Add FlexCAN Driver

Configuring Driver

FlexCAN Driver

FlexCAN Setting : FlexCAN Configurations

Source Code

Include

#include "FlexCAN_Ip.h"

Callback Function

void CAN_ISR(uint8 instance, Flexcan_Ip_EventType eventType, uint32 buffIdx,
		const Flexcan_Ip_StateType *flexcanState)
{
	(void)flexcanState;
	(void)instance;

	switch(eventType)
	{
	case FLEXCAN_EVENT_RX_COMPLETE:
		printf("FLEXCAN_EVENT_RX_COMPLETE\n");

		if(buffIdx == MB_Idx_1)
		{
		/*Receives a CAN frame into a configured message buffer.*/
		//FLEXCAN_DRV_Receive(INST_CANCOM1,MB_Idx_1,&recvMsg);
			FlexCAN_Ip_Receive(INST_FLEXCAN_0, MB_Idx_1, &rxData, FALSE);
			FlexCAN_Ip_Send(INST_FLEXCAN_0, TX_MB_IDX, &tx_info, MSG_ID_1, rxData.data);
		}

		if(buffIdx == MB_Idx_2)
		{
		/*Receive a CAN frame into a configured message buffer.*/
		//FLEXCAN_DRV_Receive(INST_CANCOM1,MB_Idx_2,&recvMsg);
			FlexCAN_Ip_Receive(INST_FLEXCAN_0, MB_Idx_2, &rxData, FALSE);
			FlexCAN_Ip_Send(INST_FLEXCAN_0, TX_MB_IDX, &tx_info, MSG_ID_2, rxData.data);
		}
		break;
	case FLEXCAN_EVENT_RXFIFO_COMPLETE:
		break;
	case FLEXCAN_EVENT_TX_COMPLETE:
		printf("FLEXCAN_EVENT_TX_COMPLETE\n");
		break;
	default:
		break;
	}
}

Init Function

void INIT_CAN()
{
    IntCtrl_Ip_EnableIrq(CAN0_ORed_0_31_MB_IRQn);
    IntCtrl_Ip_InstallHandler(CAN0_ORed_0_31_MB_IRQn, CAN0_ORED_0_31_MB_IRQHandler, NULL_PTR);

    FlexCAN_Ip_Init(INST_FLEXCAN_0, &FlexCAN_State0, &FlexCAN_Config0);
    FlexCAN_Ip_SetStopMode(INST_FLEXCAN_0);

#if Individual_Mask
		/*Set RX masking type as RX global mask or RX individual mask.*/
    FlexCAN_Ip_SetRxMaskType_Privileged(INST_FLEXCAN_0, FLEXCAN_RX_MASK_INDIVIDUAL);
    /*Configure a Rx Message Buffer.*/
    FlexCAN_Ip_ConfigRxMb(INST_FLEXCAN_0, MB_Idx_1, &rx_info, 0x400);
    /*Receives a CAN frame into a configured message buffer.*/
    FlexCAN_Ip_Receive(INST_FLEXCAN_0, MB_Idx_1, &rxData, FALSE););
    
    /*Set Rx individual mask as the 11-bit standar mask or the 29-bit extended mask.*/
    FlexCAN_Ip_SetRxIndividualMask_Privileged(INST_FLEXCAN_0, MB_Idx_2, 0x780 << 18);
#endif

#if Global_Mask
    /*Set RX masking type as RX global mask or RX individual mask.*/
    FlexCAN_Ip_SetRxMaskType(INST_FLEXCAN_0, FLEXCAN_RX_MASK_GLOBAL);

    /*Configure a Rx Message Buffer.*/
    FlexCAN_Ip_ConfigRxMb(INST_FLEXCAN_0, MB_Idx_1, &rx_info, 0x300);
    /*Receives a CAN frame into a configured message buffer.*/
    FlexCAN_Ip_Receive(INST_FLEXCAN_0, MB_Idx_1, &rxData, FALSE);

    /*Configure a Rx Message Buffer.*/
    FlexCAN_Ip_ConfigRxMb(INST_FLEXCAN_0, MB_Idx_2, &rx_info, 0x400);
    /*Receives a CAN frame into a configured message buffer.*/
    FlexCAN_Ip_Receive(INST_FLEXCAN_0, MB_Idx_2, &rxData, FALSE);

    /*Set Rx Message Buffer global mask as the 11-bit standard mask or the 29-bit extended mask.*/
    FlexCAN_Ip_SetRxMbGlobalMask(INST_FLEXCAN_0, 0x700 << 18);
#endif

    FlexCAN_Ip_SetStartMode(INST_FLEXCAN_0);
}