CAN

CAN API Status

API	BK7258_ap
`bk_can_init()`	Y
`bk_can_driver_init()`	Y
`bk_can_driver_deinit()`	Y
`bk_can_deinit()`	Y
`bk_can_send()`	Y
`bk_can_acc_filter_set()`	Y
`bk_can_register_isr_callback()`	Y
`bk_can_register_err_callback()`	Y
`can_driver_bit_rate_config()`	Y

CAN API Reference

Header File

can.h

Functions

bk_err_t bk_can_init(can_dev_t *can)

The CAN config.

参数: can – [in] structure of parameters
返回: bk_err_t error code

bk_err_t bk_can_driver_init(void)

CAN software module init.

返回: bk_err_t error code

bk_err_t bk_can_driver_deinit(void)

CAN software module deinit.

返回: bk_err_t error code

bk_err_t bk_can_deinit(void)

free the CAN config

返回: bk_err_t error code

bk_err_t bk_can_receive(uint8_t *data, uint32_t expect_size, uint32_t *recv_size, uint32_t timeout)

CAN receive frames.

备注

Pop out the data from software fifo

参数

data – [in] buffer to store data in
expect_size – [in] size of data expect to get
recv_size – [in] size of data actually get
timeout – [in] max wait time to achieve the expect size

返回

bk_err_t error code

bk_err_t bk_can_send_ptb(can_frame_s *frame)

CAN send frame through primary transmit buffer.

备注

Put in fifo one message that would be transmitted at the next possible positon

参数: frame – [in] One frame for transmission
返回: bk_err_t error code

bk_err_t bk_can_send(can_frame_s *frame, uint32_t timeout)

CAN send frame through secondary transmit buffer.

备注

Put in fifo frames that would be sent out together Data in fifo would be conbined to reach the longest legal length Data share the same arbitration parameter

参数

frame – [in] One frame for transmission
timeout – [in] max wait time to send out all data

返回

bk_err_t error code

bk_err_t bk_can_acc_filter_set(can_acc_filter_cmd_s *cmd)

CAN acceptance filter set.

备注

Only filter 0 accpet all messages by default Disabled bits result in accepting the message

参数: cmd – [in] structure of parameter
返回: bk_err_t error code

void bk_can_register_isr_callback(can_callback_des_t *rx_cb, can_callback_des_t *tx_cb)

CAN register callback.

备注

Register to send and receive completed interrupt callback funcitons. The callback funciton is called in the interrupt. Pay attention to the operation.

参数

rx_cb – [in] Receive callback functions and parameters
tx_cb – [in] Send callback functions and parameters

void bk_can_register_err_callback(can_callback_des_t *err_cb)

CAN register callback.

备注

Register to Error interrupt callback funcitons. The callback funciton is called in the interrupt. Pay attention to the operation.

参数: err_cb – [in] Error callback functions and parameters

bk_err_t can_driver_bit_rate_config(can_bit_rate_e s_speed, can_bit_rate_e f_speed)

Adjusting the Baud Rate.

备注

Berfore sending data, the baud rate can be adjusted Pay attention to the protocol used to prevent speed mismatch.

参数

s_speed – [in] CAN2.0 Baud rate
f_speed – [in] CAN FD Baud rate

CAN API Typedefs

Header File

can_types.h

Structures

struct can_gpio_map_t

struct can_gpio_t

struct can_fifo_t

struct can_env_t

struct can_config_t

struct can_dev_t

Macros

BK_ERR_CAN_NOT_INIT: CAN driver not init

BK_ERR_CAN_INT_TYPE: CAN interrupte type error

BK_ERR_CAN_BIT_ERROR: CAN bit error

BK_ERR_CAN_CHK_ERROR: CAN checksum error

BK_ERR_CAN_TIMEOUT_ERROR: CAN timeout error

BK_ERR_CAN_PARITY_ERROR: CAN identifier parity error

BK_ERR_CAN_HAL_INVALID_ADDR: CAN invalid addr

BK_ERR_CAN_HAL_INVALID_ARG: CAN invalid arg

Enumerations

enum can_status_e

Values:

enumerator CAN_STATUS_CLOSED

enumerator CAN_STATUS_IDLE

enumerator CAN_STATUS_OPENED

Header File

hal/hal_can_types.h

Structures

struct can_core_br_tab_s

struct can_speed_t

struct can_acc_filter_cmd_s

struct can_frame_tag_t

struct can_frame_s

struct can_callback_des_t

struct can_hal_t

Macros

RX_INT_FLAG_GROUP

TX_INT_FLAG_GROUP

ERR_INT_FLAG_GROUP

TT_INT_FLAG_GROUP

MEM_INT_FLAG_GROUP

SAFE_INT_FLAG_GROUP

OTHER_INT_FLAG_GROUP

CC_RAM_MEMTYPE

CC_RAM_TYPE

CC_RAM_ECC

CC_RAM_ES

CC_RBUF_SLOTS

CC_STB_ENABLE

CC_STB_SLOTS

CC_STB_PRIO

CC_ACF_NUMBER

CC_CAN_FD

CC_UPWARD_COMPATIBILITY

CC_TTCAN

CC_CIA603

CC_SAFETY_ENABLE

CAN_20_MAX_PAYLOAD

CAN_FD_MAX_PAYLOAD

MAX_ACF_NUM

FDF_CAN_20

FDF_CAN_FD

CAN_STAND_ID_MASK

CAN_EXT_ID_MASK

POS_TTSEN

TTSEN_MASK

RSTAT_EMPTY

RSTAT_AFWL

RSTAT_NOFULL

RSTAT_FULL

BUF_REG_NUM

Type Definitions

typedef void (*can_callback)(void *param)

typedef uint32_t (*can_fifo_f)(uint8_t *buf, uint32_t len)

typedef uint32_t (*can_size_f)(void)

Enumerations

enum can_channel_t

Values:

enumerator CAN_CHAN_0: can gpio44/gpio45/gpuo46

enumerator CAN_CHAN_MAX

enum can_bit_rate_e

Values:

enumerator CAN_BR_125K

enumerator CAN_BR_250K

enumerator CAN_BR_500K

enumerator CAN_BR_800K

enumerator CAN_BR_1M

enumerator CAN_BR_2M

enumerator CAN_BR_4M

enumerator CAN_BR_5M

enum can_ctrl_cmd_e

Values:

enumerator CMD_CAN_MODUILE_INIT

enumerator CMD_CAN_SET_RX_CALLBACK

enumerator CMD_CAN_SET_TX_CALLBACK

enumerator CMD_CAN_RESET_REQ

enumerator CMD_CAN_ACC_FILTER_SET

enumerator CMD_CAN_SET_TX_FIFO

enumerator CMD_CAN_GET_TX_SIZE

enumerator CMD_CAN_SET_RX_FIFO

enumerator CMD_CAN_FD_BOSCH_MODE

enumerator CMD_CAN_GET_RX_FRAME_TAG

enumerator CMD_CAN_SET_TX_FRAME_TAG

enumerator CMD_CAN_PTB_INBUF

enumerator CMD_CAN_TRANS_SWITCH

enumerator CMD_CAN_STB_INBUF

enumerator CMD_CAN_SET_ERR_CALLBACK

enumerator CMD_CAN_BUSOFF_CLR

enumerator CMD_CAN_GET_KOER

enum drv_switch_e

Values:

enumerator DRIVER_DISABLE

enumerator DRIVER_ENABLE

enum can_err_int_e

Values:

enumerator CAN_ERRINT_BUS

enumerator CAN_ERRINT_ARB_LOST

enumerator CAN_ERRINT_PASSIVE

enumerator CAN_ERRINT_WARN_LIM

enum can_protocol_e

Values:

enumerator CAN_PROTO_20

enumerator CAN_PROTO_FD

enum can_form_e

Values:

enumerator CAN_FORM_STD

enumerator CAN_FORM_EXT

enum can_frame_e

Values:

enumerator CAN_FRAME_DATA

enumerator CAN_FRAME_REMT

enum can_brate_e

Values:

enumerator CAN_BIT_RATE_SLOW

enumerator CAN_BIT_RATE_FAST

enum can_acc_mask_ide_e

Values:

enumerator CAN_ACCEPT_BOTH

enumerator CAN_ACCEPT_STANDARD

enumerator CAN_ACCEPT_EXTENDED

enum can_loc_reset_c

Values:

enumerator CAN_RESET_REQ_EN

enumerator CAN_RESET_REQ_NO

enum can_trans_switch_c

Values:

enumerator CAN_TPE

enumerator CAN_TPA

enumerator CAN_TSONE

enumerator CAN_TSALL

enumerator CAN_TSA

enum can_koer_code_e

Values:

enumerator CAN_KOER_NO

enumerator CAN_KOER_BIT

enumerator CAN_KOER_FORM

enumerator CAN_KOER_STUFF

enumerator CAN_KOER_ACK

enumerator CAN_KOER_CRC

enumerator CAN_KOER_OTHER

enumerator CAN_KOER_NOUSE