2.5. can — CAN bus

Source code: src/drivers/can.h, src/drivers/can.c

Test code: tst/drivers/can/main.c

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Version

7.0.0

Defines

CAN_SPEED_1000KBPS

CAN_SPEED_500KBPS

CAN_SPEED_250KBPS

Functions

int can_init(struct can_driver_t *self_p, struct can_device_t *dev_p, uint32_t speed, void *rxbuf_p, size_t size)

Initialize given driver object.

Return

zero(0) or negative error code.

Parameters

• self_p -

  Driver object to initialize.

• dev_p -

  Device to use.

• speed -

  Can bus speed.

• rxbuf_p -

  Reception buffer.

• size -

  Size of the reception buffer.

int can_start(struct can_driver_t *self_p)

Starts the CAN device using given driver object.

Return

zero(0) or negative error code.

Parameters

• self_p -

  Initialized driver object.

int can_stop(struct can_driver_t *self_p)

Stops the CAN device referenced by driver object.

Return

zero(0) or negative error code.

Parameters

• self_p -

  Initialized driver object.

int can_read(struct can_driver_t *self_p, struct can_frame_t *frame_p, size_t size)

Read one or more CAN frames.

Return

zero(0) or negative error code.

Parameters

• self_p -

  Initialized driver object.

• frame_p -

  Array of read frames.

• size -

  Size of frames buffer in words.

int can_write(struct can_driver_t *self_p, const struct can_frame_t *frame_p, size_t size)

Write one or more CAN frames.

Return

zero(0) or negative error code.

Parameters

• self_p -

  Initialized driver object.

• frame_p -

  Array of frames to write.

• size -

  Size of frames buffer in words.

Variables

struct can_device_t can_device[CAN_DEVICE_MAX]

struct can_frame_t

Public Members

uint32_t id

int extended_id

int size

int rtr

uint32_t timestamp

uint8_t u8[8]

uint32_t u32[2]

union can_frame_t::@0 can_frame_t::data