#include <modm/architecture/interface/can.hpp>

Inheritance diagram for modm::Can:

Public Types
enum	Mode : uint8_t { Mode::Normal = 0b00, Mode::ListenOnly = 0b01, Mode::LoopBack = 0b10, Mode::ListenOnlyLoopBack = 0b11 }
	Possible modes of the CAN controller. More...

enum	BusState : uint8_t { BusState::Connected = 0, BusState::ErrorWarning = 1, BusState::ErrorPassive = 2, Off = 3 }

Static Public Member Functions
template<class... Signals>
static void	connect ()

template<class SystemClock , bitrate_t bitrate = 125_kbps, percent_t tolerance = 1_pct>
static void	initialize (Mode startupMode)

static bool	isMessageAvailable ()
	Returns true if a message can be retrieved by calling `getMessage`.

static bool	getMessage (can::Message &message)
	Returns true if a message was copied into the message buffer.

static bool	isReadyToSend ()

static bool	sendMessage (const can::Message &message)

static uint8_t	getReceiveErrorCounter ()
	Get Receive Error Counter.

static uint8_t	getTransmitErrorCounter ()
	Get Transmit Error Counter.

static BusState	getBusState ()

static void	acknowledgeInterruptFlag ()

template<uint64_t available, uint64_t requested, percent_t tolerance>
static void	assertBaudrateInTolerance ()

template<double available, double requested, percent_t tolerance>
static void	assertDurationInTolerance ()

static void	configurePurpose ()
	configures a peripheral for a specific purpose

static bool	getInterruptFlag ()
	Read an interrupt flag.

static void	getParameter ()
	returns a parameter

static void	initialize ()
	initializes the peripheral, must be called before use.

static void	setParameter ()
	sets a parameter

Static Public Attributes
static constexpr size_t	RxBufferSize = 16
	Size of the receive buffer.

static constexpr size_t	TxBufferSize = 16
	Size of the transmit buffer.

Detailed Description

Interface to the CAN bus

Member Enumeration Documentation

enum modm::Can::BusState : uint8_t

strong

Enum Values	Documentation
Connected	This bit is set by hardware when the warning limit has been reached (Receive Error Counter or Transmit Error Counter ≥ 96).
ErrorWarning	This bit is set by hardware when the Error Passive limit has been reached (Receive Error Counter or Transmit Error Counter > 127).
ErrorPassive	This bit is set by hardware when it enters the bus-off state. The bus-off state is entered on TEC overflow, greater than 255

enum modm::Can::Mode : uint8_t

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Possible modes of the CAN controller.

Enum Values	Documentation
Normal	standard operation mode
ListenOnly	only possible to receive messages
LoopBack	messages sent are immediately received by own controller
ListenOnlyLoopBack	combination of both modes

Member Function Documentation

static void modm::PeripheralDriver::acknowledgeInterruptFlag ( )

inheritedstatic

Acknowledge an interrupt flag.

We use acknowledge here, since it describes the intention rather than the actual implementation.

template<uint64_t available, uint64_t requested, percent_t tolerance>

static void modm::PeripheralDriver::assertBaudrateInTolerance ( )

inheritedinlinestatic

Since baudrates are usually generated by prescaling a system clock, only several distinct values can be generated. This method checks if the user requested baudrate is within error tolerance of the system achievable baudrate.

template<class... Signals>

static void modm::Can::connect ( )

static

Configures the Tx and Rx signals and connects them.

Template Parameters

Signals One Tx and one Rx signal are required and can be passed out-of-order.

template<class SystemClock , bitrate_t bitrate = 125_kbps, percent_t tolerance = 1_pct>

static void modm::Can::initialize ( Mode startupMode )

static

Initializes the hardware and sets the baudrate.

Template Parameters

SystemClock	the currently active system clock
bitrate	the desired bitrate in Hz
tolerance	the allowed relative tolerance for the resulting baudrate

static bool modm::Can::isReadyToSend ( )

static

The CAN controller has a free slot to send a new message.

Returns: true if a slot is available, false otherwise

static bool modm::Can::sendMessage ( const can::Message & message )

static

Send a message over the CAN.

Returns: true if the message was send, false otherwise

The documentation for this class was generated from the following file:

architecture/interface/can.hpp

Public Types

Static Public Member Functions

Static Public Attributes

Detailed Description

Member Enumeration Documentation

Member Function Documentation