CAN Functions

Macros
#define	HAL_CAN_SEND_PERIOD_NO_REPEAT   0
	Flag for sending a CAN message once.
#define	HAL_CAN_SEND_PERIOD_STOP_REPEATING   -1
	Flag for stopping periodic CAN message sends.
#define	HAL_CAN_IS_FRAME_REMOTE   0x80000000
	Mask for "is frame remote" in message ID.
#define	HAL_CAN_IS_FRAME_11BIT   0x40000000
	Mask for "is frame 11 bits" in message ID.
#define	HAL_ERR_CANSessionMux_InvalidBuffer   -44086
#define	HAL_ERR_CANSessionMux_MessageNotFound   -44087
#define	HAL_WARN_CANSessionMux_NoToken   44087
#define	HAL_ERR_CANSessionMux_NotAllowed   -44088
#define	HAL_ERR_CANSessionMux_NotInitialized   -44089
#define	HAL_ERR_CANSessionMux_SessionOverrun   44050
void	HAL_CAN_SendMessage (uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t periodMs, int32_t *status)
	Sends a CAN message.
void	HAL_CAN_ReceiveMessage (uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status)
	Receives a CAN message.
void	HAL_CAN_GetCANStatus (float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status)
	Gets CAN status information.

Detailed Description

Macro Definition Documentation

HAL_CAN_IS_FRAME_11BIT

#define HAL_CAN_IS_FRAME_11BIT   0x40000000

Mask for "is frame 11 bits" in message ID.

HAL_CAN_IS_FRAME_REMOTE

#define HAL_CAN_IS_FRAME_REMOTE   0x80000000

Mask for "is frame remote" in message ID.

HAL_CAN_SEND_PERIOD_NO_REPEAT

#define HAL_CAN_SEND_PERIOD_NO_REPEAT   0

Flag for sending a CAN message once.

HAL_CAN_SEND_PERIOD_STOP_REPEATING

#define HAL_CAN_SEND_PERIOD_STOP_REPEATING   -1

Flag for stopping periodic CAN message sends.

HAL_ERR_CANSessionMux_InvalidBuffer

#define HAL_ERR_CANSessionMux_InvalidBuffer   -44086

HAL_ERR_CANSessionMux_MessageNotFound

#define HAL_ERR_CANSessionMux_MessageNotFound   -44087

HAL_ERR_CANSessionMux_NotAllowed

#define HAL_ERR_CANSessionMux_NotAllowed   -44088

HAL_ERR_CANSessionMux_NotInitialized

#define HAL_ERR_CANSessionMux_NotInitialized   -44089

HAL_ERR_CANSessionMux_SessionOverrun

#define HAL_ERR_CANSessionMux_SessionOverrun   44050

HAL_WARN_CANSessionMux_NoToken

#define HAL_WARN_CANSessionMux_NoToken   44087

Function Documentation

HAL_CAN_GetCANStatus()

void HAL_CAN_GetCANStatus	(	float *	percentBusUtilization,
		uint32_t *	busOffCount,
		uint32_t *	txFullCount,
		uint32_t *	receiveErrorCount,
		uint32_t *	transmitErrorCount,
		int32_t *	status )

Gets CAN status information.

Parameters

[out]	percentBusUtilization	the bus utilization
[out]	busOffCount	the number of bus off errors
[out]	txFullCount	the number of tx full errors
[out]	receiveErrorCount	the number of receive errors
[out]	transmitErrorCount	the number of transmit errors
[out]	status	Error status variable. 0 on success.

HAL_CAN_ReceiveMessage()

void HAL_CAN_ReceiveMessage	(	uint32_t *	messageID,
		uint32_t	messageIDMask,
		uint8_t *	data,
		uint8_t *	dataSize,
		uint32_t *	timeStamp,
		int32_t *	status )

Receives a CAN message.

Parameters

[out]	messageID	store for the received message ID
[in]	messageIDMask	the message ID mask to look for
[out]	data	data output (8 bytes)
[out]	dataSize	data length (0-8 bytes)
[out]	timeStamp	the packet received timestamp (based off of CLOCK_MONOTONIC)
[out]	status	Error status variable. 0 on success.

HAL_CAN_SendMessage()

void HAL_CAN_SendMessage	(	uint32_t	messageID,
		const uint8_t *	data,
		uint8_t	dataSize,
		int32_t	periodMs,
		int32_t *	status )

Sends a CAN message.

Parameters

[in]	messageID	the CAN ID to send
[in]	data	the data to send (0-8 bytes)
[in]	dataSize	the size of the data to send (0-8 bytes)
[in]	periodMs	the period to repeat the packet at. Use HAL_CAN_SEND_PERIOD_NO_REPEAT to not repeat.
[out]	status	Error status variable. 0 on success.