referenced by ptsCanMsgV as multiple of CpCanMsg_ts objects. Upon return, the driver has stored the number of messages transmitted successfully into this parameter.

◆ CpCoreHDI()

CpStatus_tv CpCoreHDI	(	CpPort_ts *	ptsPortV,
		CpHdi_ts *	ptsHdiV )

Get hardware description information.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[out]	ptsHdiV	Pointer to the Hardware Description Interface structure (CpHdi_ts)

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

This function retrieves information about the CAN interface. The parameter ptsHdiV is a pointer to a memory location where the function will store the information.

◆ CpCoreIntFunctions()

CpStatus_tv CpCoreIntFunctions	(	CpPort_ts *	ptsPortV,
		CpRcvHandler_Fn	pfnRcvHandlerV,
		CpTrmHandler_Fn	pfnTrmHandlerV,
		CpErrHandler_Fn	pfnErrHandlerV )

Install callback functions.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[in]	pfnRcvHandlerV	Pointer to callback function for receive handler
[in]	pfnTrmHandlerV	Pointer to callback function for transmit handler
[in]	pfnErrHandlerV	Pointer to callback function for error handler

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

This function will install three different callback routines in the interrupt handler. If you do not want to install a callback for a certain interrupt condition the parameter must be set to NULL. The callback functions for receive and transmit interrupt have the following syntax: uint8_t Handler(CpCanMsg_ts * ptsCanMsgV, uint8_t ubBufferIdxV)

The callback function for the CAN status-change / error interrupt has the following syntax: uint8_t Handler(CpState_ts * ptsErrV)

◆ CpCoreStatistic()

CpStatus_tv CpCoreStatistic	(	CpPort_ts *	ptsPortV,
		CpStatistic_ts *	ptsStatsV )

Read CAN controller statistics.

Parameters

[in]	ptsPortV	Pointer to CAN port structure
[in]	ptsStatsV	Pointer to statistic data structure

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

This function copies CAN statistic information to the structure pointed by ptsStatsV.

◆ CpCoreStatisticClear()

CpStatus_tv CpCoreStatisticClear ( CpPort_ts * ptsPortV )

Clear CAN controller statistics.

Parameters

[in] ptsPortV Pointer to CAN port structure

Returns: Error code is defined by the CpErr_e enumeration. If no error occurred, the function will return the value eCP_ERR_NONE.

This function clears CAN controller statistics.