Controller area network (CAN) routines

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Controller area network (CAN) routines

Section 2.1 describes the data structures used in the CAN software library and Section 2.2

gives a list of the software library functions.

Note:

Before using any CAN function, the I/O ports linked to the CAN RX and CAN TX pins must

be configured as follows: CAN RX pin in input mode and CAN TX pin in output mode. This is

not performed by the library.

2.1

CAN register structure

The structures of the CAN_TypeDef and CAN_MsgObj_TypeDef registers are defined in the

st10f27x_can.h file as follows:

typedef volatile struct

{

vu16 CRR;

vu16 CMR;

vu16 M1R;

vu16 M2R;

vu16 A1R;

vu16 A2R;

vu16 MCR;

vu16 DA1R;

vu16 DA2R;

vu16 DB1R;

vu16 DB2R;

u16

EMPTY0[13];

} CAN_MsgObj_TypeDef;

typedef volatile struct

{

vu16 CR;

vu16 SR;

vu16 ERR;

vu16 BTR;

vu16 IDR;

vu16 TESTR;

vu16 BRPR;

u16

EMPTY0;

CAN_MsgObj_TypeDef sMsgObj[2];

u16

EMPTY1[8];

vu16 TXR1R;

vu16 TXR2R;

u16

EMPTY2[6];

vu16 ND1R;

vu16 ND2R;

u16

EMPTY3[6];

vu16 IP1R;

vu16 IP2R;

u16

EMPTY4[6];

vu16 MV1R;

vu16 MV2R;

} CAN_TypeDef;