CAN API interface

CAN interface for the AFBR-S50 Reference Board CAN application. More...

Collaboration diagram for CAN API interface:

Macros
#define	CAN_MAILBOX_ID_TRANSMIT   CAN_MAILBOX_ID_0
#define	CAN_FRAME_TRANSMIT_DATA_BYTES   (8U)

Enumerations
enum	argus_can_frame_id_t {   CAN_FRAME_ID_START = 8 ,   CAN_FRAME_ID_STOP = 9 ,   CAN_FRAME_ID_1D = 28 }

Functions
void	CAN_Init (void)
	Initializes the CAN API module.
void	CAN_Deinit (void)
	Deinitializes the CAN module.
static void	CAN_AwaitIdle (void)
static void	CAN_Write (can_frame_t *const tx_frame)
void	CAN_Transmit1D (argus_results_t const *res)
	Prints measurement results via CAN bus.
void	CAN_HandleCommand (void)
	Handles incoming CAN commands by invoking the corresponding methods.
void	can_callback (can_callback_args_t *p_args)
	CAN callback as defined in the "hal_data" module generated by the Renesas FSP Configuration.

Variables
static volatile bool	is_can_tx_busy = false
static volatile uint32_t	can_rx_remote_id = 0

Detailed Description

CAN interface for the AFBR-S50 Reference Board CAN application.

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---

A simple CAN interface to demonstrate the basic usage of the CAN bus that comes with the AFBR-S50 Reference Board.

Macro Definition Documentation

CAN_FRAME_TRANSMIT_DATA_BYTES

#define CAN_FRAME_TRANSMIT_DATA_BYTES   (8U)

Data length for TX frames.

CAN_MAILBOX_ID_TRANSMIT

#define CAN_MAILBOX_ID_TRANSMIT   CAN_MAILBOX_ID_0

The used mail box number

Enumeration Type Documentation

argus_can_frame_id_t

enum argus_can_frame_id_t

CAN Data Frame ID definition.

Enumerator
CAN_FRAME_ID_START	Remote Frame ID for starting measurements
CAN_FRAME_ID_STOP	Remote Frame ID for stopping measurements
CAN_FRAME_ID_1D	1D Data Frame ID

Function Documentation

CAN_AwaitIdle()

static void CAN_AwaitIdle ( void  )

static

can_callback()

void can_callback

(

can_callback_args_t *

p_args

)

CAN callback as defined in the "hal_data" module generated by the Renesas FSP Configuration.

---

Parameters

p_args

The callback arguments provided by HAL.

CAN_Deinit()

void CAN_Deinit

(

void

)

Deinitializes the CAN module.

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CAN_HandleCommand()

void CAN_HandleCommand

(

void

)

Handles incoming CAN commands by invoking the corresponding methods.

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Checks the incomming data queue and handles/invokes commands accordingly.

Note that this function must be called from thread level (not from interrupt service routines) in order to be executed correctly.

CAN_Init()

void CAN_Init

(

void

)

Initializes the CAN API module.

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CAN_Transmit1D()

void CAN_Transmit1D

(

argus_results_t const *

res

)

Prints measurement results via CAN bus.

---

Prints 1D measurement data via CAN-bus as data frame with ID 28.

     The following values are included in the CAN data frame payload:

     - 0..2: 1D Range [mm] (24bit, unsigned, MSB first)
     - 3..4: 1D Amplitude [LSB] (16-bit, unsigned, MSB first)
     - 5: Signal Quality [%] (8-bit, 0%-100% )
     - 6-7: Status (16-bit, signed, MSB first, see #status_t for details)
     .

Parameters

res	A pointer to the latest measurement results structure.

CAN_Write()

static void CAN_Write ( can_frame_t *const  tx_frame )

static

Variable Documentation

can_rx_remote_id

volatile uint32_t can_rx_remote_id = 0

static

CAN remote frame if received but not handled.

is_can_tx_busy

volatile bool is_can_tx_busy = false

static

CAN transmission busy status.