CAN
Introduction
The MikroSDK.Driver.CAN library offers a comprehensive set of functions and data structures for handling CAN communication.
This includes setting up CAN configurations, filters, and handling CAN messages.
The library is designed to be platform-independent, ensuring compatibility with various microcontrollers.
API Name
- MikroSDK.Driver.CAN
API Files
-
GitHub Repository:
Prerequisites
-
Library Manager:
- Select Driver.CAN to add the API to your project using the Library Manager in NECTO Studio.
-
Headers:
- Include the Driver.CAN header in your source files to access the CAN functions.
- This header pops up in the lower right part of NECTO Studio once you perform the previous task (while selecting Driver.CAN in Library Manager)
- Alternatively, include the drv_can.h header in your source files to access the CAN functions.
-
CMakeLists:
- You do not have to perform anything, configuration (CMake) file is already taken care of automatically while you performed the first task in this Prerequisites!
- You can ensure that your CMakeLists.txt includes the necessary configurations to link against the
MikroSDK.Driver.CANlibrary.
Code Examples
- How to properly test CAN?
/* Project name:
* CAN Loopback Mode Demo
* Copyright:
* (c) MIKROE, 2024.
* Description:
* Example is meant for demonstrating CAN Loopback Mode functionality
* using mikroSDK 2.10.0. If pin that is defined as TEST_PIN_SUCCESS
* is blinking, then data transmission was a success.
* For NXP, PIC32 and RISC-V architectures you need to provide CAN
* signals with the same baud rate to HIGH and LOW CAN pins in order
* to make Loopback Mode work. If you don't set baud rate manually
* using can_set_frequency() API, 125000 will be set by default.
* Library dependencies?
* - Make sure `Driver.CAN`, `Driver.GPIO.Out`, `Driver.GPIO.Port`,
* `Log`, `Board` and `mikroSDKVersion` libraries are enabled
* in NECTO's Library Manager to ensure a successful build.
*/
/**
* @brief For a detailed explanation of this demo, please visit:
* <https://libstock.mikroe.com/projects/view/5624/can-loopback-mode-demo>
*/
// ------------------------------------------------------------------ INCLUDES
/**
* Any initialization code needed for MCU to function properly.
* Do not remove this line or clock might not be set correctly.
*/
#ifdef PREINIT_SUPPORTED
#include "preinit.h"
#endif
#ifdef MikroCCoreVersion
#if MikroCCoreVersion >= 1
#include "delays.h"
#endif
#endif
#include "MikroSDK.Board"
#include "MikroSDK.Driver.CAN"
#include "MikroSDK.mikroSDKVersion"
#include "MikroSDK.Driver.GPIO.Out"
#include "MikroSDK.Driver.GPIO.Port"
#if mikroSDK_GET_VERSION < 21000ul
#error "SDK version must be 2.10.0 or higher."
#endif
#if mikroSDK_GET_VERSION >= 21101
#define UPDATED_CAN_IMPLEMENTATION
#endif
// -------------------------------------------------------------------- MACROS
#ifndef CAN_RX
#define CAN_RX HAL_PIN_NC // TODO define CAN RX pin
#endif
#ifndef CAN_TX
#define CAN_TX HAL_PIN_NC // TODO define CAN TX pin
#endif
#ifndef UPDATED_CAN_IMPLEMENTATION
// HW specific as TIVA architecture is using FIFO1 for transmitting.
#ifndef tiva
#define CAN_FILTER_FIFO_DEFAULT CAN_FILTER_FIFO1
#else
#define CAN_FILTER_FIFO_DEFAULT CAN_FILTER_FIFO2
#endif
#define CAN_FILTER_BANK_DEFAULT 0
#define CAN_BAUDRATE_VALUE 125000
#endif
#define TEST_PIN_CAN_RX CAN_RX // TODO define CAN RX pin
#define TEST_PIN_CAN_TX CAN_TX // TODO define CAN TX pin
// TODO Define test pins according to hardware.
#define TEST_PIN_1 HAL_PIN_NC
#define TEST_PIN_2 HAL_PIN_NC
#define TEST_PIN_3 HAL_PIN_NC
#define TEST_PIN_4 HAL_PIN_NC
#define TEST_PIN_5 HAL_PIN_NC
#define TEST_PIN_6 HAL_PIN_NC
#define TEST_PIN_7 HAL_PIN_NC
#define TEST_PIN_8 HAL_PIN_NC
#define TEST_PIN_SUCCESS HAL_PIN_NC
// TODO Test different byte values with different filter configurations.
#define BYTE1 0x01
#define BYTE2 0x32
#define BYTE3 0xAB
#define BYTE4 0xCD
#define BYTE5 0x45
#define BYTE6 0x89
#define BYTE7 0xEF
#define BYTE8 0x67
#define signal_error(pin) digital_out_init( &test_pin, pin ); \
digital_out_high( &test_pin ); \
while(1)
#define signal_success digital_out_high( &test_pin_success ); \
Delay_1sec(); \
digital_out_low( &test_pin_success ); \
Delay_1sec();
// ----------------------------------------------------------------- VARIABLES
static can_config_t can_config_struct;
static can_filter_config_t can_filter_config_struct;
static can_t can_struct;
static uint8_t byte_check[8];
can_transmit_message_struct tx_message;
can_receive_message_struct rx_message;
static digital_out_t test_pin, test_pin_success;
// ----------------------------------------------------------------- USER CODE
int main(void) {
/* Do not remove this line or clock might not be set correctly. */
#ifdef PREINIT_SUPPORTED
preinit();
#endif
// Set default configuration for CAN module.
can_configure_default( &can_config_struct );
can_filter_configure_default( &can_filter_config_struct );
// Check defined pins and get the CAN module number.
can_config_struct.rx_pin = TEST_PIN_CAN_RX;
can_config_struct.tx_pin = TEST_PIN_CAN_TX;
if( ACQUIRE_FAIL == can_open( &can_struct, &can_config_struct )) {
signal_error( TEST_PIN_1 );
}
// Initialize the CAN module.
if( CAN_ERROR == can_init( &can_struct )) {
signal_error( TEST_PIN_2 );
}
// Set CAN filer parameters.
can_filter_config_struct.can_filter_scale = CAN_FILTER_SCALE_32BIT;
// NOTE: If you don't have any filters enabled for FIFO, message won't be received.
can_filter_config_struct.can_filter_enable = CAN_FILTER_ENABLE;
can_filter_config_struct.can_filter_frame_type[0] = CAN_FRAME_TYPE_DATA;
can_filter_config_struct.can_filter_frame_type[1] = CAN_FRAME_TYPE_DATA;
can_filter_config_struct.can_filter_id = 0x0000123ul;
can_filter_config_struct.can_filter_mask_id = 0x00000FFFul;
can_filter_config_struct.can_filter_mode = CAN_FILTER_MODE_IDMASK;
can_filter_config_struct.can_filter_fifo = CAN_FILTER_FIFO_DEFAULT;
can_filter_config_struct.can_filter_bank = CAN_FILTER_BANK_DEFAULT;
if( CAN_ERROR == can_set_filter( &can_struct, &can_filter_config_struct ) ) {
signal_error( TEST_PIN_3 );
}
// Set the Loopback Mode operation.
if( CAN_ERROR == can_set_mode( &can_struct, CAN_MODE_LOOPBACK )) {
signal_error( TEST_PIN_4 );
}
#ifndef UPDATED_CAN_IMPLEMENTATION
// Set the baud rate value.
if( CAN_ERROR == can_set_frequency( &can_struct, CAN_BAUDRATE_VALUE )) {
signal_error( TEST_PIN_5 );
}
#endif
// Set bytes of data for transmission.
tx_message.message.message_data[0] = BYTE1;
tx_message.message.message_data[1] = BYTE2;
tx_message.message.message_data[2] = BYTE3;
tx_message.message.message_data[3] = BYTE4;
tx_message.message.message_data[4] = BYTE5;
tx_message.message.message_data[5] = BYTE6;
tx_message.message.message_data[6] = BYTE7;
tx_message.message.message_data[7] = BYTE8;
tx_message.message.data_len = 8;
// Set the format and ID of the transmit message.
tx_message.message.frame_format = CAN_FRAME_FORMAT_STANDARD_11BITS;
tx_message.message.std_id = 0x48cUL;
tx_message.message.ext_id = 0x01;
// Send the data.
if( CAN_ERROR == can_transmit( &can_struct, &tx_message )) {
signal_error( TEST_PIN_6 );
}
Delay_100ms();
// Define an RX FIFO that should have the received message in it.
// NOTE if no data was received by this FIFO can_receive will return error.
rx_message.rx_fifo_number = CAN_FILTER_FIFO_DEFAULT;
// Get the data.
if( CAN_ERROR == can_receive( &can_struct, &rx_message )) {
signal_error( TEST_PIN_7 );
}
Delay_100ms();
digital_out_init( &test_pin_success, TEST_PIN_SUCCESS );
// Define an array for checking received bytes.
byte_check[0] = BYTE1;
byte_check[1] = BYTE2;
byte_check[2] = BYTE3;
byte_check[3] = BYTE4;
byte_check[4] = BYTE5;
byte_check[5] = BYTE6;
byte_check[6] = BYTE7;
byte_check[7] = BYTE8;
// Check if received data is the same as expected.
if( !memcmp( &byte_check, &rx_message.message.message_data, sizeof( byte_check )))
{
while(1) {
signal_success;
}
}
else {
signal_error( TEST_PIN_8 );
}
return 0;
}
// ----------------------------------------------------------------------- END