Collaboration diagram for MCP2562x CAN chip driver:

Data Structures
struct	can_t
	CAN driver descriptor: static structure for configuration of driver instance. More...

struct	can_state_t
	holds current CAN instance state variables. More...

struct	can_frame_t
	holds CAN frame and is used in driver's API to transfer frames between the driver and an application More...

struct	can_bittime_t
	CAN timing initialisation structure definition. More...

Typedefs
typedef void(*	can_rx_callback_t) (const struct can_t *Can, enum can_xbuffer_t BufNum)
	The callback is called on CAN frame reception. More...

typedef void(*	can_tx_callback_t) (const struct can_t *Can, enum can_xbuffer_t BufNum, uint8_t TXBnCTRL)
	The callback is called at CAN transmission ready and transmission error. More...

typedef void(*	can_wake_callback_t) (const struct can_t *Can)
	The callback is called at CAN chip wakeup. More...

typedef void(*	can_err_callback_t) (const struct can_t *Can, uint8_t EREG)
	The callback is called at CAN chip error. More...

Enumerations

Functions
void	CanInterruptCb (const struct can_t *Can)
	Driver's HW interrupt callback to be exposed to EVE config. More...

bool	CanInit (const struct can_t *Can)
	Initialises CAN instance structure, connects it to SPI. Powers up MCP2562x if supported. More...

bool	CanDisable (const struct can_t *Can)
	Disables interrupts from MCP2562x and releases SPI. Powers down MCP2562x if supported by product HW. More...

void	CanReset (const struct can_t *Can)
	Performs MCP2562x HW reset. MCP2562x switches to configuration mode after reset. NB! It should be verified that MCP2562x is in configuration mode with CanGetMode() function after reset before any subsequent operation. More...

bool	CanSetup (const struct can_t *Can)
	Sets up MCP2562x registers according to preconfigured parameters. NB! MCP2562x should be in configuration mode. More...

bool	CanSetBitTime (const struct can_t Can, struct can_bittime_t BitTime)
	Sets up MCP2562x CAN timing parameters. NB! MCP2562x should be in configuration mode. More...

bool	CanSetFilter (const struct can_t *Can, uint32_t Id, enum can_filter_t Filter)
	Sets up MCP2562x acceptance filters. NB! MCP2562x should be in configuration mode. More...

enum can_mode_t	CanGetMode (const struct can_t *Can)
	Reads current MCP2562x mode of operation. More...

bool	CanSetMode (const struct can_t *Can, enum can_mode_t Mode)
	Sets current MCP2562x mode of operation. NB! After setting new mode it should be verified that MCP2562x is in desired mode (in configuration mode after SW reset) with CanGetMode() function before any subsequent operation. More...

enum can_xbuffer_t	CanUploadFrame (const struct can_t Can, struct can_frame_t Frame, enum can_xbuffer_t Buffer)
	Loads 1 full CAN frame to MCP2562x TX register. More...

bool	CanSendFrame (const struct can_t *Can, enum can_xbuffer_t Buffer, enum can_priority_t Priority, can_tx_callback_t TransmitReadyCb)
	Sets priority and RTS flag to one of MCP2562x TX registers initiating transfer. More...

enum can_xbuffer_t	CanDownloadFrame (const struct can_t Can, struct can_frame_t Frame, enum can_xbuffer_t Buffer)
	Receives 1 full CAN frame from MCP2562x after Rx1/Rx2 is ready. More...

bool	CanReadStatus (const struct can_t Can, uint8_t Status)
	Gets MCP2562x TX/RX buffers status (IF/RTS). More...

bool	CanClearIF (const struct can_t *Can, uint8_t Mask)
	Clear MCP2562x interrupt flag(s) by mask. More...

bool	CanInterrupts (const struct can_t *Can, bool Enable)
	Sets/resets all the preconfigured interrupts. More...

MCP2562x "Read Status" command result bit masks
#define	STAT_RX0IF (1 << 0)
	Rx0 buffer interrupt flag (Rx0 is ready to be read)

#define	STAT_RX1IF (1 << 1)
	Rx1 buffer interrupt flag (Rx1 is ready to be read)

#define	STAT_TX0REQ (1 << 2)
	Tx0 RTS flag (Tx0 is pending)

#define	STAT_TX0IF (1 << 3)
	Tx0 buffer interrupt flag (Tx0 being sent)

#define	STAT_TX1REQ (1 << 4)
	Tx1 RTS flag (Tx1 is pending)

#define	STAT_TX1IF (1 << 5)
	Tx1 buffer interrupt flag (Tx1 being sent)

#define	STAT_TX2REQ (1 << 6)
	Tx2 RTS flag (Tx2 is pending)

#define	STAT_TX2IF (1 << 7)
	Tx2 buffer interrupt flag (Tx2 being sent)

MCP2562x TXBnCTRL register (Transmit Buffer [n] Control) bit masks
#define	TXB_TXP_MASK (3 << 0)
	Transmit Buffer Priority mask.

#define	TXB_TXP0 (1 << 0)
	Transmit Buffer Priority low bit.

#define	TXB_TXP1 (1 << 1)
	Transmit Buffer Priority high bit.

#define	TXB_TXREQ (1 << 3)
	Message Transmit Request.

#define	TXB_TXERR (1 << 4)
	Transmission Error Detected.

#define	TXB_MLOA (1 << 5)
	Message Lost Arbitration.

#define	TXB_ABTF (1 << 6)
	Message Aborted Flag.

MCP2562x interrupt bit masks
#define	INT_RX0IF (1 << 0)
	Rx0 Full Interrupt Flag bit - must be cleared by MCU to reset interrupt condition.

#define	INT_RX1IF (1 << 1)
	Rx1 Full Interrupt Flag bit - must be cleared by MCU to reset interrupt condition.

#define	INT_TX0IF (1 << 2)
	Tx0 Empty Interrupt Flag bit - must be cleared by MCU to reset interrupt condition.

#define	INT_TX1IF (1 << 3)
	Tx1 Empty Interrupt Flag bit - must be cleared by MCU to reset interrupt condition.

#define	INT_TX2IF (1 << 4)
	Tx2 Empty Interrupt Flag bit - must be cleared by MCU to reset interrupt condition.

#define	INT_ERRIF (1 << 5)
	Error Interrupt Flag bit (multiple sources in the EFLG register) - must be cleared by MCU to reset interrupt condition.

#define	INT_WAKIF (1 << 6)
	Wake-up Interrupt Flag bit - must be cleared by MCU to reset interrupt condition.

#define	INT_MERRF (1 << 7)
	Message Error Interrupt Flag bit - must be cleared by MCU to reset interrupt condition.

Detailed Description

This CAN driver supports MCP2562x CAN chip connected with EVE SPI driver.

Public functionality included:

Init, HW and SW reset, full range of MCP2562x operation modes selection.
Preconfigured setup of GPIO assignments, available interrupts and chip behavior.
Run-time setup of desired CAN bus speed and address filtering.
Transmission and reception of full CAN frames.

Typedef Documentation

typedef void(* can_rx_callback_t) (const struct can_t *Can, enum can_xbuffer_t BufNum)

The callback is called on CAN frame reception.

Parameters

Can	CAN driver descriptor
BufNum	Buffer with received data (Rx0/Rx1)

Definition at line 168 of file can.h.

typedef void(* can_tx_callback_t) (const struct can_t *Can, enum can_xbuffer_t BufNum, uint8_t TXBnCTRL)

The callback is called at CAN transmission ready and transmission error.

Parameters

Can	CAN driver descriptor
BufNum	Buffer transmitted (Tx0/Tx1/Tx2)
TXBnCTRL	MCP2562x Transmit buffer control register Masks: TXB_TXP0 - Transmit Buffer Priority low bit TXB_TXP1 - Transmit Buffer Priority high bit TXB_TXREQ - Message Transmit Request TXB_TXERR - Transmission Error Detected TXB_MLOA - Message Lost Arbitration TXB_ABTF - Message Aborted Flag

Definition at line 183 of file can.h.

typedef void(* can_wake_callback_t) (const struct can_t *Can)

The callback is called at CAN chip wakeup.

Parameters

Can	CAN driver descriptor

Definition at line 191 of file can.h.

typedef void(* can_err_callback_t) (const struct can_t *Can, uint8_t EREG)

The callback is called at CAN chip error.

Parameters

Can	CAN handling structure
EREG	MCP2562x EREG register

Definition at line 198 of file can.h.

Enumeration Type Documentation

enum can_mode_t

defines possible MCP2562x modes of operation for CanSetMode() function.
NB: values correspond to REQOP bits in CANCTRL register (except CAN_MODE_RESET and CAN_MODE_SPI_BUSY)

Enumerator
CAN_MODE_NORMAL	Switch to normal operational mode.
CAN_MODE_SLEEP	Switch to sleep mode.
CAN_MODE_LOOPBACK	Switch to loopback mode.
CAN_MODE_LISTENONLY	Switch to listen-only mode.
CAN_MODE_CONFIGURE	Switch to configuration mode.
CAN_MODE_RESET	Perform SW reset; after that MCP is in configuration mode.
CAN_MODE_SPI_BUSY	SPI failed to communicate with MCP.

Definition at line 110 of file can.h.

enum can_xbuffer_t

defines MCP2562x TX/RX buffers for data transmission/reception.

Enumerator
CAN_TX0	Write data to / get status of TX0.
CAN_TX1	Write data to / get status of TX1.
CAN_TX2	Write data to / get status of TX2.
CAN_RX0	Read data from / get status of RX0.
CAN_RX1	Read data from / get status of RX1.
CAN_FIFO	Write data to the first available TX / Read data from the RX which came first.

Definition at line 124 of file can.h.

enum can_filter_t

defines MCP2562x Rx filter Ids and Masks.

Enumerator
CAN_RXF0	Identifier of filter #0 for RX0.
CAN_RXF1	Identifier of filter #1 for RX0.
CAN_RXF2	Identifier of filter #0 for RX1.
CAN_RXF3	Identifier of filter #1 for RX1.
CAN_RXF4	Identifier of filter #2 for RX1.
CAN_RXF5	Identifier of filter #3 for RX1.
CAN_RXM0	Mask of filter for RX0.
CAN_RXM1	Mask of filter for RX1.

Definition at line 137 of file can.h.

Function Documentation

void CanInterruptCb ( const struct can_t * Can )

Driver's HW interrupt callback to be exposed to EVE config.

Parameters

Can	Pointer to CAN instance structure

bool CanInit ( const struct can_t * Can )

Initialises CAN instance structure, connects it to SPI.
Powers up MCP2562x if supported.

Parameters

Can	CAN driver descriptor

bool CanDisable ( const struct can_t * Can )

Disables interrupts from MCP2562x and releases SPI.
Powers down MCP2562x if supported by product HW.

Parameters

Can	CAN driver descriptor

void CanReset ( const struct can_t * Can )

Performs MCP2562x HW reset. MCP2562x switches to configuration mode after reset.
NB! It should be verified that MCP2562x is in configuration mode with CanGetMode() function after reset before any subsequent operation.

Parameters

Can	CAN driver descriptor

bool CanSetup ( const struct can_t * Can )

Sets up MCP2562x registers according to preconfigured parameters.
NB! MCP2562x should be in configuration mode.

Parameters

Can	CAN driver descriptor

bool CanSetBitTime	(	const struct can_t *	Can,
		struct can_bittime_t *	BitTime
	)

Sets up MCP2562x CAN timing parameters.
NB! MCP2562x should be in configuration mode.

Parameters

Can	CAN driver descriptor
BitTime	Pointer to can_bittime_t structure containing the configuration information.

bool CanSetFilter	(	const struct can_t *	Can,
		uint32_t	Id,
		enum can_filter_t	Filter
	)

Sets up MCP2562x acceptance filters.
NB! MCP2562x should be in configuration mode.

Parameters

Can	CAN driver descriptor
Id	Filter identification number / mask number (11 or 29 bit)
Filter	RX filter Id or Mask

enum can_mode_t CanGetMode ( const struct can_t * Can )

Reads current MCP2562x mode of operation.

Parameters

Can	CAN driver descriptor

Returns: Current mode of operation..

bool CanSetMode	(	const struct can_t *	Can,
		enum can_mode_t	Mode
	)

Sets current MCP2562x mode of operation.
NB! After setting new mode it should be verified that MCP2562x is in desired mode (in configuration mode after SW reset) with CanGetMode() function before any subsequent operation.

Parameters

Can	CAN driver descriptor
Mode	Mode of operation to set.

enum can_xbuffer_t CanUploadFrame	(	const struct can_t *	Can,
		struct can_frame_t *	Frame,
		enum can_xbuffer_t	Buffer
	)

Loads 1 full CAN frame to MCP2562x TX register.

Parameters

Can	CAN driver descriptor
Frame	Structure holding the data to send.
Buffer	MCP2562x TX buffer to use.

Returns: TX buffer actually used for transmission.
CAN_FIFO is returned on busy TX buffer / busy SPI

bool CanSendFrame	(	const struct can_t *	Can,
		enum can_xbuffer_t	Buffer,
		enum can_priority_t	Priority,
		can_tx_callback_t	TransmitReadyCb
	)

Sets priority and RTS flag to one of MCP2562x TX registers initiating transfer.

Parameters

Can	CAN driver descriptor
Buffer	MCP2562x TX buffer to use
Priority	Message priority
TransmitReadyCb	Callback to call when transmission is done

Returns: false on error

enum can_xbuffer_t CanDownloadFrame	(	const struct can_t *	Can,
		struct can_frame_t *	Frame,
		enum can_xbuffer_t	Buffer
	)

Receives 1 full CAN frame from MCP2562x after Rx1/Rx2 is ready.

Parameters

Can	CAN driver descriptor
Frame	Structure to copy received data to
Buffer	MCP2562x RX buffer to read from

Returns: RX buffer actually been read.
CAN_FIFO is returned on RX buffer not ready / busy SPI

bool CanReadStatus	(	const struct can_t *	Can,
		uint8_t *	Status
	)

Gets MCP2562x TX/RX buffers status (IF/RTS).

Parameters

Can CAN driver descriptor

Status Pointer to result: TX/RX buffers status as returned by MCP2562x "READ STATUS" command.
Masks:
STAT_TX2IF - Tx2 buffer interrupt flag (Tx2 was sent)
STAT_TX2REQ - Tx2 RTS flag (Tx2 is pending)
STAT_TX1IF - Tx1 buffer interrupt flag (Tx1 was sent)
STAT_TX1REQ - Tx1 RTS flag (Tx1 is pending)
STAT_TX0IF - Tx0 buffer interrupt flag (Tx0 was sent)
STAT_TX0REQ - Tx0 RTS flag (Tx0 is pending)
STAT_RX1IF - Rx1 buffer interrupt flag (Rx1 is ready to be read)
STAT_RX0IF - Rx0 buffer interrupt flag (Rx0 is ready to be read)

Returns: false on error.

bool CanClearIF	(	const struct can_t *	Can,
		uint8_t	Mask
	)

Clear MCP2562x interrupt flag(s) by mask.

Parameters

Can CAN driver descriptor

Mask MCP2562x interrupt register mask
Masks:
INT_RX0IF - Rx0 Full Interrupt Flag bit - must be cleared by MCU to reset interrupt condition
INT_RX1IF - Rx1 Full Interrupt Flag bit - must be cleared by MCU to reset interrupt condition
INT_TX0IF - Tx0 Empty Interrupt Flag bit - must be cleared by MCU to reset interrupt condition
INT_TX1IF - Tx1 Empty Interrupt Flag bit - must be cleared by MCU to reset interrupt condition
INT_TX2IF - Tx2 Empty Interrupt Flag bit - must be cleared by MCU to reset interrupt condition
INT_ERRIF - Error Interrupt Flag bit (multiple sources in the EFLG register) - must be cleared by MCU to reset interrupt condition
INT_WAKIF - Wake-up Interrupt Flag bit - must be cleared by MCU to reset interrupt condition
INT_MERRF - Message Error Interrupt Flag bit - must be cleared by MCU to reset interrupt condition

Returns: false on error.

bool CanInterrupts	(	const struct can_t *	Can,
		bool	Enable
	)

Sets/resets all the preconfigured interrupts.

Parameters

Can	CAN driver descriptor
Enable	true - enable some (preconfigured) interrupts, false - disable all interrupts

Returns: false on error

Data Structures

Typedefs

Enumerations

Functions

MCP2562x "Read Status" command result bit masks

MCP2562x TXBnCTRL register (Transmit Buffer [n] Control) bit masks

MCP2562x interrupt bit masks

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation