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##

# 3.30.6 Controller Area Network (MCAN)

The Controller Area Network (MCAN) performs communication according to ISO 11898-1:2015 and to Bosch CAN-FD specification. Additional transceiver hardware is required for connection to the physical layer.

All functions concerning the handling of messages are implemented by the Rx Handler and the Tx Handler. The Rx Handler manages message acceptance filtering, the transfer of received messages from the CAN core to the Message RAM, as well as providing receive message status information. The Tx Handler is responsible for the transfer of transmit messages from the Message RAM to the CAN core, as well as providing transmit status information. Acceptance filtering is implemented by a combination of up to 128 filter elements, where each element can be configured as a range, as a bit mask, or as a dedicated ID filter.

Using The Library

The MCAN library supports the Normal and CAN-FD modes. The MCAN Normal or CAN-FD mode can transfer message in a polling or an interrupt mode.

MCAN Message RAM Configuration

Allocate MCAN Message RAM configuration in contiguous non-cacheable buffer in the application.

For example in SAME70, uint8_t Mcan1MessageRAM[MCAN1_MESSAGE_RAM_CONFIG_SIZE] attribute((aligned (32)))attribute((space(data), section (".ram_nocache")));

For example in SAMA5D2, uint8_t Mcan0MessageRAM[MCAN0_MESSAGE_RAM_CONFIG_SIZE] attribute((aligned (32))) attribute((section(".region_nocache")))

If cache is enabled then non-cacheable section "ram_nocache" or "region_nocache" should be added in linker script (if non-cacheable \section is not present in linker script).

MCAN polling mode:

    #include <stddef.h>                     // Defines NULL
    #include <stdbool.h>                    // Defines true
    #include <stdlib.h>                     // Defines EXIT_FAILURE
    #include "definitions.h"                // SYS function prototypes

    uint8_t Mcan1MessageRAM[MCAN1_MESSAGE_RAM_CONFIG_SIZE] __attribute__((aligned (32)))__attribute__((space(data), section (".ram_nocache")));

    /* Standard identifier id[28:18]*/
    #define WRITE_ID(id) (id << 18)
    #define READ_ID(id)  (id >> 18)

    static uint32_t status = 0;
    static uint8_t loop_count = 0;
    static uint8_t user_input = 0;

    static uint8_t txFiFo[MCAN1_TX_FIFO_BUFFER_SIZE];
    static uint8_t rxFiFo0[MCAN1_RX_FIFO0_SIZE];
    static uint8_t rxFiFo1[MCAN1_RX_FIFO1_SIZE];
    static uint8_t rxBuffer[MCAN1_RX_BUFFER_SIZE];

    // *****************************************************************************
    // *****************************************************************************
    // Section: Local functions
    // *****************************************************************************
    // *****************************************************************************

    /* Message Length to Data length code */
    static uint8_t MCANLengthToDlcGet(uint8_t length)
    {
        uint8_t dlc = 0;

        if (length <= 8U)
        {
            dlc = length;
        }
        else if (length <= 12U)
        {
            dlc = 0x9U;
        }
        else if (length <= 16U)
        {
            dlc = 0xAU;
        }
        else if (length <= 20U)
        {
            dlc = 0xBU;
        }
        else if (length <= 24U)
        {
            dlc = 0xCU;
        }
        else if (length <= 32U)
        {
            dlc = 0xDU;
        }
        else if (length <= 48U)
        {
            dlc = 0xEU;
        }
        else
        {
            dlc = 0xFU;
        }
        return dlc;
    }

    /* Data length code to Message Length */
    static uint8_t MCANDlcToLengthGet(uint8_t dlc)
    {
        uint8_t msgLength[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
        return msgLength[dlc];
    }

    /* Menu */
    static void display_menu(void)
    {
    	printf("Menu :\r\n"
    	       "  -- Select the action:\r\n"
    	       "  0: Send FD standard message with ID: 0x45A and 64 byte data 0 to 63. \r\n"
    	       "  1: Send FD standard message with ID: 0x469 and 64 byte data 128 to 191. \r\n"
    	       "  2: Send FD extended message with ID: 0x100000A5 and 64 byte data 0 to 63. \r\n"
    	       "  3: Send FD extended message with ID: 0x10000096 and 64 byte data 128 to 191. \r\n"
    	       "  4: Send normal standard message with ID: 0x469 and 8 byte data 0 to 7. \r\n"
    	       "  m: Display menu \r\n\r\n");
    }

    /* Print Rx Message */
    static void print_message(uint8_t numberOfMessage, MCAN_RX_BUFFER *rxBuf, uint8_t rxBufLen, uint8_t rxFifoBuf)
    {
        uint8_t length = 0;
        uint8_t msgLength = 0;
        uint32_t id = 0;

        if (rxFifoBuf == 0)
            printf(" Rx FIFO0 :");
        else if (rxFifoBuf == 1)
            printf(" Rx FIFO1 :");
        else if (rxFifoBuf == 2)
            printf(" Rx Buffer :");

        for (uint8_t count = 0; count < numberOfMessage; count++)
        {
            /* Print message to Console */
            printf(" New Message Received\r\n");
            id = rxBuf->xtd ? rxBuf->id : READ_ID(rxBuf->id);
            msgLength = MCANDlcToLengthGet(rxBuf->dlc);
            length = msgLength;
            printf(" Message - ID : 0x%x Length : 0x%x ", (unsigned int)id, (unsigned int)msgLength);
            printf("Message : ");
            while(length)
            {
                printf("0x%x ", rxBuf->data[msgLength - length--]);
            }
            printf("\r\n");
            rxBuf += rxBufLen;
        }
    }

    // *****************************************************************************
    // *****************************************************************************
    // Section: Main Entry Point
    // *****************************************************************************
    // *****************************************************************************

    int main ( void )
    {
        MCAN_TX_BUFFER *txBuffer = NULL;
        uint8_t        bufferNumber = 0;
        uint8_t        numberOfMessage = 0;

        /* Initialize all modules */
        SYS_Initialize ( NULL );

        printf(" ------------------------------ \r\n");
        printf("            MCAN FD Demo          \r\n");
        printf(" ------------------------------ \r\n");

        /* Set Message RAM Configuration */
        MCAN1_MessageRAMConfigSet(Mcan1MessageRAM);

        display_menu();

        while ( true )
        {
            /* Rx Buffers */
            if (MCAN1_InterruptGet(MCAN_INTERRUPT_DRX_MASK))
            {
                MCAN1_InterruptClear(MCAN_INTERRUPT_DRX_MASK);

                /* Check MCAN Status */
                status = MCAN1_ErrorGet();

                if (((status & MCAN_PSR_LEC_Msk) == MCAN_ERROR_NONE) || ((status & MCAN_PSR_LEC_Msk) == MCAN_ERROR_LEC_NO_CHANGE))
                {
                    if (MCAN1_RxBufferNumberGet(&bufferNumber))
                    {
                        memset(rxBuffer, 0x00, MCAN1_RX_BUFFER_ELEMENT_SIZE);
                        if (MCAN1_MessageReceive(bufferNumber, (MCAN_RX_BUFFER *)rxBuffer) == true)
                        {
                            print_message(1, (MCAN_RX_BUFFER *)rxBuffer, MCAN1_RX_BUFFER_ELEMENT_SIZE, 2);
                        }
                        else
                        {
                            printf(" Error in received message\r\n");
                        }
                    }
                }
                else
                {
                    printf(" Error in received message\r\n");
                }
            }

            /* Rx FIFO0 */
            if (MCAN1_InterruptGet(MCAN_INTERRUPT_RF0N_MASK))
            {
                MCAN1_InterruptClear(MCAN_INTERRUPT_RF0N_MASK);

                /* Check MCAN Status */
                status = MCAN1_ErrorGet();

                if (((status & MCAN_PSR_LEC_Msk) == MCAN_ERROR_NONE) || ((status & MCAN_PSR_LEC_Msk) == MCAN_ERROR_LEC_NO_CHANGE))
                {
                    numberOfMessage = MCAN1_RxFifoFillLevelGet(MCAN_RX_FIFO_0);
                    if (numberOfMessage != 0)
                    {
                        memset(rxFiFo0, 0x00, (numberOfMessage * MCAN1_RX_FIFO0_ELEMENT_SIZE));
                        if (MCAN1_MessageReceiveFifo(MCAN_RX_FIFO_0, numberOfMessage, (MCAN_RX_BUFFER *)rxFiFo0) == true)
                        {
                            print_message(numberOfMessage, (MCAN_RX_BUFFER *)rxFiFo0, MCAN1_RX_FIFO0_ELEMENT_SIZE, 0);
                        }
                        else
                        {
                            printf(" Error in received message\r\n");
                        }
                    }
                }
                else
                {
                    printf(" Error in received message\r\n");
                }
            }

            /* Rx FIFO1 */
            if (MCAN1_InterruptGet(MCAN_INTERRUPT_RF1N_MASK))
            {
                MCAN1_InterruptClear(MCAN_INTERRUPT_RF1N_MASK);

                /* Check MCAN Status */
                status = MCAN1_ErrorGet();

                if (((status & MCAN_PSR_LEC_Msk) == MCAN_ERROR_NONE) || ((status & MCAN_PSR_LEC_Msk) == MCAN_ERROR_LEC_NO_CHANGE))
                {
                    numberOfMessage = MCAN1_RxFifoFillLevelGet(MCAN_RX_FIFO_1);
                    if (numberOfMessage != 0)
                    {
                        memset(rxFiFo1, 0x00, (numberOfMessage * MCAN1_RX_FIFO1_ELEMENT_SIZE));
                        if (MCAN1_MessageReceiveFifo(MCAN_RX_FIFO_1, numberOfMessage, (MCAN_RX_BUFFER *)rxFiFo1) == true)
                        {
                            print_message(numberOfMessage, (MCAN_RX_BUFFER *)rxFiFo1, MCAN1_RX_FIFO1_ELEMENT_SIZE, 1);
                        }
                        else
                        {
                            printf(" Error in received message\r\n");
                        }
                    }
                }
                else
                {
                    printf(" Error in received message\r\n");
                }
            }

            /* User input */
            if (USART1_ReceiverIsReady() == false)
            {
                continue;
            }
            user_input = (uint8_t)USART1_ReadByte();

            switch (user_input)
            {
                case '0':
                    memset(txFiFo, 0x00, MCAN1_TX_FIFO_BUFFER_ELEMENT_SIZE);
                    txBuffer = (MCAN_TX_BUFFER *)txFiFo;
                    txBuffer->id = WRITE_ID(0x45A);
                    txBuffer->dlc = MCANLengthToDlcGet(64);
                    txBuffer->fdf = 1;
                    txBuffer->brs = 1;
                    for (loop_count = 0; loop_count < 64; loop_count++){
                        txBuffer->data[loop_count] = loop_count;
                    }
                    printf("  0: Send FD standard message with ID: 0x45A and 64 byte data 0 to 63.\r\n");
                    if (MCAN1_MessageTransmitFifo(1, txBuffer) == true)
                    {
                        printf(" Success \r\n");
                    }
                    else
                    {
                        printf(" Failed \r\n");
                    }
                    break;
                case '1':
                    memset(txFiFo, 0x00, MCAN1_TX_FIFO_BUFFER_ELEMENT_SIZE);
                    txBuffer = (MCAN_TX_BUFFER *)txFiFo;
                    txBuffer->id = WRITE_ID(0x469);
                    txBuffer->dlc = MCANLengthToDlcGet(64);
                    txBuffer->fdf = 1;
                    txBuffer->brs = 1;
                    for (loop_count = 128; loop_count < 192; loop_count++){
                        txBuffer->data[loop_count - 128] = loop_count;
                    }
                    printf("  1: Send FD standard message with ID: 0x469 and 64 byte data 128 to 191.\r\n");
                    if (MCAN1_MessageTransmitFifo(1, txBuffer) == true)
                    {
                        printf(" Success \r\n");
                    }
                    else
                    {
                        printf(" Failed \r\n");
                    }
                    break;
                case '2':
                    memset(txFiFo, 0x00, MCAN1_TX_FIFO_BUFFER_ELEMENT_SIZE);
                    txBuffer = (MCAN_TX_BUFFER *)txFiFo;
                    txBuffer->id = 0x100000A5;
                    txBuffer->dlc = MCANLengthToDlcGet(64);
                    txBuffer->xtd = 1;
                    txBuffer->fdf = 1;
                    txBuffer->brs = 1;
                    for (loop_count = 0; loop_count < 64; loop_count++){
                        txBuffer->data[loop_count] = loop_count;
                    }
                    printf("  2: Send FD extended message with ID: 0x100000A5 and 64 byte data 0 to 63.\r\n");
                    if (MCAN1_MessageTransmitFifo(1, txBuffer) == true)
                    {
                        printf(" Success \r\n");
                    }
                    else
                    {
                        printf(" Failed \r\n");
                    }
                    break;
                case '3':
                    memset(txFiFo, 0x00, MCAN1_TX_FIFO_BUFFER_ELEMENT_SIZE);
                    txBuffer = (MCAN_TX_BUFFER *)txFiFo;
                    txBuffer->id = 0x10000096;
                    txBuffer->dlc = MCANLengthToDlcGet(64);
                    txBuffer->xtd = 1;
                    txBuffer->fdf = 1;
                    txBuffer->brs = 1;
                    for (loop_count = 128; loop_count < 192; loop_count++){
                        txBuffer->data[loop_count - 128] = loop_count;
                    }
                    printf("  3: Send FD extended message with ID: 0x10000096 and 64 byte data 128 to 191.\r\n");
                    if (MCAN1_MessageTransmitFifo(1, txBuffer) == true)
                    {
                        printf(" Success \r\n");
                    }
                    else
                    {
                        printf(" Failed \r\n");
                    }
                    break;

                case '4':
                    memset(txFiFo, 0x00, MCAN1_TX_FIFO_BUFFER_ELEMENT_SIZE);
                    txBuffer = (MCAN_TX_BUFFER *)txFiFo;
                    txBuffer->id = WRITE_ID(0x469);
                    txBuffer->dlc = 8;
                    for (loop_count = 0; loop_count < 8; loop_count++){
                        txBuffer->data[loop_count] = loop_count;
                    }
                    printf("  4: Send normal standard message with ID: 0x469 and 8 byte data 0 to 7.\r\n");
                    if (MCAN1_MessageTransmitFifo(1, txBuffer) == true)
                    {
                        printf(" Success \r\n");
                    }
                    else
                    {
                        printf(" Failed \r\n");
                    }
                    break;

                case 'm':
                case 'M':
                    display_menu();
                    break;

                default:
                    printf(" Invalid Input \r\n");
                    break;
            }
        }

        /* Execution should not come here during normal operation */

        return ( EXIT_FAILURE );
    }

MCAN interrupt mode:

    #include <stddef.h>                     // Defines NULL
    #include <stdbool.h>                    // Defines true
    #include <stdlib.h>                     // Defines EXIT_FAILURE
    #include "definitions.h"                // SYS function prototypes

    uint8_t Mcan1MessageRAM[MCAN1_MESSAGE_RAM_CONFIG_SIZE] __attribute__((aligned (32)))__attribute__((space(data), section (".ram_nocache")));

    /* Standard identifier id[28:18]*/
    #define WRITE_ID(id) (id << 18)
    #define READ_ID(id)  (id >> 18)

    /* Application's state machine enum */
    typedef enum
    {
        APP_STATE_MCAN_RECEIVE,
        APP_STATE_MCAN_TRANSMIT,
        APP_STATE_MCAN_IDLE,
        APP_STATE_MCAN_XFER_SUCCESSFUL,
        APP_STATE_MCAN_XFER_ERROR,
        APP_STATE_MCAN_USER_INPUT
    } APP_STATES;

    /* Variable to save Tx/Rx transfer status and context */
    static uint32_t status = 0;
    static uint32_t xferContext = 0;
    /* Variable to save Tx/Rx message */
    static uint8_t loop_count = 0;
    static uint8_t user_input = 0;
    /* Variable to save application state */
    volatile static APP_STATES state = APP_STATE_MCAN_USER_INPUT;

    static uint8_t txFiFo[MCAN1_TX_FIFO_BUFFER_SIZE];
    static uint8_t rxFiFo0[MCAN1_RX_FIFO0_SIZE];
    static uint8_t rxFiFo1[MCAN1_RX_FIFO1_SIZE];
    static uint8_t rxBuffer[MCAN1_RX_BUFFER_SIZE];

    // *****************************************************************************
    // *****************************************************************************
    // Section: Local functions
    // *****************************************************************************
    // *****************************************************************************

    /* Message Length to Data length code */
    static uint8_t MCANLengthToDlcGet(uint8_t length)
    {
        uint8_t dlc = 0;

        if (length <= 8U)
        {
            dlc = length;
        }
        else if (length <= 12U)
        {
            dlc = 0x9U;
        }
        else if (length <= 16U)
        {
            dlc = 0xAU;
        }
        else if (length <= 20U)
        {
            dlc = 0xBU;
        }
        else if (length <= 24U)
        {
            dlc = 0xCU;
        }
        else if (length <= 32U)
        {
            dlc = 0xDU;
        }
        else if (length <= 48U)
        {
            dlc = 0xEU;
        }
        else
        {
            dlc = 0xFU;
        }
        return dlc;
    }

    /* Data length code to Message Length */
    static uint8_t MCANDlcToLengthGet(uint8_t dlc)
    {
        uint8_t msgLength[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
        return msgLength[dlc];
    }

    /* Menu */
    static void display_menu(void)
    {
    	printf("Menu :\r\n"
    	       "  -- Select the action:\r\n"
    	       "  0: Send FD standard message with ID: 0x45A and 64 byte data 0 to 63. \r\n"
    	       "  1: Send FD standard message with ID: 0x469 and 64 byte data 128 to 191. \r\n"
    	       "  2: Send FD extended message with ID: 0x100000A5 and 64 byte data 0 to 63. \r\n"
    	       "  3: Send FD extended message with ID: 0x10000096 and 64 byte data 128 to 191. \r\n"
    	       "  4: Send normal standard message with ID: 0x469 and 8 byte data 0 to 7. \r\n"
    	       "  m: Display menu \r\n\r\n");
    }

    /* Print Rx Message */
    static void print_message(uint8_t numberOfMessage, MCAN_RX_BUFFER *rxBuf, uint8_t rxBufLen, uint8_t rxFifoBuf)
    {
        uint8_t length = 0;
        uint8_t msgLength = 0;
        uint32_t id = 0;

        if (rxFifoBuf == 0)
            printf(" Rx FIFO0 :");
        else if (rxFifoBuf == 1)
            printf(" Rx FIFO1 :");
        else if (rxFifoBuf == 2)
            printf(" Rx Buffer :");

        for (uint8_t count = 0; count < numberOfMessage; count++)
        {
            /* Print message to Console */
            printf(" New Message Received\r\n");
            id = rxBuf->xtd ? rxBuf->id : READ_ID(rxBuf->id);
            msgLength = MCANDlcToLengthGet(rxBuf->dlc);
            length = msgLength;
            printf(" Message - Timestamp : 0x%x ID : 0x%x Length : 0x%x ", (unsigned int)rxBuf->rxts, (unsigned int)id, (unsigned int)msgLength);
            printf("Message : ");
            while(length)
            {
                printf("0x%x ", rxBuf->data[msgLength - length--]);
            }
            printf("\r\n");
            rxBuf += rxBufLen;
        }
    }

    /* This function will be called by MCAN PLIB when transfer is completed from Tx FIFO */
    void APP_MCAN_TxFifoCallback(uintptr_t context)
    {
        xferContext = context;

        /* Check MCAN Status */
        status = MCAN1_ErrorGet();

        if (((status & MCAN_PSR_LEC_Msk) == MCAN_ERROR_NONE) || ((status & MCAN_PSR_LEC_Msk) == MCAN_ERROR_LEC_NO_CHANGE))
        {
            switch ((APP_STATES)context)
            {
                case APP_STATE_MCAN_TRANSMIT:
                {
                    state = APP_STATE_MCAN_XFER_SUCCESSFUL;
                    break;
                }
                default:
                    break;
            }
        }
        else
        {
            state = APP_STATE_MCAN_XFER_ERROR;
        }
    }

    /* This function will be called by MCAN PLIB when Message received in Rx Buffer */
    void APP_MCAN_RxBufferCallback(uint8_t bufferNumber, uintptr_t context)
    {
        xferContext = context;

        /* Check MCAN Status */
        status = MCAN1_ErrorGet();

        if (((status & MCAN_PSR_LEC_Msk) == MCAN_ERROR_NONE) || ((status & MCAN_PSR_LEC_Msk) == MCAN_ERROR_LEC_NO_CHANGE))
        {
            switch ((APP_STATES)context)
            {
                case APP_STATE_MCAN_RECEIVE:
                {
                    memset(rxBuffer, 0x00, MCAN1_RX_BUFFER_ELEMENT_SIZE);
                    if (MCAN1_MessageReceive(bufferNumber, (MCAN_RX_BUFFER *)rxBuffer) == true)
                    {
                        print_message(1, (MCAN_RX_BUFFER *)rxBuffer, MCAN1_RX_BUFFER_ELEMENT_SIZE, 2);
                        state = APP_STATE_MCAN_XFER_SUCCESSFUL;
                    }
                    else
                    {
                        state = APP_STATE_MCAN_XFER_ERROR;
                    }
                    break;
                }
                default:
                    break;
            }
        }
        else
        {
            state = APP_STATE_MCAN_XFER_ERROR;
        }
    }

    /* This function will be called by MCAN PLIB when Message received in Rx FIFO0 */
    void APP_MCAN_RxFifo0Callback(uint8_t numberOfMessage, uintptr_t context)
    {
        xferContext = context;

        /* Check MCAN Status */
        status = MCAN1_ErrorGet();

        if (((status & MCAN_PSR_LEC_Msk) == MCAN_ERROR_NONE) || ((status & MCAN_PSR_LEC_Msk) == MCAN_ERROR_LEC_NO_CHANGE))
        {
            switch ((APP_STATES)context)
            {
                case APP_STATE_MCAN_RECEIVE:
                {
                    memset(rxFiFo0, 0x00, (numberOfMessage * MCAN1_RX_FIFO0_ELEMENT_SIZE));
                    if (MCAN1_MessageReceiveFifo(MCAN_RX_FIFO_0, numberOfMessage, (MCAN_RX_BUFFER *)rxFiFo0) == true)
                    {
                        print_message(numberOfMessage, (MCAN_RX_BUFFER *)rxFiFo0, MCAN1_RX_FIFO0_ELEMENT_SIZE, 0);
                        state = APP_STATE_MCAN_XFER_SUCCESSFUL;
                    }
                    else
                    {
                        state = APP_STATE_MCAN_XFER_ERROR;
                    }
                    break;
                }
                default:
                    break;
            }
        }
        else
        {
            state = APP_STATE_MCAN_XFER_ERROR;
        }
    }

    /* This function will be called by MCAN PLIB when Message received in Rx FIFO1 */
    void APP_MCAN_RxFifo1Callback(uint8_t numberOfMessage, uintptr_t context)
    {
        xferContext = context;

        /* Check MCAN Status */
        status = MCAN1_ErrorGet();

        if (((status & MCAN_PSR_LEC_Msk) == MCAN_ERROR_NONE) || ((status & MCAN_PSR_LEC_Msk) == MCAN_ERROR_LEC_NO_CHANGE))
        {
            switch ((APP_STATES)context)
            {
                case APP_STATE_MCAN_RECEIVE:
                {
                    memset(rxFiFo1, 0x00, (numberOfMessage * MCAN1_RX_FIFO1_ELEMENT_SIZE));
                    if (MCAN1_MessageReceiveFifo(MCAN_RX_FIFO_1, numberOfMessage, (MCAN_RX_BUFFER *)rxFiFo1) == true)
                    {
                        print_message(numberOfMessage, (MCAN_RX_BUFFER *)rxFiFo1, MCAN1_RX_FIFO1_ELEMENT_SIZE, 1);
                        state = APP_STATE_MCAN_XFER_SUCCESSFUL;
                    }
                    else
                    {
                        state = APP_STATE_MCAN_XFER_ERROR;
                    }
                    break;
                }
                default:
                    break;
            }
        }
        else
        {
            state = APP_STATE_MCAN_XFER_ERROR;
        }
    }

    // *****************************************************************************
    // *****************************************************************************
    // Section: Main Entry Point
    // *****************************************************************************
    // *****************************************************************************

    int main ( void )
    {
        MCAN_TX_BUFFER *txBuffer = NULL;

        /* Initialize all modules */
        SYS_Initialize ( NULL );

        printf(" ------------------------------ \r\n");
        printf("        MCAN FD Demo            \r\n");
        printf(" ------------------------------ \r\n");

        /* Set Message RAM Configuration */
        MCAN1_MessageRAMConfigSet(Mcan1MessageRAM);

        MCAN1_RxFifoCallbackRegister(MCAN_RX_FIFO_0, APP_MCAN_RxFifo0Callback, APP_STATE_MCAN_RECEIVE);
        MCAN1_RxFifoCallbackRegister(MCAN_RX_FIFO_1, APP_MCAN_RxFifo1Callback, APP_STATE_MCAN_RECEIVE);
        MCAN1_RxBuffersCallbackRegister(APP_MCAN_RxBufferCallback, APP_STATE_MCAN_RECEIVE);

        display_menu();

        while ( true )
        {
            if (state == APP_STATE_MCAN_USER_INPUT)
            {
                /* Read user input */
                scanf("%c", (char *) &user_input);

                switch (user_input)
                {
    				case '0':
                        memset(txFiFo, 0x00, MCAN1_TX_FIFO_BUFFER_ELEMENT_SIZE);
                        txBuffer = (MCAN_TX_BUFFER *)txFiFo;
                        txBuffer->id = WRITE_ID(0x45A);
                        txBuffer->dlc = MCANLengthToDlcGet(64);
                        txBuffer->fdf = 1;
                        txBuffer->brs = 1;
    					for (loop_count = 0; loop_count < 64; loop_count++){
    						txBuffer->data[loop_count] = loop_count;
    					}
    					printf("  0: Send FD standard message with ID: 0x45A and 64 byte data 0 to 63.\r\n");
                        MCAN1_TxFifoCallbackRegister( APP_MCAN_TxFifoCallback, (uintptr_t)APP_STATE_MCAN_TRANSMIT );
                        state = APP_STATE_MCAN_IDLE;
                        if (MCAN1_MessageTransmitFifo(1, txBuffer) == false)
                        {
                            printf(" Failed \r\n");
                        }
                        break;
    				case '1':
                        memset(txFiFo, 0x00, MCAN1_TX_FIFO_BUFFER_ELEMENT_SIZE);
                        txBuffer = (MCAN_TX_BUFFER *)txFiFo;
                        txBuffer->id = WRITE_ID(0x469);
                        txBuffer->dlc = MCANLengthToDlcGet(64);
                        txBuffer->fdf = 1;
                        txBuffer->brs = 1;
    					for (loop_count = 128; loop_count < 192; loop_count++){
    						txBuffer->data[loop_count - 128] = loop_count;
    					}
     					printf("  1: Send FD standard message with ID: 0x469 and 64 byte data 128 to 191.\r\n");
    					MCAN1_TxFifoCallbackRegister( APP_MCAN_TxFifoCallback, (uintptr_t)APP_STATE_MCAN_TRANSMIT );
                        state = APP_STATE_MCAN_IDLE;
    					if (MCAN1_MessageTransmitFifo(1, txBuffer) == false)
                        {
                            printf(" Failed \r\n");
                        }
                        break;
    				case '2':
                        memset(txFiFo, 0x00, MCAN1_TX_FIFO_BUFFER_ELEMENT_SIZE);
                        txBuffer = (MCAN_TX_BUFFER *)txFiFo;
                        txBuffer->id = 0x100000A5;
                        txBuffer->dlc = MCANLengthToDlcGet(64);
                        txBuffer->xtd = 1;
                        txBuffer->fdf = 1;
                        txBuffer->brs = 1;
    					for (loop_count = 0; loop_count < 64; loop_count++){
    						txBuffer->data[loop_count] = loop_count;
    					}
    					printf("  2: Send FD extended message with ID: 0x100000A5 and 64 byte data 0 to 63.\r\n");
                        MCAN1_TxFifoCallbackRegister( APP_MCAN_TxFifoCallback, (uintptr_t)APP_STATE_MCAN_TRANSMIT );
                        state = APP_STATE_MCAN_IDLE;
                        if (MCAN1_MessageTransmitFifo(1, txBuffer) == false)
                        {
                            printf(" Failed \r\n");
                        }
                        break;
    				case '3':
                        memset(txFiFo, 0x00, MCAN1_TX_FIFO_BUFFER_ELEMENT_SIZE);
                        txBuffer = (MCAN_TX_BUFFER *)txFiFo;
                        txBuffer->id = 0x10000096;
                        txBuffer->dlc = MCANLengthToDlcGet(64);
                        txBuffer->xtd = 1;
                        txBuffer->fdf = 1;
                        txBuffer->brs = 1;
    					for (loop_count = 128; loop_count < 192; loop_count++){
    						txBuffer->data[loop_count - 128] = loop_count;
    					}
    					printf("  3: Send FD extended message with ID: 0x10000096 and 64 byte data 128 to 191.\r\n");
                        MCAN1_TxFifoCallbackRegister( APP_MCAN_TxFifoCallback, (uintptr_t)APP_STATE_MCAN_TRANSMIT );
                        state = APP_STATE_MCAN_IDLE;
                        if (MCAN1_MessageTransmitFifo(1, txBuffer) == false)
                        {
                            printf(" Failed \r\n");
                        }
                        break;
    				case '4':
                        memset(txFiFo, 0x00, MCAN1_TX_FIFO_BUFFER_ELEMENT_SIZE);
                        txBuffer = (MCAN_TX_BUFFER *)txFiFo;
    					txBuffer->id = WRITE_ID(0x469);
                        txBuffer->dlc = 8;
    					for (loop_count = 0; loop_count < 8; loop_count++){
    						txBuffer->data[loop_count] = loop_count;
    					}
     					printf("  4: Send normal standard message with ID: 0x469 and 8 byte data 0 to 7.\r\n");
    					MCAN1_TxFifoCallbackRegister( APP_MCAN_TxFifoCallback, (uintptr_t)APP_STATE_MCAN_TRANSMIT );
                        state = APP_STATE_MCAN_IDLE;
    					if (MCAN1_MessageTransmitFifo(1, txBuffer) == false)
                        {
                            printf(" Failed \r\n");
                        }
                        break;
    				case 'm':
    				case 'M':
    					display_menu();
    					break;

    				default:
    					printf(" Invalid Input \r\n");
    					break;
                }
            }

            /* Check the application's current state. */
            switch (state)
            {
                case APP_STATE_MCAN_IDLE:
                {
                    /* Application can do other task here */
                    break;
                }
                case APP_STATE_MCAN_XFER_SUCCESSFUL:
                {
                    if ((APP_STATES)xferContext == APP_STATE_MCAN_TRANSMIT)
                    {
                        printf(" Success\r\n");
                    }
                    state = APP_STATE_MCAN_USER_INPUT;
                    break;
                }
                case APP_STATE_MCAN_XFER_ERROR:
                {
                    if ((APP_STATES)xferContext == APP_STATE_MCAN_RECEIVE)
                    {
                        printf(" Error in received message\r\n");
                    }
                    else
                    {
                        printf(" Failed\r\n");
                    }
                    state = APP_STATE_MCAN_USER_INPUT;
                    break;
                }
                default:
                {
                    break;
                }
            }
        }

        /* Execution should not come here during normal operation */

        return ( EXIT_FAILURE );
    }

Library Interface

Controller Area Network peripheral library provides the following interfaces:

Functions

Name | Description
--- | ---
MCANx_Initialize | Initializes given instance of the MCAN peripheral
MCANx_MessageTransmit | Transmits a message into CAN bus from the specific Tx buffer
MCANx_MessageTransmitFifo | Transmit multiple messages into CAN bus from Tx FIFO
MCANx_TxFifoFreeLevelGet | Returns Tx FIFO Free Level
MCANx_TxBufferIsBusy | Check if Transmission request is pending for the specific Tx buffer
MCANx_TxEventFifoRead | Read Tx Event FIFO for the transmitted messages
MCANx_TxEventFifoFillLevelGet | Returns Tx Event FIFO Fill Level
MCANx_MessageReceive | Read a message from the specific Rx Buffer
MCANx_RxBufferNumberGet | Get Rx Buffer Number
MCANx_MessageReceiveFifo | Read messages from Rx FIFO0/FIFO1
MCANx_RxFifoFillLevelGet | Returns Rx FIFO0/FIFO1 Fill Level
MCANx_ErrorGet | Returns the error during transfer
MCANx_ErrorCountGet | Returns the transmit and receive error count during transfer
MCANx_InterruptGet | Returns the Interrupt status
MCANx_InterruptClear | Clears Interrupt status
MCANx_MessageRAMConfigSet | Set the Message RAM Configuration
MCANx_StandardFilterElementSet | Set a standard filter element configuration
MCANx_StandardFilterElementGet | Get a standard filter element configuration
MCANx_ExtendedFilterElementSet | Set a Extended filter element configuration
MCANx_ExtendedFilterElementGet | Get a Extended filter element configuration
MCANx_SleepModeEnter | Puts the MCAN Peripheral in sleep mode (clock stop request)
MCANx_SleepModeExit | Exits MCAN peripheral from sleep mode (clock stop request)
MCANx_TxBuffersCallbackRegister | Sets the pointer to the function (and it is contextHandle) to be called when the given MCAN's Tx transfer events occur
MCANx_TxFifoCallbackRegister | Sets the pointer to the function (and it is contextHandle) to be called when the given MCAN's Tx transfer events occur
MCANx_TxEventFifoCallbackRegister | Sets the pointer to the function (and it is contextHandle) to be called when the given MCAN's Tx transfer events occur
MCANx_RxBuffersCallbackRegister | Sets the pointer to the function (and it is contextHandle) to be called when the given MCAN's Rx transfer events occur
MCANx_RxFifoCallbackRegister | Sets the pointer to the function (and it is contextHandle) to be called when the given MCAN's Rx transfer events occur

Data types and constants

Name | Type | Description
--- | --- | ---
MCAN_ERROR_NONE | Macro | MCAN Error None
MCAN_ERROR_LEC_STUFF | Macro | MCAN Error LEC_STUFF
MCAN_ERROR_LEC_ACK | Macro | MCAN Error LEC_ACK
MCAN_ERROR_LEC_BIT1 | Macro | MCAN Error LEC_BIT1
MCAN_ERROR_LEC_BIT0 | Macro | MCAN Error LEC_BIT0
MCAN_ERROR_LEC_FORM | Macro | MCAN Error LEC_FORM
MCAN_ERROR_LEC_CRC | Macro | MCAN Error LEC_CRC
MCAN_ERROR_LEC_NO_CHANGE | Macro | MCAN Error LEC_NO_CHANGE
MCAN_ERROR_WARNING_STATUS | Macro | MCAN Error WARNING_STATUS
MCAN_ERROR_PASSIVE | Macro | MCAN Error PASSIVE
MCAN_ERROR_BUS_OFF | Macro | MCAN Error BUS_OFF
MCAN_ERROR_DLEC_STUFF | Macro | MCAN Error DLEC_STUFF
MCAN_ERROR_DLEC_ACK | Macro | MCAN Error DLEC_ACK
MCAN_ERROR_DLEC_BIT1 | Macro | MCAN Error DLEC_BIT1
MCAN_ERROR_DLEC_BIT0 | Macro | MCAN Error DLEC_BIT0
MCAN_ERROR_DLEC_FORM | Macro | MCAN Error DLEC_FORM
MCAN_ERROR_DLEC_CRC | Macro | MCAN Error DLEC_CRC
MCAN_ERROR_DLEC_NO_CHANGE | Macro | MCAN Error DLEC_NO_CHANGE
MCAN_ERROR_PROTOCOL_EXCEPTION_EVENT | Macro | MCAN Error PROTOCOL_EXCEPTION_EVENT
MCAN_ERROR_INVALID | Macro | MCAN Error Invalid
MCAN_RX_FIFO_NUM | Enum | MCAN Rx FIFO Number
MCAN_INTERRUPT_MASK | Enum | MCAN Interrupt Mask
MCAN_ERROR | Typedef | MCAN Transfer Error data type
MCAN_TX_FIFO_CALLBACK | Typedef | MCAN Callback Function Pointer for Tx FIFO
MCAN_TXRX_BUFFERS_CALLBACK | Typedef | MCAN Callback Function Pointer for TX/RX Buffers
MCAN_TX_EVENT_FIFO_CALLBACK | Typedef | MCAN Callback Function Pointer for Tx Event FIFO
MCAN_RX_FIFO_CALLBACK | Typedef | MCAN Callback Function Pointer for Rx FIFO0/FIFO1
MCAN_MSG_RAM_CONFIG | Struct | MCAN Message RAM Configuration structure
MCAN_RX_BUFFER | Struct | MCAN Rx Buffer and FIFO Element Structure
MCAN_TX_BUFFER | Struct | MCAN Tx Buffer Element Structure
MCAN_TX_EVENT_FIFO | Struct | MCAN Tx Event FIFO Element Structure
MCAN_TX_FIFO_CALLBACK_OBJ | Struct | MCAN transfer event callback structure for Tx FIFO
MCAN_TXRX_BUFFERS_CALLBACK_OBJ | Struct | MCAN transfer event callback structure for Tx/Rx Buffers
MCAN_TX_EVENT_FIFO_CALLBACK_OBJ | Struct | MCAN transfer event callback structure for Tx Event FIFO
MCAN_RX_FIFO_CALLBACK_OBJ | Struct | MCAN transfer event callback structure for Rx FIFO0/FIFO1