Driver for Atmel's internal Full CAN controller. More...

Collaboration diagram for AT90CAN128 CAN device:

Data Structures
struct	_CANBuffer
Defines
#define	RX_MOB 8
#define	ATCAN_RX_BUF_SIZE 64
Typedefs
typedef struct _CANBuffer	CANBuffer
Functions
int8_t	AtCanGetBusState (void)
int8_t	AtCanGetFreeMob (void)
int8_t	AtCanEnableMsgObj (uint8_t mob, uint32_t id, int8_t idIsExt, int8_t idRemTag, uint32_t mask, int8_t maskIsExt, int8_t maskRemTag)
int8_t	AtCanEnableRx (uint8_t noOfMsgObjs, uint32_t id, int8_t idIsExt, int8_t idRemTag, uint32_t mask, int8_t maskIsExt, int8_t maskRemTag)
int8_t	AtCanSendMsg (CANFRAME *frame)
uint8_t	AtCanRxAvail (NUTDEVICE *dev)
uint8_t	AtCanTxFree (NUTDEVICE *dev)
void	AtCanOutput (NUTDEVICE dev, CANFRAME frame)
uint8_t	AtCanInput (NUTDEVICE dev, CANFRAME frame)
void	AtCanSetAccCode (NUTDEVICE dev, uint8_t ac)
void	AtCanSetAccMask (NUTDEVICE dev, uint8_t am)
uint8_t	AtCanSetBaudrate (NUTDEVICE *dev, uint32_t baudrate)
int	AtCanInit (NUTDEVICE *dev)
Variables
NUTDEVICE	devAtCan
CANINFO	dcb_atcan
IFCAN	ifc_atcan
NUTDEVICE	devAtCan

Detailed Description

Driver for Atmel's internal Full CAN controller.

Define Documentation

#define RX_MOB 8

Referenced by AtCanInit(), AtCanSetAccCode(), and AtCanSetAccMask().

#define ATCAN_RX_BUF_SIZE 64

Referenced by AtCanInit().

Typedef Documentation

typedef struct _CANBuffer CANBuffer

Function Documentation

int8_t AtCanGetBusState ( void )

Returns the state of this CAN node. Refer to state diagram in AT90CAN128 dataheet chapter 20.7 "Error Management"

Return values:

CAN_SUCCESS	if CAN node is in ACTIVE state
CAN_PASSIVE	if CAN node is in PASSIVE state
CAN_BUS_OFF	if CAN node is in BUS OFF state

References _BV, CAN_BUS_OFF, CAN_PASSIVE, and CAN_SUCCESS.

int8_t AtCanGetFreeMob ( void )

References _BV, and bit_is_set.

Referenced by AtCanSendMsg(), and AtCanTxFree().

int8_t AtCanEnableMsgObj	(	uint8_t	mob,
		uint32_t	id,
		int8_t	idIsExt,
		int8_t	idRemTag,
		uint32_t	mask,
		int8_t	maskIsExt,
		int8_t	maskRemTag
	)

Configure a single message object for receiption.

All 15 MOBS can be set up for reception, not only RX_MOB MOBs

Parameters:

mob	Message object index (0-14)
id	Acceptance code
idIsExt	Flag if acceptance code is extended (0 = standard, 1 = extended)
idRemTag	Id's remote tag (0 or 1)
mask	Acceptance mask
maskIsExt	Flag if acceptance mask is extended (0 = standard, 1 = extended)
maskRemTag	Mask's remote tag (0 or 1)

Returns:: Result code. See CAN_RESULT

References _BV, CAN_ILLEGAL_MOB, and CAN_SUCCESS.

Referenced by AtCanEnableRx().

int8_t AtCanEnableRx	(	uint8_t	noOfMsgObjs,
		uint32_t	id,
		int8_t	idIsExt,
		int8_t	idRemTag,
		uint32_t	mask,
		int8_t	maskIsExt,
		int8_t	maskRemTag
	)

Configure message objects for receiption.

Parameters:

noOfMsgObjs	Number of message objects used for receiption (1-14). Message objects not configured for receiption are used for transmission. The same acceptance filter and mask is applied to the message objects. If it is required to set-up more complex filtering mechanisms use canEnableMsgObj() instead, which allows setting filters on a per message object basis.
id	Acceptance code
idIsExt	Flag if acceptance code is extended (0 = standard, 1 = extended)
idRemTag	Id's remote tag (0 or 1)
mask	Acceptance mask
maskIsExt	Flag if acceptance mask is extended (0 = standard, 1 = extended)
maskRemTag	Mask's remote tag (0 or 1)

Returns:: Result code. See CAN_RESULT

References AtCanEnableMsgObj(), and CAN_SUCCESS.

Referenced by AtCanInit(), AtCanSetAccCode(), and AtCanSetAccMask().

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int8_t AtCanSendMsg ( CANFRAME * frame )

Send a CAN message

Parameters:

frame Container for CAN message to be sent

Returns:: Result code. See CAN_RESULT

References _BV, AtCanGetFreeMob(), _CANFRAME::byte, CAN_SUCCESS, CAN_TXBUF_FULL, _CANFRAME::ext, _CANFRAME::id, _CANFRAME::len, and _CANFRAME::rtr.

Referenced by AtCanOutput().

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uint8_t AtCanRxAvail ( NUTDEVICE * dev )

Checks if data is available in input buffer

Parameters:

dev	Pointer to the device structure

Returns:: Number of frames available

References _CANBuffer::datalength.

uint8_t AtCanTxFree ( NUTDEVICE * dev )

Checks if there's still space in output buffer

Parameters:

dev	Pointer to the device structure

Returns:: 1 if space is available

References AtCanGetFreeMob().

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void AtCanOutput	(	NUTDEVICE *	dev,
		CANFRAME *	frame
	)

Write a frame from to output buffer

This function writes a frame to the output buffer. If the output buffer is full the function will block until frames are send.

Parameters:

dev	Pointer to the device structure
frame	Pointer to the receive frame

References AtCanSendMsg(), _CANINFO::can_tx_rdy, CAN_TXBUF_FULL, _NUTDEVICE::dev_dcb, NUT_WAIT_INFINITE, and NutEventWait().

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uint8_t AtCanInput	(	NUTDEVICE *	dev,
		CANFRAME *	frame
	)

Reads a frame from input buffer

This function reads a frame from the input buffer. If the input buffer is empty the function will block unitl new frames are received, or the timeout is reached.

Parameters:

dev	Pointer to the device structure
frame	Pointer to the receive frame

Returns:: 1 if timeout, 0 otherwise

References _CANINFO::can_rx_rdy, _CANBuffer::dataindex, _CANBuffer::datalength, _CANBuffer::dataptr, _NUTDEVICE::dev_dcb, _NUTDEVICE::dev_icb, NutEnterCritical, NutEventWait(), NutExitCritical, and _CANBuffer::size.

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void AtCanSetAccCode	(	NUTDEVICE *	dev,
		uint8_t *	ac
	)

Sets the acceptance code

Parameters:

dev	Pointer to the device structure
ac	4 byte char array with the acceptance code

References AtCanEnableRx(), _NUTDEVICE::dev_icb, memcpy(), and RX_MOB.

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void AtCanSetAccMask	(	NUTDEVICE *	dev,
		uint8_t *	am
	)

Sets the acceptance mask

Parameters:

dev	Pointer to the device structure
am	4 byte char array with the acceptance mask

References AtCanEnableRx(), _NUTDEVICE::dev_icb, memcpy(), and RX_MOB.

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uint8_t AtCanSetBaudrate	(	NUTDEVICE *	dev,
		uint32_t	baudrate
	)

Sets the CAN baud rate

Parameters:

dev	Pointer to the device structure
baudrate	Baud rate (One of the defined baud rates. See AtCan.h)

Returns:: 0 for success

References CAN_SPEED_100K, CAN_SPEED_10K, CAN_SPEED_125K, CAN_SPEED_1M, CAN_SPEED_20K, CAN_SPEED_250K, CAN_SPEED_500K, CAN_SPEED_50K, CAN_SPEED_800K, CAN_SPEED_CUSTOM, and _NUTDEVICE::dev_icb.

Referenced by AtCanInit().

int AtCanInit ( NUTDEVICE * dev )

Initialize CAN interface.

Applications typically do not use this function, but call NutRegisterDevice().

Parameters:

dev	Identifies the device to initialize. The structure must be properly set.

Returns:: 0 for successful initialisation or -1 in case init failed

References _BV, ATCAN_RX_BUF_SIZE, AtCanEnableRx(), AtCanSetBaudrate(), ifcan::can_baudrate, _CANBuffer::dataindex, _CANBuffer::datalength, _CANBuffer::dataptr, _NUTDEVICE::dev_dcb, loop_until_bit_is_set, memset(), NutHeapAlloc, NutRegisterIrqHandler(), RX_MOB, and _CANBuffer::size.

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Variable Documentation

NUTDEVICE devAtCan

Initial value:

 {
    0,                          
    {'a', 't', 'c', 'a', 'n', '0', 0, 0, 0}, 
    IFTYP_CAN,                  
    0,                          
    0,                          
    &ifc_atcan,                 
    &dcb_atcan,                 
    AtCanInit,                  
    0,                          
    0,                          
    0,                          
    0,                          
    0,                          
    0,                          
    0                           
}

Device information structure.

Applications must pass this structure to NutRegisterDevice() to bind this CAN device driver to the Nut/OS kernel.

CANINFO dcb_atcan

IFCAN ifc_atcan

Initial value:

 {
    CAN_IF_2B,                 
    CAN_SPEED_125K,            
    {0xFF, 0xFF, 0xFF, 0xFF},  
    {0x00, 0x00, 0x00, 0x00},  
    NUT_WAIT_INFINITE,         
    AtCanRxAvail,              
    AtCanTxFree,               
    AtCanInput,                
    AtCanOutput,               
    AtCanSetAccCode,           
    AtCanSetAccMask,           
    AtCanSetBaudrate,          
}

Interface information structure.

This structure stores some interface parameters like bit rate, acceptance mask, acceptance code and callback handlers.

NUTDEVICE devAtCan

Initial value:

 {
    0,                          
    {'a', 't', 'c', 'a', 'n', '0', 0, 0, 0}, 
    IFTYP_CAN,                  
    0,                          
    0,                          
    &ifc_atcan,                 
    &dcb_atcan,                 
    AtCanInit,                  
    0,                          
    0,                          
    0,                          
    0,                          
    0,                          
    0,                          
    0                           
}

Device information structure.

Applications must pass this structure to NutRegisterDevice() to bind this CAN device driver to the Nut/OS kernel.

Data Structures

Defines

Typedefs

Functions

Variables

Detailed Description

Define Documentation

Typedef Documentation

Function Documentation

Variable Documentation