Data Structures
struct	XMC_CAN_FIFO_CONFIG_t

struct	XMC_CAN_GATEWAY_CONFIG_t

struct	XMC_CAN_MO_t

struct	XMC_CAN_NODE_FRAME_COUNTER_t

struct	XMC_CAN_NODE_NOMINAL_BIT_TIME_CONFIG_t

Macros
#define	CAN_MO_MOIPR_Msk (0x7U)

#define	CAN_NODE_NIPR_Msk (0x7UL)

#define	XMC_CAN_MO_MOAR_STDID_Msk ((0x000007FFUL) << XMC_CAN_MO_MOAR_STDID_Pos)

#define	XMC_CAN_MO_MOAR_STDID_Pos (18U)

Typedefs
typedef CAN_NODE_TypeDef	XMC_CAN_NODE_t

typedef CAN_GLOBAL_TypeDef	XMC_CAN_t

Enumerations

Functions
void	XMC_CAN_AllocateMOtoNodeList (XMC_CAN_t *const obj, const uint8_t node_num, const uint8_t mo_num)

void	XMC_CAN_Disable (XMC_CAN_t *const obj)

void	XMC_CAN_Enable (XMC_CAN_t *const obj)

void	XMC_CAN_EventTrigger (XMC_CAN_t *const obj, const XMC_CAN_NODE_INTERRUPT_TRIGGER_t service_requestr)

void	XMC_CAN_FIFO_DisableForeingRemoteRequest (const XMC_CAN_MO_t *const can_mo)

void	XMC_CAN_FIFO_DisableRemoteMonitoring (const XMC_CAN_MO_t *const can_mo)

void	XMC_CAN_FIFO_DisableSingleDataTransfer (const XMC_CAN_MO_t *const can_mo)

void	XMC_CAN_FIFO_EnableForeignRemoteRequest (const XMC_CAN_MO_t *const can_mo)

void	XMC_CAN_FIFO_EnableRemoteMonitoring (const XMC_CAN_MO_t *const can_mo)

void	XMC_CAN_FIFO_EnableSingleDataTransfer (const XMC_CAN_MO_t *const can_mo)

uint8_t	XMC_CAN_FIFO_GetCurrentMO (const XMC_CAN_MO_t *const can_mo)

void	XMC_CAN_FIFO_SetSELMO (const XMC_CAN_MO_t *const can_mo, const uint8_t select_pointer)

void	XMC_CAN_GATEWAY_InitDesObject (const XMC_CAN_MO_t *const can_mo)

void	XMC_CAN_GATEWAY_InitSourceObject (const XMC_CAN_MO_t *const can_mo, const XMC_CAN_GATEWAY_CONFIG_t can_gateway)

void	XMC_CAN_Init (XMC_CAN_t *const obj, uint32_t can_frequency)

bool	XMC_CAN_IsPanelControlReady (XMC_CAN_t *const obj)

void	XMC_CAN_MO_AcceptOnlyMatchingIDE (XMC_CAN_MO_t *const can_mo)

void	XMC_CAN_MO_AcceptStandardAndExtendedID (XMC_CAN_MO_t *const can_mo)

void	XMC_CAN_MO_Config (const XMC_CAN_MO_t *const can_mo)

void	XMC_CAN_MO_DataLengthCode (const XMC_CAN_MO_t *const can_mo, const uint8_t data_length_code)

void	XMC_CAN_MO_DisableEvent (const XMC_CAN_MO_t *const can_mo, const uint32_t event)

void	XMC_CAN_MO_DisableSingleTransmitTrial (const XMC_CAN_MO_t *const can_mo)

void	XMC_CAN_MO_EnableEvent (const XMC_CAN_MO_t *const can_mo, const uint32_t event)

void	XMC_CAN_MO_EnableSingleTransmitTrial (const XMC_CAN_MO_t *const can_mo)

uint32_t	XMC_CAN_MO_GetAcceptanceMask (const XMC_CAN_MO_t *const can_mo)

uint8_t	XMC_CAN_MO_GetDataLengthCode (const XMC_CAN_MO_t *const can_mo)

uint32_t	XMC_CAN_MO_GetIdentifier (const XMC_CAN_MO_t *const can_mo)

uint32_t	XMC_CAN_MO_GetStatus (const XMC_CAN_MO_t *const can_mo)

XMC_CAN_STATUS_t	XMC_CAN_MO_Receive (XMC_CAN_MO_t *can_mo)

XMC_CAN_STATUS_t	XMC_CAN_MO_ReceiveData (XMC_CAN_MO_t *can_mo)

void	XMC_CAN_MO_ResetStatus (const XMC_CAN_MO_t *const can_mo, const uint32_t mask)

void	XMC_CAN_MO_SetAcceptanceMask (XMC_CAN_MO_t *const can_mo, const uint32_t can_id_mask)

void	XMC_CAN_MO_SetDataLengthCode (XMC_CAN_MO_t *const can_mo, const uint8_t data_length_code)

void	XMC_CAN_MO_SetEventNodePointer (const XMC_CAN_MO_t *const can_mo, const XMC_CAN_MO_POINTER_EVENT_t can_mo_ptr_int, const uint32_t service_request)

void	XMC_CAN_MO_SetExtendedID (XMC_CAN_MO_t *const can_mo)

void	XMC_CAN_MO_SetIdentifier (XMC_CAN_MO_t *const can_mo, const uint32_t can_identifier)

void	XMC_CAN_MO_SetStandardID (XMC_CAN_MO_t *const can_mo)

void	XMC_CAN_MO_SetStatus (const XMC_CAN_MO_t *const can_mo, const uint32_t mask)

XMC_CAN_STATUS_t	XMC_CAN_MO_Transmit (const XMC_CAN_MO_t *const can_mo)

XMC_CAN_STATUS_t	XMC_CAN_MO_UpdateData (const XMC_CAN_MO_t *const can_mo)

void	XMC_CAN_NODE_ClearStatus (XMC_CAN_NODE_t *const can_node, XMC_CAN_NODE_STATUS_t can_node_status)

void	XMC_CAN_NODE_Disable (XMC_CAN_NODE_t *const can_node)

void	XMC_CAN_NODE_DisableConfigurationChange (XMC_CAN_NODE_t *const can_node)

void	XMC_CAN_NODE_DisableEvent (XMC_CAN_NODE_t *const can_node, const XMC_CAN_NODE_EVENT_t event)

void	XMC_CAN_NODE_DisableLoopBack (XMC_CAN_NODE_t *const can_node)

void	XMC_CAN_NODE_Enable (XMC_CAN_NODE_t *const can_node)

void	XMC_CAN_NODE_EnableConfigurationChange (XMC_CAN_NODE_t *const can_node)

void	XMC_CAN_NODE_EnableEvent (XMC_CAN_NODE_t *const can_node, const XMC_CAN_NODE_EVENT_t event)

void	XMC_CAN_NODE_EnableLoopBack (XMC_CAN_NODE_t *const can_node)

void	XMC_CAN_NODE_EnableSuspend (XMC_CAN_NODE_t *const can_node)

void	XMC_CAN_NODE_FrameCounterConfigure (XMC_CAN_NODE_t const can_node, const XMC_CAN_NODE_FRAME_COUNTER_t const can_node_init)

uint16_t	XMC_CAN_NODE_GetCANFrameCounter (XMC_CAN_NODE_t *const can_node)

uint8_t	XMC_CAN_NODE_GetErrorWarningLevel (XMC_CAN_NODE_t *const can_node)

XMC_CAN_NODE_LAST_ERROR_DIR_t	XMC_CAN_NODE_GetLastErrTransferDir (XMC_CAN_NODE_t *const node)

XMC_CAN_NODE_LAST_ERROR_INC_t	XMC_CAN_NODE_GetLastErrTransferInc (XMC_CAN_NODE_t *const node)

uint8_t	XMC_CAN_NODE_GetReceiveErrorCounter (XMC_CAN_NODE_t *const can_node)

uint32_t	XMC_CAN_NODE_GetStatus (XMC_CAN_NODE_t *const can_node)

uint8_t	XMC_CAN_NODE_GetTransmitErrorCounter (XMC_CAN_NODE_t *const can_node)

void	XMC_CAN_NODE_NominalBitTimeConfigure (XMC_CAN_NODE_t const can_node, const XMC_CAN_NODE_NOMINAL_BIT_TIME_CONFIG_t const can_bit_time)

void	XMC_CAN_NODE_ReSetAnalyzerMode (XMC_CAN_NODE_t *const can_node)

void	XMC_CAN_NODE_ResetInitBit (XMC_CAN_NODE_t *const can_node)

void	XMC_CAN_NODE_SetAnalyzerMode (XMC_CAN_NODE_t *const can_node)

void	XMC_CAN_NODE_SetErrorWarningLevel (XMC_CAN_NODE_t *const can_node, uint8_t error_warning_level)

void	XMC_CAN_NODE_SetEventNodePointer (XMC_CAN_NODE_t *const can_node, const XMC_CAN_NODE_POINTER_EVENT_t ptr_event, const uint32_t service_request)

void	XMC_CAN_NODE_SetInitBit (XMC_CAN_NODE_t *const can_node)

void	XMC_CAN_NODE_SetReceiveErrorCounter (XMC_CAN_NODE_t *const can_node, uint8_t can_rec)

void	XMC_CAN_NODE_SetReceiveInput (XMC_CAN_NODE_t *const can_node, const XMC_CAN_NODE_RECEIVE_INPUT_t input)

void	XMC_CAN_NODE_SetTransmitErrorCounter (XMC_CAN_NODE_t *const can_node, uint8_t can_tec)

void	XMC_CAN_PanelControl (XMC_CAN_t *const obj, const XMC_CAN_PANCMD_t pancmd, const uint8_t arg1, const uint8_t arg2)

void	XMC_CAN_RXFIFO_ConfigMOBaseObject (const XMC_CAN_MO_t *const can_mo, const XMC_CAN_FIFO_CONFIG_t can_fifo)

void	XMC_CAN_RXFIFO_ConfigMOSlaveObject (const XMC_CAN_MO_t *const can_mo)

void	XMC_CAN_TXFIFO_ConfigMOBaseObject (const XMC_CAN_MO_t *const can_mo, const XMC_CAN_FIFO_CONFIG_t can_fifo)

void	XMC_CAN_TXFIFO_ConfigMOSlaveObject (const XMC_CAN_MO_t *const can_mo, const XMC_CAN_FIFO_CONFIG_t can_fifo)

XMC_CAN_STATUS_t	XMC_CAN_TXFIFO_Transmit (const XMC_CAN_MO_t *const can_mo)

Detailed Description

CAN driver provides transfer of CAN frames in accordance with CAN specificetion V2.0 B (active). Each CAN node can receive and transmit standard frames with 11-bit identifiers as well as extended frames with 29-bit identifiers. All CAN nodes share a common set of message objects. Each message object can be individually allocated to one of the CAN nodes. Besides serving as a storage container for incoming and outgoing frames, message objects can be combined to build gateways between the CAN nodes or to setup a FIFO buffer. The CAN module provides Analyzer mode,Loop-back mode and bit timming for node analysis.

The driver is divided into five sections:

CAN Global features:

Allows to configure module frequency using function XMC_CAN_Init().
Allows to configure Module interrupt using configuration structure XMC_CAN_NODE_INTERRUPT_TRIGGER_t and function XMC_CAN_EventTrigger().

CAN_NODE features:

Allows to set baud rate by configuration structure XMC_CAN_NODE_NOMINAL_BIT_TIME_CONFIG_t and Baudrate Configuration function XMC_CAN_NODE_NominalBitTimeConfigure().
Allows to configure loop-back mode using fuction XMC_CAN_NODE_EnableLoopBack().
Allows to configure CAN Node analyzer using function XMC_CAN_NODE_SetAnalyzerMode().
Allows CAN node events enable/ disable by enum structure XMC_CAN_NODE_EVENT_t and functions XMC_CAN_NODE_EnableEvent() and XMC_CAN_NODE_DisableEvent().
Provides bit timming analysis, configuration structure XMC_CAN_NODE_FRAME_COUNTER_t and function XMC_CAN_NODE_FrameCounterConfigure().

CAN_MO features:

Allows message object initialization by configuration structure XMC_CAN_MO_t and function XMC_CAN_MO_Config().
Allows transfer of message objects using functions XMC_CAN_MO_Transmit() and XMC_CAN_MO_Receive().
Allows to configure Single Data Transfer and Single Transmit Trial using functions XMC_CAN_MO_EnableSingleTransmitTrial() and XMC_CAN_MO_EnableSingleTransmitTrial().
Allows to configure MO events using function XMC_CAN_MO_EnableEvent().

CAN_FIFO features:

Allows message object FIFO structure by configuration structure XMC_CAN_FIFO_CONFIG_t and functions XMC_CAN_TXFIFO_ConfigMOBaseObject() , XMC_CAN_RXFIFO_ConfigMOBaseObject() and XMC_CAN_TXFIFO_Transmit().

CAN_GATEWAY features:

Provides Gateway mode, configuration structure XMC_CAN_GATEWAY_CONFIG_t and function XMC_CAN_GATEWAY_InitSourceObject().

Macro Definition Documentation

#define CAN_MO_MOIPR_Msk (0x7U)

Message Object event mask

#define CAN_NODE_NIPR_Msk (0x7UL)

Node event mask

#define XMC_CAN_MO_MOAR_STDID_Msk ((0x000007FFUL) << XMC_CAN_MO_MOAR_STDID_Pos)

Standard Identifier bitMask

#define XMC_CAN_MO_MOAR_STDID_Pos (18U)

Standard Identifier bitposition

Typedef Documentation

typedef CAN_NODE_TypeDef XMC_CAN_NODE_t

Defines Node Runtime structure.pointer to the Node CAN register

typedef CAN_GLOBAL_TypeDef XMC_CAN_t

Defines CAN Global Initialization structure

Enumeration Type Documentation

enum XMC_CAN_ARBITRATION_MODE_t

Defines arbitration mode for transmit acceptance filtering. Use type XMC_CAN_ARBITRATION_MODE_t for this enum.

Enumerator
XMC_CAN_ARBITRATION_MODE_ORDER_BASED_PRIO_1	Transmit acceptance based in the order(prio)
XMC_CAN_ARBITRATION_MODE_IDE_DIR_BASED_PRIO_2	Transmit acceptance filtering is based on the CAN identifier
XMC_CAN_ARBITRATION_MODE_ORDER_BASED_PRIO_3	Transmit acceptance based in the order

enum XMC_CAN_CANCLKSRC_t

Defines the Clock source used for the MCAN peripheral.

Note: Only available for XMC1400, XMC4800 and XMC4700 series

enum XMC_CAN_DM_t

Defines the Divider Modes. Use type XMC_CAN_DM_t for this enum.

Enumerator
XMC_CAN_DM_NORMAL	Normal divider mode
XMC_CAN_DM_FRACTIONAL	Fractional divider mode
XMC_CAN_DM_OFF	Divider Mode in off-state

enum XMC_CAN_FRAME_COUNT_MODE_t

Defines the operation mode of the frame counter. Use type XMC_CAN_FRAME_COUNT_MODE_t for this enum.

Enumerator
XMC_CAN_FRAME_COUNT_MODE	Frame Count Mode
XMC_CAN_FRAME_COUNT_MODE_TIME_STAMP	The frame counter is incremented with the beginning of a new bit time
XMC_CAN_FRAME_COUNT_MODE_BIT_TIMING	Used for baud rate detection and analysis of the bit timing

enum XMC_CAN_FRAME_TYPE_t

Defines Data frame types. Use type XMC_CAN_FRAME_TYPE_t for this enum.

Enumerator
XMC_CAN_FRAME_TYPE_STANDARD_11BITS	Standard type identifier
XMC_CAN_FRAME_TYPE_EXTENDED_29BITS	Extended type identifier

enum XMC_CAN_LOOKBACKMODE_t

Defines loop Back Mode, to enable/disable an in-system test of the MultiCAN module . Use type XMC_CAN_LOOKBACKMODE_t for this enum.

Enumerator
XMC_CAN_LOOKBACKMODE_ENABLED	Each CAN node can be connected to the internal CAN bus
XMC_CAN_LOOKBACKMODE_DISABLED	Each CAN node can be connected to the external CAN bus

enum XMC_CAN_MO_EVENT_t

Defines mask value for CAN Message Object event type. Use type XMC_CAN_MO_EVENT_t for this enum.

Enumerator
XMC_CAN_MO_EVENT_TRANSMIT	Message Object transmit event
XMC_CAN_MO_EVENT_RECEIVE	Message Object receive event
XMC_CAN_MO_EVENT_OVERFLOW	Message Object overflow event

enum XMC_CAN_MO_POINTER_EVENT_t

Defines CAN Message Object event node pointer position. Use type XMC_CAN_MO_POINTER_EVENT_t for this enum.

Enumerator
XMC_CAN_MO_POINTER_EVENT_TRANSMIT	Transmit Event node pointer
XMC_CAN_MO_POINTER_EVENT_RECEIVE	Receive Event node pointer

enum XMC_CAN_MO_RESET_STATUS_t

Defines mask value for CAN Message Object reset status. Use type XMC_CAN_MO_RESET_STATUS_t for this enum.

Enumerator
XMC_CAN_MO_RESET_STATUS_RX_PENDING	Reset receive pending
XMC_CAN_MO_RESET_STATUS_TX_PENDING	Reset transmit pending
XMC_CAN_MO_RESET_STATUS_RX_UPDATING	Reset receive updating
XMC_CAN_MO_RESET_STATUS_NEW_DATA	Reset new data
XMC_CAN_MO_RESET_STATUS_MESSAGE_LOST	Reset message lost
XMC_CAN_MO_RESET_STATUS_MESSAGE_VALID	Reset message valid
XMC_CAN_MO_RESET_STATUS_RX_TX_SELECTED	Reset transmit/receive selected
XMC_CAN_MO_RESET_STATUS_RX_ENABLE	Reset receive enable
XMC_CAN_MO_RESET_STATUS_TX_REQUEST	Reset transmit request
XMC_CAN_MO_RESET_STATUS_TX_ENABLE0	Reset transmit enable 0
XMC_CAN_MO_RESET_STATUS_TX_ENABLE1	Reset transmit enable 1
XMC_CAN_MO_RESET_STATUS_MESSAGE_DIRECTION	Reset message direction

enum XMC_CAN_MO_SET_STATUS_t

Defines mask value for CAN Message Object set status. Use type XMC_CAN_MO_SET_STATUS_t for this enum.

Enumerator
XMC_CAN_MO_SET_STATUS_RX_PENDING	Set receive pending
XMC_CAN_MO_SET_STATUS_TX_PENDING	Set transmit pending
XMC_CAN_MO_SET_STATUS_RX_UPDATING	Set receive updating
XMC_CAN_MO_SET_STATUS_NEW_DATA	Set new data
XMC_CAN_MO_SET_STATUS_MESSAGE_LOST	Set message lost
XMC_CAN_MO_SET_STATUS_MESSAGE_VALID	Set message valid
XMC_CAN_MO_SET_STATUS_RX_TX_SELECTED	Set transmit/receive selected
XMC_CAN_MO_SET_STATUS_RX_ENABLE	Set receive enable
XMC_CAN_MO_SET_STATUS_TX_REQUEST	Set transmit request
XMC_CAN_MO_SET_STATUS_TX_ENABLE0	Set transmit enable 0
XMC_CAN_MO_SET_STATUS_TX_ENABLE1	Set transmit enable 1
XMC_CAN_MO_SET_STATUS_MESSAGE_DIRECTION	Set message direction

enum XMC_CAN_MO_STATUS_t

Defines mask value for CAN Message Object status. Use type XMC_CAN_MO_STATUS_t for this enum.

Enumerator
XMC_CAN_MO_STATUS_RX_PENDING	Defines message has been successfully received or not received
XMC_CAN_MO_STATUS_TX_PENDING	Defines message has been successfully transmitted or not transmitted
XMC_CAN_MO_STATUS_RX_UPDATING	Defines Message identifier, DLC, and data of the message object are currently updated or not updated
XMC_CAN_MO_STATUS_NEW_DATA	Defines no update of the message object since last flag reset or Message object has been updated
XMC_CAN_MO_STATUS_MESSAGE_LOST	CAN message is lost because NEWDAT has become set again when it has already been set or No CAN message is lost
XMC_CAN_MO_STATUS_MESSAGE_VALID	Message valid
XMC_CAN_MO_STATUS_RX_TX_SELECTED	Transmit/Receive selected
XMC_CAN_MO_STATUS_RX_ENABLE	Receive enable
XMC_CAN_MO_STATUS_TX_REQUEST	Transmit request
XMC_CAN_MO_STATUS_TX_ENABLE0	Transmit enable 0
XMC_CAN_MO_STATUS_TX_ENABLE1	Transmit enable 1
XMC_CAN_MO_STATUS_MESSAGE_DIRECTION	Message direction
XMC_CAN_MO_STATUS_LIST	List allocation
XMC_CAN_MO_STATUS_POINTER_TO_PREVIOUS_MO	Pointer to previous Message Object
XMC_CAN_MO_STATUS_POINTER_TO_NEXT_MO	Pointer to next Message Object

enum XMC_CAN_MO_TYPE_t

Defines Message Object direction. Use type XMC_CAN_MO_TYPE_t for this enum.

Enumerator
XMC_CAN_MO_TYPE_RECMSGOBJ	Receive Message Object selected
XMC_CAN_MO_TYPE_TRANSMSGOBJ	Transmit Message Object selected

enum XMC_CAN_NODE_CONTROL_t

Defines mask value for CAN Node control like initialization, node disable and analyzer mode . Use type XMC_CAN_NODE_CONTROL_t for this enum.

Enumerator
XMC_CAN_NODE_CONTROL_NODE_INIT	Node initialization
XMC_CAN_NODE_CONTROL_TX_INT_ENABLE	Transfer event enable
XMC_CAN_NODE_CONTROL_LEC_INT_ENABLE	LEC Indicated Error Event Enable
XMC_CAN_NODE_CONTROL_ALERT_INT_ENABLE	Alert Event Enable
XMC_CAN_NODE_CONTROL_CAN_DISABLE	CAN disable
XMC_CAN_NODE_CONTROL_CONF_CHANGE_ENABLE	Configuration change enable
XMC_CAN_NODE_CONTROL_CAN_ANALYZER_NODEDE	CAN Analyzer mode
XMC_CAN_NODE_CONTROL_SUSPENDED_ENABLE	Suspend Enable

enum XMC_CAN_NODE_EVENT_t

Defines mask value for CAN Node events. Use type XMC_CAN_NODE_EVENT_t for this enum.

Enumerator
XMC_CAN_NODE_EVENT_TX_INT	Node Transfer OK Event
XMC_CAN_NODE_EVENT_ALERT	Node Alert Event
XMC_CAN_NODE_EVENT_LEC	Last Error code Event
XMC_CAN_NODE_EVENT_CFCIE	CAN Frame Count Event

enum XMC_CAN_NODE_INTERRUPT_TRIGGER_t

Defines interrupt request on interrupt output line INT_O[n]. Use type XMC_CAN_NODE_INTERRUPT_TRIGGER_t for this enum.

enum XMC_CAN_NODE_LAST_ERROR_DIR_t

Defines last error transfer direction. Use type XMC_CAN_NODE_LAST_ERROR_DIR_t for this enum.

Enumerator
XMC_CAN_NODE_LAST_ERROR_DIR_WHILE_NODE_RECEPCION	The last error occurred while the CAN node x was receiver
XMC_CAN_NODE_LAST_ERROR_DIR_WHILE_NODE_TRANSMISSION	The last error occurred while the CAN node x was transmitter

enum XMC_CAN_NODE_LAST_ERROR_INC_t

Defines last error increment. Use type XMC_CAN_NODE_LAST_ERROR_INC_t for this enum.

Enumerator
XMC_CAN_NODE_LAST_ERROR_INC_1	The last error led to an error counter increment of 1.
XMC_CAN_NODE_LAST_ERROR_INC_8	The last error led to an error counter increment of 8.

enum XMC_CAN_NODE_POINTER_EVENT_t

Defines mask value for CAN node pointer events position. Use type XMC_CAN_NODE_POINTER_EVENT_t for this enum.

Enumerator
XMC_CAN_NODE_POINTER_EVENT_ALERT	Node Alert Event node pointer
XMC_CAN_NODE_POINTER_EVENT_LEC	Last Error code Event node pointer
XMC_CAN_NODE_POINTER_EVENT_TRANSFER_OK	Transmit Event node pointer
XMC_CAN_NODE_POINTER_EVENT_FRAME_COUNTER	CAN Frame Count Event node pointer

enum XMC_CAN_NODE_RECEIVE_INPUT_t

Defines the possible receive inputs. Use type XMC_CAN_NODE_RECEIVE_INPUT_t for this enum.

Enumerator
XMC_CAN_NODE_RECEIVE_INPUT_RXDCA	CAN Receive Input A
XMC_CAN_NODE_RECEIVE_INPUT_RXDCB	CAN Receive Input B
XMC_CAN_NODE_RECEIVE_INPUT_RXDCC	CAN Receive Input C
XMC_CAN_NODE_RECEIVE_INPUT_RXDCD	CAN Receive Input D
XMC_CAN_NODE_RECEIVE_INPUT_RXDCE	CAN Receive Input E
XMC_CAN_NODE_RECEIVE_INPUT_RXDCF	CAN Receive Input F
XMC_CAN_NODE_RECEIVE_INPUT_RXDCG	CAN Receive Input G
XMC_CAN_NODE_RECEIVE_INPUT_RXDCH	CAN Receive Input H

enum XMC_CAN_NODE_STATUS_t

Defines mask value for CAN Node status. Use type XMC_CAN_NODE_STATUS_t for this enum.

Enumerator
XMC_CAN_NODE_STATUS_LAST_ERROR_CODE	Last Error Code
XMC_CAN_NODE_STATUS_TX_OK	Message transmitted successfully
XMC_CAN_NODE_STATUS_RX_OK	Message received successfully
XMC_CAN_NODE_STATUS_ALERT_WARNING	Alert warning
XMC_CAN_NODE_STATUS_ERROR_WARNING_STATUS	Error warning status
XMC_CAN_NODE_STATUS_BUS_OFF	Bus-off status
XMC_CAN_NODE_STATUS_LIST_LENGTH_ERROR	List length error
XMC_CAN_NODE_STATUS_LIST_OBJECT_ERROR	List object error
XMC_CAN_NODE_STATUS_SUSPENDED_ACK	Suspend Acknowledge

enum XMC_CAN_PANCMD_t

Defines CAN module Panel Commands . Use type XMC_CAN_PANCMD_t for this enum.

Enumerator
XMC_CAN_PANCMD_INIT_LIST	Command to initialize a list
XMC_CAN_PANCMD_STATIC_ALLOCATE	Command to activate static allocation
XMC_CAN_PANCMD_DYNAMIC_ALLOCATE	Command to activate dynamic allocation
XMC_CAN_PANCMD_STATIC_INSERT_BEFORE	Remove a message object from the list and insert it before a given object.
XMC_CAN_PANCMD_DYNAMIC_INSERT_BEFORE	Command to activate dynamic allocation
XMC_CAN_PANCMD_STATIC_INSERT_BEHIND	Command to activate dynamic allocation
XMC_CAN_PANCMD_DYNAMIC_INSERT_BEHIND	Command to activate dynamic allocation

enum XMC_CAN_STATUS_t

Defines the status of CAN, to verify the CAN related API calls. Use type XMC_CAN_STATUS_t for this enum.

Enumerator
XMC_CAN_STATUS_SUCCESS	Driver accepted application request
XMC_CAN_STATUS_ERROR	Returned when unknown error occurred
XMC_CAN_STATUS_BUSY	Driver is busy and can not handle request
XMC_CAN_STATUS_MO_NOT_ACCEPTABLE	Message object type not allowed
XMC_CAN_STATUS_MO_DISABLED	Returned if Message object is disabled

Function Documentation

void XMC_CAN_AllocateMOtoNodeList	(	XMC_CAN_t *const	obj,
		const uint8_t	node_num,
		const uint8_t	mo_num
	)

Parameters

obj	Pointer pointing to XMC_CAN Global Initialization structure. Defines CAN global registers,refer CAN_NODE_TypeDef for details.
node_num	CAN node number,Range : 0-2
mo_num	CAN Message Object number,Range : 0-63

Returns: None

Description:: Allocates Message Object from free list to node list. Each node_num is linked to one unique list of message objects. A CAN node performs message transfer only with the mo_num message objects that are allocated to the list of the CAN node. It configures PANCTR register.

Related APIs:: None

void XMC_CAN_Disable ( XMC_CAN_t *const obj )

Parameters

obj	Pointer pointing to XMC_CAN Global Initialization structure. Defines CAN global registers,refer CAN_NODE_TypeDef for details.

Returns: None

Description:: Disables CAN module. In disabled state, no registers of CAN module can be read or written except the CAN_CLC register.

Related APIs:: XMC_CAN_Enable()

void XMC_CAN_Enable ( XMC_CAN_t *const obj )

Parameters

obj	Pointer pointing to XMC_CAN Global Initialization structure. Defines CAN global registers,refer CAN_NODE_TypeDef for details.

Returns: None

Description:: Enables CAN module and initializes all CAN registers to reset values. It is required to re-configure desired CAN nodes, before any data transfer. It configures CAN_CLC.DISR bit.

Related APIs:: XMC_CAN_Disable()

void XMC_CAN_EventTrigger	(	XMC_CAN_t *const	obj,
		const XMC_CAN_NODE_INTERRUPT_TRIGGER_t	service_requestr
	)

Parameters

obj	Pointer pointing to XMC_CAN Global Initialization structure. Defines CAN global registers,refer CAN_NODE_TypeDef for details.
service_requestr	Interrupt trigger number selection. Refer XMC_CAN_NODE_INTERRUPT_TRIGGER_t for valid values. Multiple interrupt trigger events can be ORed.

Returns: None

Description:: Configures multiple interrupt requests with a single write operation. service_requestr represents single interrupt request or multiple.It configures MITR register.

Related APIs:: None

void XMC_CAN_FIFO_DisableForeingRemoteRequest ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: None

Description:: Configuration allows to disable the FIFO Foreign Remote Request. TXRQ of message object n is set on reception of a matching Remote Frame. It configures MOFCR.FRREN register.

Related API's:: XMC_CAN_FIFO_EnableForeignRemoteRequest()

void XMC_CAN_FIFO_DisableRemoteMonitoring ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: None

Description:: Configuration allows to disable the FIFO Remote Monitoring. This Specifies Identifier, Identifier Extension bit, and DLC of message object n remain unchanged upon the reception of a matching Remote Frame. It configures MOFCR.RMM bit.

Related API's:: XMC_CAN_FIFO_EnableRemoteMonitoring()

Note:: Remote monitoring(RMM) applies only to transmit objects and has no effect on receive objects.

void XMC_CAN_FIFO_DisableSingleDataTransfer ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: None

Description:: Configuration allows to disable the Single Data Transfer of the FIFO Message Object, with this configuration bit MSGVAL is not affected. It configures MOFCR.SDT bit.

Related API's:: XMC_CAN_FIFO_EnableSingleDataTransfer()

void XMC_CAN_FIFO_EnableForeignRemoteRequest ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: None

Description:: Configuration allows to enable the FIFO Foreign Remote Request. This Specifies TXRQ of the message object referenced by the pointer CUR is set on reception of a matching Remote Frame. It configures MOFCR.FRREN register.

Related API's:: XMC_CAN_FIFO_DisableForeingRemoteRequest()

void XMC_CAN_FIFO_EnableRemoteMonitoring ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: None

Description:: Configuration allows to enable the FIFO Remote Monitoring. This Specifies identifier, IDE(Identifier Extension) bit, and DLC of a matching Remote Frame are copied to transmit object n in order to monitor incoming Remote Frames. It configures MOFCR.RMM bit.

Related API's:: XMC_CAN_FIFO_DisableRemoteMonitoring()

Note:: Remote monitoring(RMM) applies only to transmit objects and has no effect on receive objects.

void XMC_CAN_FIFO_EnableSingleDataTransfer ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: None

Description:: Configuration allows to enable the Single Data Transfer of the FIFO Message Object. If SDT = 1 and message object n is not a FIFO base object, then MSGVAL is reset when this object has taken part in a successful data transfer (receive or transmit). If SDT = 1 and message object n is a FIFO base object, then MSGVAL is reset when the pointer to the current object CUR reaches the value of SEL in the FIFO/Gateway Pointer Register. It configures MOFCR.SDT bit.

Related API's:: XMC_CAN_FIFO_DisableSingleDataTransfer()

uint8_t XMC_CAN_FIFO_GetCurrentMO ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: uint8_t Current Message Object Number. Range:0-63

Description:: Returns the current FIFO Message Object,points to the actual target object within a FIFO/Gateway structure.

Related API's:: None

void XMC_CAN_FIFO_SetSELMO	(	const XMC_CAN_MO_t *const	can_mo,
		const uint8_t	select_pointer
	)

Parameters

can_mo	Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.
select_pointer	Selected Message Object number. Range:0-63

Returns: None

Description:: Set Object Select Pointer. If the current pointer CUR of FIFO base object becomes equal select_pointer, a FIFO overflow interrupt request is generated. Used for FIFO monitoring purpose.

Related API's:: None

void XMC_CAN_GATEWAY_InitDesObject ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: None

Description:: Configures the Gateway destination object. The Gateway Mode can_gateway makes it possible to establish an automatic information transfer between two independent CAN buses without CPU interaction. Please refer reference manual GatewayMode for more info.

Related API's:: None

void XMC_CAN_GATEWAY_InitSourceObject	(	const XMC_CAN_MO_t *const	can_mo,
		const XMC_CAN_GATEWAY_CONFIG_t	can_gateway
	)

Parameters

can_mo	Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.
can_gateway	CAN gateway configuration data structure. Refer XMC_CAN_GATEWAY_CONFIG_t data structure for details.

Returns: None

Description:: Configures the Gateway source object. The Gateway Mode can_gateway makes it possible to establish an automatic information transfer between two independent CAN buses without CPU interaction. Please refer reference manual GatewayMode for more info.

Related API's:: None

void XMC_CAN_Init	(	XMC_CAN_t *const	obj,
		uint32_t	can_frequency
	)

Parameters

obj	Pointer pointing to XMC_CAN Global Initialization structure. Defines CAN global registers,refer CAN_NODE_TypeDef for details.
can_frequency	CAN module frequency(fCAN). Range : 5MHz to 120MHz

Returns: None

Description:: Configures clock rate of the module timer clock fCAN. Altering CAN module can_frequency shall affects baud rate, call XMC_CAN_NODE_NominalBitTimeConfigure() to configure baud rate for current CAN frequency.It configures FDR register.

Related APIs:: XMC_CAN_NODE_NominalBitTimeConfigure()

bool XMC_CAN_IsPanelControlReady ( XMC_CAN_t *const obj )

Parameters

obj	Pointer pointing to XMC_CAN Global Initialization structure. Defines CAN global registers,refer CAN_NODE_TypeDef for details.

Returns: Ready status of list controller

Description:: Returns ready status of the list controller

Related APIs:: XMC_CAN_PanelControl()

void XMC_CAN_MO_AcceptOnlyMatchingIDE ( XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: None

Description:: Message object receives frames only with matching IDE bit.

Related API's:: XMC_CAN_MO_AcceptStandardAndExtendedID()

void XMC_CAN_MO_AcceptStandardAndExtendedID ( XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: None

Description:: Message object accepts the reception of both, standard and extended frames.

Related API's:: XMC_CAN_MO_AcceptOnlyMatchingIDE()

void XMC_CAN_MO_Config ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: None

Description:: Initializes CAN message object. Initialization includes configuring Message Object identifier type, Message Object identifier value, Message Object type, and transfer requests. It configures FDR register.

Related APIs:: None

void XMC_CAN_MO_DataLengthCode	(	const XMC_CAN_MO_t *const	can_mo,
		const uint8_t	data_length_code
	)

Parameters

can_mo	Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.
data_length_code	transfer data length. Range:0-8

Returns: None

Description:: Configures CAN Message Object Data Length Code. It configures MOFCR register.

Related API's:: None

void XMC_CAN_MO_DisableEvent	(	const XMC_CAN_MO_t *const	can_mo,
		const uint32_t	event
	)

Parameters

can_mo	Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.
event	CAN node Message Object event selection. Refer XMC_CAN_MO_EVENT_t for details.

Returns: None

Description:: Disable CAN Message Object events. event can be ORed multiple Message Object events. It configures MOFCR register.

Related API's:: XMC_CAN_MO_EnableEvent()

void XMC_CAN_MO_DisableSingleTransmitTrial ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: None

Description:: Disable the single transmit trial(STT). In STT,TXRQ is cleared on transmission start of message object n. Thus, no transmission retry is performed in case of transmission failure. It configures MOFCR.STT bit.

Related API's:: XMC_CAN_MO_EnableSingleTransmitTrial()

void XMC_CAN_MO_EnableEvent	(	const XMC_CAN_MO_t *const	can_mo,
		const uint32_t	event
	)

Parameters

can_mo	Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.
event	CAN node Message Object event selection. Refer XMC_CAN_MO_EVENT_t for details.

Returns: None

Description:: Enable CAN Message Object events. event can be ORed multiple Message Object events. It configures MOFCR register.

Related API's:: XMC_CAN_MO_DisableEvent()

void XMC_CAN_MO_EnableSingleTransmitTrial ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: None

Description:: Enable the single transmit trial(STT). In STT,TXRQ is cleared on transmission start of message object n. Thus, no transmission retry is performed in case of transmission failure. It configures MOFCR.STT bit.

Related API's:: XMC_CAN_MO_DisableSingleTransmitTrial()

uint32_t XMC_CAN_MO_GetAcceptanceMask ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: Acceptance mask

Description:: Gets the acceptance mask for the CAN MO.

Related API's:: XMC_CAN_MO_SetAcceptanceMask()

uint8_t XMC_CAN_MO_GetDataLengthCode ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: Data length code

Description:: Gets the Data Length Code.

Related API's:: XMC_CAN_MO_SetDataLengthCode()

uint32_t XMC_CAN_MO_GetIdentifier ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: CAN MO identifier

Description:: Gets the Identifier of the MO

Related API's:: XMC_CAN_MO_SetIdentifier()

uint32_t XMC_CAN_MO_GetStatus ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: uint32_t Current Message Object status.

Description:: Returns Message Object status, that indicates message object transfer status and message object list status information such as the number of the current message object predecessor and successor message object, as well as the list number to which the message object is assigned.

Related API's:: None

XMC_CAN_STATUS_t XMC_CAN_MO_Receive ( XMC_CAN_MO_t * can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: XMC_CAN_STATUS_t CAN Node status. Refer XMC_CAN_STATUS_t structure for details.

Description:: Reads the Message Object data bytes, into message pointer passed as input parameter can_mo. can_data[0] of can_mo holds lower 4 bytes, can_data[1] of can_mo holds higher 4 bytes.

Related API's:: None

XMC_CAN_STATUS_t XMC_CAN_MO_ReceiveData ( XMC_CAN_MO_t * can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: XMC_CAN_STATUS_t CAN Node status. Refer XMC_CAN_STATUS_t structure for details.

Description:: Reads the Message Object data bytes, into message pointer passed as input parameter can_mo. can_data[0] of can_mo holds lower 4 bytes, can_data[1] of can_mo holds higher 4 bytes.

Related API's:: None

void XMC_CAN_MO_ResetStatus	(	const XMC_CAN_MO_t *const	can_mo,
		const uint32_t	mask
	)

Parameters

can_mo	Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.
mask	Message Object set status selection. Refer XMC_CAN_MO_RESET_STATUS_t for details. Multiple enums can be ORed.

Returns: None

Description:: Clears Message Object interrupt events. It configures MOCTR register.

Related API's:: None

void XMC_CAN_MO_SetAcceptanceMask	(	XMC_CAN_MO_t *const	can_mo,
		const uint32_t	can_id_mask
	)

Parameters

can_mo	Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.
can_id_mask	CAN MO acceptance mask.

Returns: None

Description:: Sets the acceptance mask of the MO

Related API's:: XMC_CAN_MO_GetAcceptanceMask()

void XMC_CAN_MO_SetDataLengthCode	(	XMC_CAN_MO_t *const	can_mo,
		const uint8_t	data_length_code
	)

Parameters

can_mo	Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.
data_length_code	transfer data length. Range:0-8

Returns: None

Description:: Configures CAN Message Object Data Length Code. It configures MOFCR register.

Related API's:: XMC_CAN_MO_GetDataLengthCode()

void XMC_CAN_MO_SetEventNodePointer	(	const XMC_CAN_MO_t *const	can_mo,
		const XMC_CAN_MO_POINTER_EVENT_t	can_mo_ptr_int,
		const uint32_t	service_request
	)

Parameters

can_mo	Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.
can_mo_ptr_int	Message Object event node pointer selection. Refer XMC_CAN_MO_POINTER_EVENT_t structure for valid values.
service_request	interrupt output line of multiCAN module.

Returns: None

Description:: Configures Message Object event node pointer with service_request number. It configures MOIPR register.

Related API's:: None

< Message Object event mask

void XMC_CAN_MO_SetExtendedID ( XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: None

Description:: Message object handles extended frames with 29-bit identifier.

Related API's:: XMC_CAN_MO_SetStandardID()

Note:: After setting the identifier type user has to set the identifier value by using XMC_CAN_MO_SetIdentifier() API.

void XMC_CAN_MO_SetIdentifier	(	XMC_CAN_MO_t *const	can_mo,
		const uint32_t	can_identifier
	)

Parameters

can_mo	Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.
can_identifier	Identifier.

Returns: None

Description:: Configures CAN Message Object Identifier. It configures MOAR register.

Related API's:: XMC_CAN_MO_GetIdentifier()

void XMC_CAN_MO_SetStandardID ( XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: None

Description:: Message object handles standard frames with 11-bit identifier.

Related API's:: XMC_CAN_MO_SetExtendedID()

Note:: After setting the identifier type user has to set the identifier value by using XMC_CAN_MO_SetIdentifier() API.

void XMC_CAN_MO_SetStatus	(	const XMC_CAN_MO_t *const	can_mo,
		const uint32_t	mask
	)

Parameters

can_mo	Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.
mask	Message Object set status selection. Refer XMC_CAN_MO_SET_STATUS_t for details. Multiple enums can be ORed.

Returns: None

Description:: Configures Message Object set Status. It configures MOCTR register.

Related API's:: XMC_CAN_MO_ResetStatus()

XMC_CAN_STATUS_t XMC_CAN_MO_Transmit ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: XMC_CAN_STATUS_t CAN Node status. Refer XMC_CAN_STATUS_t structure for details.

Description:: Configures transmit request for sending data frame. It configures MOCTR register. Data shall be updated using XMC_CAN_MO_UpdateData() before calling this API.

Related API's:: XMC_CAN_MO_UpdateData()

XMC_CAN_STATUS_t XMC_CAN_MO_UpdateData ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: XMC_CAN_STATUS_t CAN Node status. Refer XMC_CAN_STATUS_t structure for details.; None

Description:: Configures Data to be transmitted and data length code.

Related API's:: XMC_CAN_MO_Config()

void XMC_CAN_NODE_ClearStatus	(	XMC_CAN_NODE_t *const	can_node,
		XMC_CAN_NODE_STATUS_t	can_node_status
	)

Parameters

can_node	Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.
can_node_status	Status to clear.Refer XMC_CAN_NODE_STATUS_t for valid values.

Returns: None

Description:: Clear errors status as well as successfully transferred CAN frames status.

Related APIs:: XMC_CAN_NODE_GetStatus()

void XMC_CAN_NODE_Disable ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: None

Description:: Disable the CAN node, terminates participation in CAN traffic. It configures NCR.CANDIS bit.

Related API's:: None

void XMC_CAN_NODE_DisableConfigurationChange ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: None

Description:: Forbid to change the configuration of the CAN node. It configures NCRx.CCE bit.

Related API's:: XMC_CAN_NODE_EnableConfigurationChange()

void XMC_CAN_NODE_DisableEvent	(	XMC_CAN_NODE_t *const	can_node,
		const XMC_CAN_NODE_EVENT_t	event
	)

Parameters

can_node	Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.
event	CAN node event mask value. Refer XMC_CAN_NODE_EVENT_t structure for valid values. multiple events can be ORed.

Returns: None

Description:: Disable CAN Node events. It configures NFCR register.

Related APIs:: XMC_CAN_NODE_EnableEvent()

void XMC_CAN_NODE_DisableLoopBack ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: None

Description:: Disable Node Loop-Back Mode, disables internal (virtual) loop-back CAN bus. This API Configures NPCRx register. Call XMC_CAN_NODE_EnableConfigurationChange() API before NPCRx configuration, same way XMC_CAN_NODE_DisableConfigurationChange() API after NPCRx configuration.

Related APIs:]: XMC_CAN_NODE_EnableLoopBack()

Note:: NPCRx can be written only if bit NCRx.CCE is set.

void XMC_CAN_NODE_Enable ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: None

Description:: Enable the CAN node, starts the participation in CAN traffic. It configures NCR.CANDIS and the NCR.INIT bits.

Related API's:: None

void XMC_CAN_NODE_EnableConfigurationChange ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: None

Description:: Allow to change the configuration of the CAN node, like bit timing, CAN bus transmit/receive ports and error counters read. It configures NCRx.CCE bit.

Related APIs:: XMC_CAN_NODE_DisableConfigurationChange()

void XMC_CAN_NODE_EnableEvent	(	XMC_CAN_NODE_t *const	can_node,
		const XMC_CAN_NODE_EVENT_t	event
	)

Parameters

can_node	Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.
event	CAN node event mask value. Refer XMC_CAN_NODE_EVENT_t structure for valid values. multiple events can be ORed.

Returns: None

Description:: Enable CAN Node events. It configures NFCR register.

Related APIs:: XMC_CAN_NODE_DisableEvent()

void XMC_CAN_NODE_EnableLoopBack ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: None

Description:: Enable Node can_node in Loop-Back Mode. A Node is connected to an internal (virtual) loop-back CAN bus. All CAN nodes which are in Loop- Back Mode are connected to this virtual CAN bus so that they can communicate with each other internally. The external transmit line is forced recessive in Loop-Back Mode. This API Configures NPCRx register. call XMC_CAN_NODE_EnableConfigurationChange() API before NPCRx configuration, same way XMC_CAN_NODE_DisableConfigurationChange() API after NPCRx configuration configuration.

Related APIs:]: XMC_CAN_NODE_DisableLoopBack().

Note:: NPCRx can be written only if bit NCRx.CCE is set.

void XMC_CAN_NODE_EnableSuspend ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: None

Description:: Trigger the suspension of the CAN node. An OCDS(on chip debug support) suspend trigger disables the CAN node: As soon as the CAN node becomes bus-idle or bus-off, bit INIT is internally forced to 1 to disable the CAN node. The actual value of bit INIT remains unchanged. It configures NCR.SUSEN bit

Related API's:: None

Note:: Bit SUSEN is reset via OCDS(on chip debug support) Reset.

void XMC_CAN_NODE_FrameCounterConfigure	(	XMC_CAN_NODE_t *const	can_node,
		const XMC_CAN_NODE_FRAME_COUNTER_t *const	can_node_init
	)

Parameters

can_node	Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.
can_node_init	frame counter mode selection. Refer XMC_CAN_NODE_FRAME_COUNTER_t for valid values.

Returns: None

Description:: Configures frame counter functions. Each CAN can_node is equipped with a frame counter that counts transmitted/received CAN frames or obtains information about the time when a frame has been started to transmit or be received by the CAN node. It configures NFCR register.

Related API's:: None

uint16_t XMC_CAN_NODE_GetCANFrameCounter ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: uint16_t current value of the CAN frame counter. Range :0-65535

Description:: Returns the frame counter value can_node of the CAN node. In Frame Count Mode (CFMOD = 00B), this API returns the frame count value. In Time Stamp Mode (CFMOD = 01B), this API returns the captured bit time count value, captured with the start of a new frame. In all Bit Timing Analysis Modes (CFMOD = 10B), this API always returns the number of fCLC clock cycles (measurement result) minus 1.

Related API's:: None

uint8_t XMC_CAN_NODE_GetErrorWarningLevel ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: uint8_t Error Warning Level. Range :0 - 255

Description:: Returns error warning level. This determines the threshold value (warning level, default 96) to be reached in order to set the corresponding error warning bit EWRN. It reads NECNT register.

Related APIs:: XMC_CAN_NODE_SetErrorWarningLevel()

XMC_CAN_NODE_LAST_ERROR_DIR_t XMC_CAN_NODE_GetLastErrTransferDir ( XMC_CAN_NODE_t *const node )

Parameters

node	Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: XMC_CAN_NODE_LAST_ERROR_DIR_t Last error transfer direction. Refer XMC_CAN_NODE_LAST_ERROR_DIR_t.

Description:: Returns NODE Last Error occurred during Transmit/receive direction. It returns value of NFCR register.

Related APIs:: XMC_CAN_NODE_GetLastErrTransferInc()

XMC_CAN_NODE_LAST_ERROR_INC_t XMC_CAN_NODE_GetLastErrTransferInc ( XMC_CAN_NODE_t *const node )

Parameters

node	Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: XMC_CAN_NODE_LAST_ERROR_INC_t Last error transfer increment. Refer XMC_CAN_NODE_LAST_ERROR_INC_t.

Description:: Returns NODE Last Error Transfer Increment. It returns value of NFCR register.

Related APIs:: XMC_CAN_NODE_GetLastErrTransferDir()

uint8_t XMC_CAN_NODE_GetReceiveErrorCounter ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: uint8_t receive error counter value.

Description:: Returns Receive Error Counter value. It reads NECNT register.

Related APIs:: XMC_CAN_NODE_SetReceiveErrorCounter()

uint32_t XMC_CAN_NODE_GetStatus ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: uint32_t Current status of the node.

Description:: Returns errors status as well as successfully transferred CAN frames status.

Related APIs:: XMC_CAN_NODE_ClearStatus()

uint8_t XMC_CAN_NODE_GetTransmitErrorCounter ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: uint8_t transmit error counter value. Range :0 - 255

Description:: Returns Transmit Error Counter value. If the Bitstream Processor detects an error while a transmit operation is running, the Transmit Error Counter is incremented by 8. An increment of 1 is used when the error condition was reported by an external CAN node via an Error Frame generation. It reads NECNT register.

Related APIs:: XMC_CAN_NODE_SetTransmitErrorCounter()

Note:: NECNTx can be written only if bit NCRx.CCE is set.

void XMC_CAN_NODE_NominalBitTimeConfigure	(	XMC_CAN_NODE_t *const	can_node,
		const XMC_CAN_NODE_NOMINAL_BIT_TIME_CONFIG_t *const	can_bit_time
	)

Parameters

can_node	Pointer pointing to CAN_NODE Structure. Defines CAN_NODE registers. Range :CAN_NODE0-CAN_NODE2
can_bit_time	Nominal bit time configuration data structure. Refer XMC_CAN_NODE_NOMINAL_BIT_TIME_CONFIG_t for details.

Returns: None

Description:: Configures CAN node Baudrate. can_bit_time specifies required baudrate for a specified can_node. It configures NBTR register.

Related APIs:: None

void XMC_CAN_NODE_ReSetAnalyzerMode ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: None

Description:: Reset the Analyzer mode. CAN node is no more in Analyzer Mode. Please refer XMC_CAN_NODE_SetAnalyzerMode(). It configures NCR.CALM bit. XMC_CAN_NODE_SetInitBit() should be called before set / reset AnalyzerMode.

Related API's:: XMC_CAN_NODE_SetAnalyzerMode()

void XMC_CAN_NODE_ResetInitBit ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: None

Description:: Enable CAN node participation in CAN traffic. Bit INIT is automatically set when the CAN node enters the bus-off state. It configures NCR.INIT bit.

Related API's:: XMC_CAN_NODE_SetInitBit()

void XMC_CAN_NODE_SetAnalyzerMode ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: None

Description:: Configure CAN node in Analyzer Mode. This means that messages may be received, but not transmitted. No acknowledge is sent on the CAN bus upon frame reception. Active-error flags are sent recessive instead of dominant. The transmit line is continuously held at recessive (1) level. XMC_CAN_NODE_SetInitBit() should be called before set / reset AnalyzerMode. It configures NCR.CALM bit.

Related API's:: XMC_CAN_NODE_ReSetAnalyzerMode()

void XMC_CAN_NODE_SetErrorWarningLevel	(	XMC_CAN_NODE_t *const	can_node,
		uint8_t	error_warning_level
	)

Parameters

can_node	Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.
error_warning_level	Error Warning level value. Range :0-255.

Returns: None

Description:: Configures error warning level in order to set the corresponding error warning bit EWRN. It configures error_warning_level into NECNT register. Before this configuration call XMC_CAN_NODE_EnableConfigurationChange() API.

Related APIs:: XMC_CAN_NODE_GetErrorWarningLevel()

Note:: NECNTx can be written only if bit NCRx.CCE is set.

void XMC_CAN_NODE_SetEventNodePointer	(	XMC_CAN_NODE_t *const	can_node,
		const XMC_CAN_NODE_POINTER_EVENT_t	ptr_event,
		const uint32_t	service_request
	)

Parameters

can_node	Pointer pointing to CAN_NODE Structure. Defines CAN_NODE registers.
ptr_event	CAN_NODE interrupt pointer position. Refer XMC_CAN_NODE_POINTER_EVENT_t structure for valid values.
service_request	Interrupt service request number. Range : 0-7

Returns: None

Description:: Configures node interrupt pointer service_request for CAN Node events ptr_event. It configures NIPR register.

Related APIs:: None

< Node event mask

void XMC_CAN_NODE_SetInitBit ( XMC_CAN_NODE_t *const can_node )

Parameters

can_node Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.

Returns: None

Description:: Disable CAN node participation in CAN traffic. Bit INIT is automatically set when the CAN node enters the bus-off state. It configures NCR.INIT bit.

Related API's:: XMC_CAN_NODE_ResetInitBit()

void XMC_CAN_NODE_SetReceiveErrorCounter	(	XMC_CAN_NODE_t *const	can_node,
		uint8_t	can_rec
	)

Parameters

can_node	Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.
can_rec	receive error counter value. Range :0-255

Returns: None

Description:: Configures Receive Error Counter. It configures can_rec into NECNT register. Before this configuration call XMC_CAN_NODE_EnableConfigurationChange() API.

Related APIs:: XMC_CAN_NODE_GetReceiveErrorCounter()

Note:: NECNTx can be written only if bit NCRx.CCE is set.

void XMC_CAN_NODE_SetReceiveInput	(	XMC_CAN_NODE_t *const	can_node,
		const XMC_CAN_NODE_RECEIVE_INPUT_t	input
	)

Parameters

can_node	Pointer pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.
input	CAN receive input selection. Refer XMC_CAN_NODE_RECEIVE_INPUT_t for details.

Returns: None

Description:: input specifies CAN input receive pin. This API Configures NPCRx register,it is required to call XMC_CAN_NODE_EnableConfigurationChange(), before configuring NPCRx register, call XMC_CAN_NODE_DisableConfigurationChange() API after configuring NPCRx register. CAN input receive pins which falls under analog port pins should call XMC_GPIO_EnableDigitalInput(),to enable digital pad.

Related APIs:: None

Note:: NPCRx can be written only if bit NCRx.CCE is set.

void XMC_CAN_NODE_SetTransmitErrorCounter	(	XMC_CAN_NODE_t *const	can_node,
		uint8_t	can_tec
	)

Parameters

can_node	Pointer Pointing to CAN_NODE Structure. Defines CAN_NODE registers, Range :CAN_NODE0-CAN_NODE2.
can_tec	transmit error counter value. Range :0-255

Returns: None

Description:: Configures Transmit error counter. It configures can_tec into NECNT register. Before this configuration call XMC_CAN_NODE_EnableConfigurationChange() API.

Related APIs:: XMC_CAN_NODE_GetTransmitErrorCounter()

Note:: NECNTx can be written only if bit NCRx.CCE is set.

void XMC_CAN_PanelControl	(	XMC_CAN_t *const	obj,
		const XMC_CAN_PANCMD_t	pancmd,
		const uint8_t	arg1,
		const uint8_t	arg2
	)

Parameters

obj	Pointer pointing to XMC_CAN Global Initialization structure. Defines CAN global registers,refer CAN_NODE_TypeDef for details.
pancmd	panal command selection. Refer XMC_CAN_PANCMD_t for valid values.
arg1	Panel Argument 1,Range : 0-2
arg2	Panel Argument 2, Range : 0-63

Returns: None

Description:: Configures the panel command and panel arguments. A panel operation consists of a command code (PANCMD) and up to two panel arguments (PANAR1, PANAR2). Commands that have a return value deliver it to the PANAR1 bit field. Commands that return an error flag deliver it to bit 31 of the Panel Control Register, this means bit 7 of PANAR2. arg1 represents panel argument PANAR1,arg2 represents panel argument PANAR2 and pancmd represents command code. It configures PANCTR register.

Related APIs:: None

void XMC_CAN_RXFIFO_ConfigMOBaseObject	(	const XMC_CAN_MO_t *const	can_mo,
		const XMC_CAN_FIFO_CONFIG_t	can_fifo
	)

Parameters

can_mo	Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.
can_fifo	CAN FIFO configuration data structure. Refer XMC_CAN_FIFO_CONFIG_t data structure for details.

Returns: None

Description:: Configures the base object of receive FIFO.

Related API's:: None

void XMC_CAN_RXFIFO_ConfigMOSlaveObject ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: None

Description:: Configures the slave Object of receive FIFO. It configures MOCTR.RESRXEN bit.

Related API's:: None

void XMC_CAN_TXFIFO_ConfigMOBaseObject	(	const XMC_CAN_MO_t *const	can_mo,
		const XMC_CAN_FIFO_CONFIG_t	can_fifo
	)

Parameters

can_mo	Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.
can_fifo	CAN FIFO configuration data structure. Refer XMC_CAN_FIFO_CONFIG_t data structure for details.

Returns: None

Description:: Configures the transmit FIFO. A FIFO consists of one base object and n slave objects. Please refer reference manual Transmit FIFO for more info.

Related API's:: None.

void XMC_CAN_TXFIFO_ConfigMOSlaveObject	(	const XMC_CAN_MO_t *const	can_mo,
		const XMC_CAN_FIFO_CONFIG_t	can_fifo
	)

Parameters

can_mo	Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.
can_fifo	CAN FIFO configuration data structure. Refer XMC_CAN_FIFO_CONFIG_t data structure for details.

Returns: None

Description:: Configures the slave object of transmit FIFO.

Related API's:: None

XMC_CAN_STATUS_t XMC_CAN_TXFIFO_Transmit ( const XMC_CAN_MO_t *const can_mo )

Parameters

can_mo Pointer to Message Object structure. Refer XMC_CAN_MO_t data structure for details.

Returns: XMC_CAN_STATUS_t CAN Node status. Refer XMC_CAN_STATUS_t structure for details.

Description:: To transmit Message Object from the FIFO. Prior to this CAN node Message Object FIFO structure shall be made using XMC_CAN_TXFIFO_ConfigMOBaseObject(), XMC_CAN_TXFIFO_ConfigMOSlaveObject(),XMC_CAN_RXFIFO_ConfigMOBaseObject() API's. Please refer reference manual MessageObject FIFOStructure for more info.

XMC Peripheral Library for XMC4000 Family: CAN

XMC Peripheral Library for XMC4000 Family

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