FDCAN2 (CAN with Flexible Data-Rate) More...

#include <modm/platform/can/can_2.hpp>

Inheritance diagram for modm::platform::Fdcan2:

Public Typedefs
using	ErrorCallback = void (*)()

using	FilterConfig = MessageRam::FilterConfig

Public Types
enum	Mode : uint32_t { Normal, Restricted, Monitoring, Sleep, TestExternalLoopback, TestInternalLoopback, ListenOnly = Monitoring, LoopBack = TestInternalLoopback }

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 (Gpio::InputType inputType=Gpio::InputType::Floating)

template<class SystemClock , bitrate_t bitrate = kbps(125), percent_t tolerance = pct(1), bitrate_t fastDataBitrate = 0>
static void	initialize (uint32_t interruptPriority, Mode startupMode=Mode::Normal, bool overwriteOnOverrun=true)

static void	setMode (Mode mode)

static void	setAutomaticRetransmission (bool retransmission)

static bool	isMessageAvailable ()

static bool	isReadyToSend ()

static bool	getMessage (can::Message &message, uint8_t filter_id=nullptr, uint16_t timestamp=nullptr)

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

static bool	setStandardFilter (uint8_t standardIndex, FilterConfig config, modm::can::StandardIdentifier id, modm::can::StandardMask mask)

static bool	setStandardFilter (uint8_t standardIndex, FilterConfig config, modm::can::StandardIdentifier id0, modm::can::StandardIdentifier id1)

static bool	setStandardRangeFilter (uint8_t standardIndex, FilterConfig config, modm::can::StandardIdentifier first, modm::can::StandardIdentifier last)

static bool	setExtendedFilter (uint8_t extendedIndex, FilterConfig config, modm::can::ExtendedIdentifier id, modm::can::ExtendedMask mask)

static bool	setExtendedFilter (uint8_t extendedIndex, FilterConfig config, modm::can::ExtendedIdentifier id0, modm::can::ExtendedIdentifier id1)

static bool	setExtendedRangeFilter (uint8_t extendedIndex, FilterConfig config, modm::can::ExtendedIdentifier first, modm::can::ExtendedIdentifier last)

static void	clearStandardFilters ()
	Disable all standard filters, receive no standard frames.

static void	clearExtendedFilters ()
	Disable all extended filters, receive no extended frames.

static uint8_t	getReceiveErrorCounter ()

static uint8_t	getTransmitErrorCounter ()

static BusState	getBusState ()

static void	setErrorInterruptCallback (ErrorCallback callback)

static ErrorCallback	getErrorInterruptCallback ()

static uint16_t	getCurrentTimestamp ()

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

template<class... Signals>
static void	connect ()

static bool	getInterruptFlag ()
	Read an interrupt flag.

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

static void	getParameter ()
	returns a parameter

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

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 = 32

static constexpr size_t	TxBufferSize = 32

static constexpr uint8_t	StandardFilterCount = MessageRam::StandardFilterCount

static constexpr uint8_t	ExtendedFilterCount = MessageRam::ExtendedFilterCount

Detailed Description

FDCAN2 (CAN with Flexible Data-Rate)

The controller area network (CAN) subsystem consists of one CAN module, a shared Message RAM memory and a configuration block. The modules (FDCAN) are compliant with ISO 11898-1: 2015 (CAN protocol specification version 2.0 part A, B) and CAN FD protocol specification version 1.0. A Message RAM implements filters, receive FIFOs, transmit event FIFOs and transmit FIFOs. The RAM is 0.8 Kbyte per FDCAN instance, except for the H7 series, which has 10 Kbytes of total message RAM arbitrarily split between FDCAN instances.

This driver supports SW-managed/in-memory FIFOs which augment the hardware TX and RX FIFOs. Note that the HW TX queue defaults to FIFO order but can be configured to transmit the highest priority (lowest arbitration ID) frames first.

Filter

Up to 28 filters can be defined for 11-bit IDs, up to 8 filters for 29-bit IDs. The filter banks are not shared between the CAN instances.

Configuration

You can set the in-memory (SW-managed) buffer size using the buffer.tx and buffer.rx parameters. If set to 0, filling a HW FIFO will immediately drop frames.

The tx_hw_queue_mode configures the order in which frames are transmitted from the hardware buffers. "FIFO" transmits in the order frames were enqueued. "Priority" transmits the message with the lowest arbitration ID first.

Author: Raphael Lehmann raphael@rleh.de; Christopher Durand christopher.durand@rwth-aachen.de; Kaelin Laundry wasabifan@outlook.com

Member Enumeration Documentation

enum modm::Can::BusState : uint8_t

inheritedstrong

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

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 ( )

inheritedstatic

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.

static uint8_t modm::platform::Fdcan2::getReceiveErrorCounter ( )

inlinestatic

Get Receive Error Counter.

In case of an error during reception, this counter is incremented by 1 or by 8 depending on the error condition as defined by the CAN standard. After every successful reception the counter is decremented by 1 or reset to 120 if its value was higher than 128. When the counter value exceeds 127, the CAN controller enters the error passive state.

static uint8_t modm::platform::Fdcan2::getTransmitErrorCounter ( )

inlinestatic

Get Transmit Error Counter.

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

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

inheritedstatic

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

template<class SystemClock , bitrate_t bitrate = kbps(125), percent_t tolerance = pct(1), bitrate_t fastDataBitrate = 0>

static void modm::platform::Fdcan2::initialize	(	uint32_t	interruptPriority,
		Mode	startupMode = `Mode::Normal`,
		bool	overwriteOnOverrun = `true`
	)

inlinestatic

Enables the clock for the CAN controller and resets all settings

Template Parameters

SystemClock System clock struct with an FDCAN2 member containing the clock speed supplied to the peripheral.

Warning: The CAN subsystem prescaler can be configured using the RCC module and must be taken into account in the provided clock speed value.

Template Parameters

bitrate	Nominal CAN bitrate
tolerance	Maximum relative deviation between requested and resulting CAN bitrates. If the tolerance is exceeded a compile-time assertion will be triggered.
fastDataBitrate	CAN bitrate for data in FD frames with bit rate switching Set to 0 to disable CANFD support.

Parameters

interruptPriority	Interrupt vector priority (0=highest to 15=lowest)
startupMode	Mode of operation set after initialization

See also: Fdcan2::Mode

Parameters

overwriteOnOverrun Once a receive FIFO is full the next incoming message will overwrite the previous one if true otherwise the incoming message will be discarded

Warning: Has to called after connect(), but before any other function from this class!

static void modm::platform::Fdcan2::setErrorInterruptCallback ( ErrorCallback callback )

inlinestatic

Set the error interrupt callback.

It will be called on the following events:

The FDCAN peripheral enters ERROR_PASSIVE or BUS_OFF state
The error counter exceeds the warning limit

To disable the interrupt set the callback to nullptr.

bool modm::platform::Fdcan2::setExtendedFilter	(	uint8_t	extendedIndex,
		FilterConfig	config,
		modm::can::ExtendedIdentifier	id,
		modm::can::ExtendedMask	mask
	)

static

Set extended filter with id and mask

Parameters

extendedIndex Extended filter index 0..7

Returns: true if filter index is valid

bool modm::platform::Fdcan2::setExtendedFilter	(	uint8_t	extendedIndex,
		FilterConfig	config,
		modm::can::ExtendedIdentifier	id0,
		modm::can::ExtendedIdentifier	id1
	)

static

Set standard filter with dual ids Matches on any of both specified ids

Parameters

extendedIndex Extended filter index 0..7

Returns: true if filter index is valid

bool modm::platform::Fdcan2::setExtendedRangeFilter	(	uint8_t	extendedIndex,
		FilterConfig	config,
		modm::can::ExtendedIdentifier	first,
		modm::can::ExtendedIdentifier	last
	)

static

Set standard range filter Matches the inclusive range between both specified ids

Parameters

extendedIndex Extended filter index 0..7

Returns: true if filter index is valid

void modm::platform::Fdcan2::setMode ( Mode mode )

static

Set the operating mode.

Default after initialization is the normal mode.

bool modm::platform::Fdcan2::setStandardFilter	(	uint8_t	standardIndex,
		FilterConfig	config,
		modm::can::StandardIdentifier	id,
		modm::can::StandardMask	mask
	)

static

Set standard filter with id and mask

Parameters

standardIndex Standard filter index 0..27

Returns: true if filter index is valid

bool modm::platform::Fdcan2::setStandardFilter	(	uint8_t	standardIndex,
		FilterConfig	config,
		modm::can::StandardIdentifier	id0,
		modm::can::StandardIdentifier	id1
	)

static

Set standard filter with dual ids Matches on any of both specified ids

Parameters

standardIndex Standard filter index 0..27

Returns: true if filter index is valid

bool modm::platform::Fdcan2::setStandardRangeFilter	(	uint8_t	standardIndex,
		FilterConfig	config,
		modm::can::StandardIdentifier	first,
		modm::can::StandardIdentifier	last
	)

static

Set standard range filter Matches the inclusive range between both specified ids

Parameters

standardIndex Standard filter index 0..27

Returns: true if filter index is valid

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

can_2.hpp
can_2.cpp

Public Typedefs

Public Types

Static Public Member Functions

Static Public Attributes

Detailed Description

Filter

Configuration

Member Enumeration Documentation

Member Function Documentation