Connect CAN Protocol with PIC

• If set to 0xFF, this is a blocking call – the function won’t “return” until the requested mode is set.
• If 0, this is a non-blocking call. It does not verify if CAN module is switched to requested mode or not. Caller must use CANGetOperationMode to verify correct operation mode before performing mode specific operation.

CANSetOperationMode(_CAN_MODE_CONFIG, 0xFF);

if (CANGetOperationMode() == _CAN_MODE_NORMAL) { ... };

if (CAN_CONFIG_FLAGS & _CAN_CONFIG_VALID_XTD_MSG != 0)
  // Set all filters to XTD_MSG
else if (config & _CAN_CONFIG_VALID_STD_MSG != 0)
  // Set all filters to STD_MSG
else
  // Set half of the filters to STD, and the rest to XTD_MSG.

Parameters:

• SJW as defined in datasheet (1–4)
• BRP as defined in datasheet (1–64)
• PHSEG1 as defined in datasheet (1–8)
• PHSEG2 as defined in datasheet (1–8)
• PROPSEG as defined in datasheet (1–8)
• CAN_CONFIG_FLAGS is formed from predefined constants

init = _CAN_CONFIG_SAMPLE_THRICE &
       _CAN_CONFIG_PHSEG2_PRG_ON &
       _CAN_CONFIG_STD_MSG       &
       _CAN_CONFIG_DBL_BUFFER_ON &
       _CAN_CONFIG_VALID_XTD_MSG &
       _CAN_CONFIG_LINE_FILTER_OFF;
...
CANInitialize(1, 1, 3, 3, 1, init);   // initialize CAN

• SJW as defined in datasheet (1–4)
• BRP as defined in datasheet (1–64)
• PHSEG1 as defined in datasheet (1–8)
• PHSEG2 as defined in datasheet (1–8)
• PROPSEG as defined in datasheet (1–8)
• CAN_CONFIG_FLAGS is formed from predefined constants

init = _CAN_CONFIG_SAMPLE_THRICE &
       _CAN_CONFIG_PHSEG2_PRG_ON &
       _CAN_CONFIG_STD_MSG       &
       _CAN_CONFIG_DBL_BUFFER_ON &
       _CAN_CONFIG_VALID_XTD_MSG &
       _CAN_CONFIG_LINE_FILTER_OFF;
...
CANSetBaudRate(1, 1, 3, 3, 1, init);

• CAN_MASK is one of predefined constant values
• value is the mask register value
• CAN_CONFIG_FLAGS selects type of message to filter, either _CAN_CONFIG_XTD_MSG or _CAN_CONFIG_STD_MSG

// Set all mask bits to 1, i.e. all filtered bits are relevant:
CANSetMask(_CAN_MASK_B1, -1, _CAN_CONFIG_XTD_MSG);

// Note that -1 is just a cheaper way to write 0xFFFFFFFF.
   Complement will do the trick and fill it up with ones.

• CAN_FILTER is one of predefined constant values
• value is the filter register value
• CAN_CONFIG_FLAGS selects type of message to filter, either _CAN_CONFIG_XTD_MSG or _CAN_CONFIG_STD_MSG

// Set id of filter B1_F1 to 3:
CANSetFilter(_CAN_FILTER_B1_F1, 3, _CAN_CONFIG_XTD_MSG);

• id is message identifier
• data is an array of bytes up to 8 bytes in length
• datalen is data length, from 1–8.
• CAN_RX_MSG_FLAGS is value formed from constants

char rcv, rx, len, data[8];
long id;

// ...
rx = 0;
// ...
rcv = CANRead(id, data, len, rx);

• id is CAN message identifier. Only 11 or 29 bits may be used depending on message type (standard or extended)
• data is array of bytes up to 8 bytes in length
• datalen is data length from 1–8
• CAN_TX_MSG_FLAGS is value formed from constants

char tx, data;
long id;

// ...
tx = _CAN_TX_PRIORITY_0 &
     _CAN_TX_XTD_FRAME;
// ...
CANWrite(id, data, 2, tx);

• driveHighState: State of the CANTX pin. Valid values :
  

  Description	Predefined library const
  CANTX pin will drive VDD when recessive. Use it when using a differential bus to avoid signal crosstalk in CANTX from other nearby pins.	_CAN_DRIVE_HIGH_STATE_ENABLE
  CANTX pin will be tri-state when recessive.	_CAN_DRIVE_HIGH_STATE_DISABLE

CANSetTxIdleLevel(_CAN_DRIVE_HIGH_STATE_ENABLE);