CAN (r_can)

Functions
fsp_err_t	R_CAN_Open (can_ctrl_t *const p_api_ctrl, can_cfg_t const *const p_cfg)
fsp_err_t	R_CAN_Close (can_ctrl_t *const p_api_ctrl)
fsp_err_t	R_CAN_Write (can_ctrl_t *const p_api_ctrl, uint32_t mailbox, can_frame_t *const p_frame)
fsp_err_t	R_CAN_Read (can_ctrl_t *const p_api_ctrl, uint32_t mailbox, can_frame_t *const p_frame)
fsp_err_t	R_CAN_ModeTransition (can_ctrl_t *const p_api_ctrl, can_operation_mode_t operation_mode, can_test_mode_t test_mode)
fsp_err_t	R_CAN_InfoGet (can_ctrl_t *const p_api_ctrl, can_info_t *const p_info)
fsp_err_t	R_CAN_CallbackSet (can_ctrl_t *const p_api_ctrl, void(*p_callback)(can_callback_args_t *), void const *const p_context, can_callback_args_t *const p_callback_memory)

Detailed Description

Driver for the CAN peripheral on RA MCUs. This module implements the CAN Interface.

Overview

The Controller Area network (CAN) HAL module provides a high-level API for CAN applications and supports the CAN peripherals available on RA microcontroller hardware. A user-callback function must be defined that the driver will invoke when transmit, receive or error interrupts are received. The callback is passed a parameter which indicates the channel, mailbox and event as well as the received data (if available).

Features

• Supports both standard (11-bit) and extended (29-bit) messaging formats
• Supports speeds upto 1 Mbps
• Support for bit timing configuration as defined in the CAN specification
• Supports up to 32 transmit or receive mailboxes with standard or extended ID frames
• Optional support for a 4-stage transmit and receive FIFO
• Receive mailboxes can be configured to capture either data or remote CAN Frames
• Receive mailboxes can be configured to receive a range of IDs using mailbox masks
• Mailboxes can be configured with Overwrite or Overrun mode
• Supports a user-callback function when transmit, receive, or error interrupts are received

Configuration

Build Time Configurations for r_can

The following build time configurations are defined in fsp_cfg/r_can_cfg.h:

Configuration	Options	Default	Description
Parameter Checking	Default (BSP) Enabled Disabled	Default (BSP)	If selected code for parameter checking is included in the build.
FIFO Support	Disabled Enabled	Disabled	When FIFOs are enabled, a transmit FIFO replaces mailboxes 24-27 and a receive FIFO replaces mailboxes 28-31.

Configurations for Connectivity > CAN (r_can)

This module can be added to the Stacks tab via New Stack > Connectivity > CAN (r_can). Non-secure callable guard functions can be generated for this module by right clicking the module in the RA Configuration tool and checking the "Non-secure Callable" box.

Configuration	Options	Default	Description
General
Name	Name must be a valid C symbol	g_can0	Module name.
Channel	Channel should be 0 or 1	0	Specify the CAN channel to use.
Clock Source	MCU Specific Options		Select the CAN clock source.
Overwrite/Overrrun Mode	Overwrite Mode Overrrun Mode	Overwrite Mode	Select whether receive mailbox will be overwritten or overrun if data is not read in time.
Global ID Mode	Standard ID Mode Extended ID Mode Mixed ID Mode	Standard ID Mode	Select whether the driver will use CAN Standard IDs, Extended IDs or a mix of both.
Number of Mailboxes	4 Mailboxes 8 Mailboxes 16 Mailboxes 24 Mailboxes 32 Mailboxes	32 Mailboxes	Select 4, 8, 16, 24 or 32 mailboxes. In FIFO mailbox mode up to 24 mailboxes are available.
Baud Rate Settings
Baud Rate Settings > Auto-generated Settings
Sample-Point (%)	Must be a valid integer between 0 and 100. Ignore when Override Baud Settings is Enabled.	75	Sample-Point = (TSEG1 + 1) / (TSEG1 + TSEG2 + 1).
CAN Baud Rate (Hz)	Must be a valid integer configurable upto maximum 1MHz. Ignore when Override Baud Settings is Enabled.	500000	Specify baud rate in Hz. If the requested baud rate cannot be achieved, the settings with the largest possible baud rate that is less than or equal to the requested baud rate is used. If multiple combinations would result in the best baud rate, the combination with the least absolute error for the ratio is chosen. The theoretical calculated baud rate and ratio are printed in a comment in the generated can_bit_timing_cfg_t structure.
Baud Rate Settings > Override Auto-generated Settings
Override Baud Settings	Enabled Disabled	Disabled	Override calculated baudrate parameters and instead use the ones specified below. This option ignores the parameters specified under Sample-Point (%) and CAN Baud Rate (Hz)
Baud Rate Prescaler	Value must be a non-negative integer between 1 and 1024.	1	Specify division value of baud rate prescaler (baud rate prescalar + 1).
Time Segment 1	Refer to the RA Configuration tool for available options.	4 Time Quanta	Select the time segment 1 value. (4-16). Check module usage notes for how to calculate this value.
Time Segment 2	2 Time Quanta 3 Time Quanta 4 Time Quanta 5 Time Quanta 6 Time Quanta 7 Time Quanta 8 Time Quanta	2 Time Quanta	Select the time segment 2 value (2-8). Check module usage notes for how to calculate this value.
Synchronization Jump Width	1 Time Quanta 2 Time Quanta 3 Time Quanta 4 Time Quanta	1 Time Quanta	Select the Synchronization Jump Width value (1-4). Check module usage notes for how to calculate this value.
Interrupts
Callback	Name must be a valid C symbol	can_callback	A user callback function. If this callback function is provided, it is called from the interrupt service routine (ISR) each time any interrupt occurs.
Interrupt Priority Level	MCU Specific Options		Transmit/Receive/Error interrupt priority.
Transmit FIFO Interrupt Mode	Every Message Empty	Every Message	Select whether the receive FIFO should throw an interrupt on every received message or when it becomes empty.
Input
Input > Receive FIFO
Input > Receive FIFO > Receive ID 1
ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	0	Select the first ID for the receive FIFO, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs.
ID Mode	Standard ID Extended ID	Standard ID	Select whether the receive FIFO is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Frame Type	Data Mailbox Remote Mailbox	Remote Mailbox	Select whether the receive FIFO is used to capture data frames or remote frames.
Mask	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	0x1FFFFFFF	Select the Mask for the receive FIFO. In Mixed ID Mode the Standard ID mask is the upper 11 bits of the full 29-bit mask value.
Input > Receive FIFO > Receive ID 2
ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	0	Select the second ID for the receive FIFO, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs.
ID Mode	Standard ID Extended ID	Standard ID	Select whether the receive FIFO is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Frame Type	Data Mailbox Remote Mailbox	Remote Mailbox	Select whether the receive FIFO is used to capture data frames or remote frames.
Mask	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	0x1FFFFFFF	Select the Mask for the receive FIFO. In Mixed ID Mode the Standard ID mask is the upper 11 bits of the full 29-bit mask value.
Input > Mailbox 0-3 Group
Input > Mailbox 0-3 Group > Mailbox ID
Mailbox 0 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	0	Select the receive ID for mailbox 0, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 1 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	1	Select the receive ID for mailbox 1, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 2 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	2	Select the receive ID for mailbox 2, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 3 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	3	Select the receive ID for mailbox 3, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Input > Mailbox 0-3 Group > Mailbox ID Mode
Mailbox 0 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 1 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 2 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 3 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Input > Mailbox 0-3 Group > Mailbox Type
Mailbox 0 Type	Receive Mailbox Transmit Mailbox	Transmit Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 1 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 2 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 3 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Input > Mailbox 0-3 Group > Mailbox Frame Type
Mailbox 0 Frame Type	Data Mailbox Remote Mailbox	Remote Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 1 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 2 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 3 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 0-3 Group Mask	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	0x1FFFFFFF	Select the Mask for mailboxes 0-3. In Mixed ID Mode the Standard ID mask is the upper 11 bits of the full 29-bit mask value.
Input > Mailbox 4-7 Group
Input > Mailbox 4-7 Group > Mailbox ID
Mailbox 4 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	4	Select the receive ID for mailbox 4, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 5 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	5	Select the receive ID for mailbox 5, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 6 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	6	Select the receive ID for mailbox 6, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 7 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	7	Select the receive ID for mailbox 7, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Input > Mailbox 4-7 Group > Mailbox ID Mode
Mailbox 4 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 5 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 6 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 7 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Input > Mailbox 4-7 Group > Mailbox Type
Mailbox 4 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 5 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 6 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 7 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Input > Mailbox 4-7 Group > Mailbox Frame Type
Mailbox 4 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 5 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 6 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 7 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 4-7 Group Mask	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	0x1FFFFFFF	>Select the Mask for mailboxes 4-7. In Mixed ID Mode the Standard ID mask is the upper 11 bits of the full 29-bit mask value.
Input > Mailbox 8-11 Group
Input > Mailbox 8-11 Group > Mailbox ID
Mailbox 8 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	8	Select the receive ID for mailbox 8, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 9 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	9	Select the receive ID for mailbox 9, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 10 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	10	Select the receive ID for mailbox 10, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 11 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	11	Select the receive ID for mailbox 11, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Input > Mailbox 8-11 Group > Mailbox ID Mode
Mailbox 8 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 9 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 10 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 11 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Input > Mailbox 8-11 Group > Mailbox Type
Mailbox 8 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 9 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 10 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 11 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Input > Mailbox 8-11 Group > Mailbox Frame Type
Mailbox 8 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 9 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 10 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 11 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 8-11 Group Mask	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	0x1FFFFFFF	Select the Mask for mailboxes 8-11. In Mixed ID Mode the Standard ID mask is the upper 11 bits of the full 29-bit mask value.
Input > Mailbox 12-15 Group
Input > Mailbox 12-15 Group > Mailbox ID
Mailbox 12 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	12	Select the receive ID for mailbox 12, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 13 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	13	Select the receive ID for mailbox 13, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 14 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	14	Select the receive ID for mailbox 14, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 15 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	15	Select the receive ID for mailbox 15, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Input > Mailbox 12-15 Group > Mailbox ID Mode
Mailbox 12 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 13 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 14 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 15 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Input > Mailbox 12-15 Group > Mailbox Type
Mailbox 12 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 13 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 14 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 15 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Input > Mailbox 12-15 Group > Mailbox Frame Type
Mailbox 12 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 13 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 14 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 15 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 12-15 Group Mask	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	0x1FFFFFFF	Select the Mask for mailboxes 12-15. In Mixed ID Mode the Standard ID mask is the upper 11 bits of the full 29-bit mask value.
Input > Mailbox 16-19 Group
Input > Mailbox 16-19 Group > Mailbox ID
Mailbox 16 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	16	Select the receive ID for mailbox 16, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 17 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	17	Select the receive ID for mailbox 17, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 18 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	18	Select the receive ID for mailbox 18, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 19 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	19	Select the receive ID for mailbox 19, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Input > Mailbox 16-19 Group > Mailbox ID Mode
Mailbox 16 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 17 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 18 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 19 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Input > Mailbox 16-19 Group > Mailbox Type
Mailbox 16 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 17 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 18 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 19 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Input > Mailbox 16-19 Group > Mailbox Frame Type
Mailbox 16 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 17 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 18 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 19 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 16-19 Group Mask	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	0x1FFFFFFF	Select the Mask for mailboxes 16-19. In Mixed ID Mode the Standard ID mask is the upper 11 bits of the full 29-bit mask value.
Input > Mailbox 20-23 Group
Input > Mailbox 20-23 Group > Mailbox ID
Mailbox 20 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	20	Select the receive ID for mailbox 20, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 21 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	21	Select the receive ID for mailbox 21, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 22 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	22	Select the receive ID for mailbox 22, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 23 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	23	Select the receive ID for mailbox 23, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Input > Mailbox 20-23 Group > Mailbox ID Mode
Mailbox 20 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 21 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 22 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 23 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Input > Mailbox 20-23 Group > Mailbox Type
Mailbox 20 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 21 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 22 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 23 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Input > Mailbox 20-23 Group > Mailbox Frame Type
Mailbox 20 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 21 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 22 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 23 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 20-23 Group Mask	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	0x1FFFFFFF	Select the Mask for mailboxes 20-23. In Mixed ID Mode the Standard ID mask is the upper 11 bits of the full 29-bit mask value.
Input > Mailbox 24-27 Group
Input > Mailbox 24-27 Group > Mailbox ID
Mailbox 24 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	24	Select the receive ID for mailbox 24, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 25 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	25	Select the receive ID for mailbox 25, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 26 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	26	Select the receive ID for mailbox 26, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 27 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	27	Select the receive ID for mailbox 27, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Input > Mailbox 24-27 Group > Mailbox ID Mode
Mailbox 24 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 25 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 26 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 27 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Input > Mailbox 24-27 Group > Mailbox Type
Mailbox 24 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 25 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 26 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 27 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Input > Mailbox 24-27 Group > Mailbox Frame Type
Mailbox 24 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 25 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 26 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 27 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 24-27 Group Mask	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	0x1FFFFFFF	Select the Mask for mailboxes 24-27. In Mixed ID Mode the Standard ID mask is the upper 11 bits of the full 29-bit mask value.
Input > Mailbox 28-31 Group
Input > Mailbox 28-31 Group > Mailbox ID
Mailbox 28 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	28	Select the receive ID for mailbox 28, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 29 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	29	Select the receive ID for mailbox 29, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 30 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	30	Select the receive ID for mailbox 30, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Mailbox 31 ID	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	31	Select the receive ID for mailbox 31, between 0 and 0x7ff when using standard IDs, between 0 and 0x1FFFFFFF when using extended IDs. Value is not used when the mailbox is set as transmit type.
Input > Mailbox 28-31 Group > Mailbox ID Mode
Mailbox 28 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 29 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 30 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Mailbox 31 ID Mode	Standard ID Extended ID	Standard ID	Select whether the mailbox is used to receive Standard or Extended ID messages. This setting is only valid when Global ID Mode is set to 'Mixed ID Mode'.
Input > Mailbox 28-31 Group > Mailbox Type
Mailbox 28 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 29 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 30 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Mailbox 31 Type	Receive Mailbox Transmit Mailbox	Receive Mailbox	Select whether the mailbox is used for receive or transmit.
Input > Mailbox 28-31 Group > Mailbox Frame Type
Mailbox 28 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 29 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 30 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 31 Frame Type	Data Mailbox Remote Mailbox	Data Mailbox	Select whether the mailbox is used to capture data frames or remote frames (ignored for transmit mailboxes).
Mailbox 28-31 Group Mask	Value must be decimal or HEX integer of 0x1FFFFFFF or less.	0x1FFFFFFF	Select the Mask for mailboxes 28-31. In Mixed ID Mode the Standard ID mask is the upper 11 bits of the full 29-bit mask value.

Clock Configuration

The CAN peripheral uses the CANMCLK (main-clock oscillator) or PCLKB as its clock source (fCAN, CAN System Clock.) The default CAN configuration will provide a CAN bit rate of 500 Kbit using CANMCLK as the clock source. To set the PCLKB frequency, use the Clocks tab of the RA Configuration editor. To change the clock frequency at run-time, use the CGC Interface. Refer to the CGC module guide for more information on configuring clocks.

Warning

RA2 devices only support CANMCLK (MOSC/XTAL) for the CAN clock source. If MOSC is not used as the main clock source it will not be started automatically. In this case, be sure to start it before opening the CAN driver.

Clock Limitations

The following clock limitations apply when using the CAN peripheral:

• When using the main oscillator (CANMCLK) as the clock source:
  • fPCLKB >= fCANCLK (fCANCLK = XTAL / Baud Rate Prescaler)
  • The user application must start the main-clock oscillator (XTAL) at run-time using the CGC Interface if it has not already started (for example, if it is not used as the MCU clock source.)
• When using PCLKB as the clock source:
  • For RA6 and RA4 MCUs, the source of the peripheral module clocks must be PLL for the CAN HAL module.
• For RA4M1 and RA4W1 MCUs, the clock frequency ratio of PCLKA and PCLKB must be 2:1 when using the CAN HAL module. Operation is not guaranteed for other settings.
• For RA2 MCUs only CANMCLK (XTAL) may be used as a clock source. The clock frequency ratio of ICLK and PCLKB must be 2:1 when using the CAN HAL module. Operation is not guaranteed for other settings.

  Note

  When using CANMCLK (XTAL) as the CAN clock source while running at a reduced main clock speed (under 2x XTAL) be sure to confirm that the XTAL frequency divided by the baud rate prescaler is equal to or less than PCLKB.

Pin Configuration

The CAN peripheral module uses pins on the MCU to communicate to external devices. I/O pins must be selected and configured as required by the external device. A CAN channel would consist of two pins - CRX and CTX for data transmission/reception.

Usage Notes

Bit Rate Calculation

For convenience, the baudrate of the CAN peripheral is automatically set through the RA Configuration editor using a best effort approach. If the auto-generated baud settings cause deviation that is not tolerable by the application, the user can override the auto-generated settings and put in manually calculated values through RA Configuration editor. For more details on how the baudrate is set refer to section 37.4 "Data Transfer Rate Configuration" of the RA6M3 User's Manual (R01UH0886EJ0100).

FIFO Support

When FIFO Support is enabled, mailboxes 24-27 form a 4-stage transmit FIFO and mailboxes 28-31 form a 4-stage receive FIFO. The receive FIFO supports two independent ID/mask settings for acceptance filtering.

Note

Only the base mailbox of each FIFO may be accessed. When writing to the TX FIFO it is recommended to use CAN_MAILBOX_ID_TX_FIFO.

Limitations

Developers should be aware of the following limitations when using CAN:

• The can_frame_t::id_mode field is only used when Global ID Mode is set to Mixed ID. It is ignored in all other modes.

Examples

Basic Example

This is a basic example of minimal use of the CAN in an application.

can_frame_t g_can_tx_frame;
can_frame_t g_can_rx_frame;

volatile bool     g_rx_flag  = false;
volatile bool     g_tx_flag  = false;
volatile bool     g_err_flag = false;
volatile uint32_t g_rx_id;

void can_callback (can_callback_args_t * p_args)
{
    switch (p_args->event)
    {
        case CAN_EVENT_RX_COMPLETE:    /* Receive complete event. */
        {
            g_rx_flag = true;
            g_rx_id   = p_args->frame.id;

            /* Read received frame */
            g_can_rx_frame = p_args->frame;
            break;
        }

        case CAN_EVENT_TX_COMPLETE:    /* Transmit complete event. */
        {
            g_tx_flag = true;
            break;
        }

        case CAN_EVENT_ERR_BUS_OFF:          /* Bus error event. (bus off) */
        case CAN_EVENT_ERR_PASSIVE:          /* Bus error event. (error passive) */
        case CAN_EVENT_ERR_WARNING:          /* Bus error event. (error warning) */
        case CAN_EVENT_BUS_RECOVERY:         /* Bus error event. (bus recovery) */
        case CAN_EVENT_MAILBOX_MESSAGE_LOST: /* Overwrite/overrun error */
        {
            /* Set error flag */
            g_err_flag = true;
            break;
        }

        default:
        {
            break;
        }
    }
}

void basic_example (void)
{
    fsp_err_t err;
    uint32_t  i;
    uint32_t  timeout_ms = CAN_BUSY_DELAY;


    /* Initialize the CAN module */
    err = R_CAN_Open(&g_can0_ctrl, &g_can0_cfg);


    /* Handle any errors. This function should be defined by the user. */
    assert(FSP_SUCCESS == err);

    g_can_tx_frame.id               = CAN_DESTINATION_DEVICE_MAILBOX_NUMBER; /* CAN Destination Device ID */
    g_can_tx_frame.type             = CAN_FRAME_TYPE_DATA;
    g_can_tx_frame.data_length_code = CAN_FRAME_TRANSMIT_DATA_BYTES;

    /* Write some data to the transmit frame */
    for (i = 0; i < sizeof(g_can_tx_frame.data); i++)
    {
        g_can_tx_frame.data[i] = (uint8_t) i;
    }

    /* Send data on the bus */
    g_tx_flag  = false;
    g_err_flag = false;


    err = R_CAN_Write(&g_can0_ctrl, CAN_MAILBOX_NUMBER_31, &g_can_tx_frame);
    assert(FSP_SUCCESS == err);


    /* Since there is nothing else to do, block until Callback triggers*/
    while ((true != g_tx_flag) && timeout_ms)
    {
        R_BSP_SoftwareDelay(1U, BSP_DELAY_UNITS_MILLISECONDS);
        timeout_ms--;
    }

    if (true == g_err_flag)
    {
        __BKPT(0);
    }
}

External Loop-back Test

This example requires the CTX and CRX pins to be connected. If a CAN tranciever is onboard a 120 Ohm resistor should be connected across CANH and CANL instead. The mailbox numbers are arbitrarily chosen.

void can_external_loopback_example (void)
{
    fsp_err_t            err;
    uint32_t             timeout_ms     = CAN_BUSY_DELAY;
    can_operation_mode_t operation_mode = CAN_OPERATION_MODE_NORMAL;
    can_test_mode_t      test_mode      = CAN_TEST_MODE_LOOPBACK_EXTERNAL;
    int      diff = 0;
    uint32_t i    = 0;

    err = R_CAN_Open(&g_can0_ctrl, &g_can0_cfg);

    /* Handle any errors. This function should be defined by the user. */
    assert(FSP_SUCCESS == err);


    err = R_CAN_ModeTransition(&g_can0_ctrl, operation_mode, test_mode);
    assert(FSP_SUCCESS == err);


    /* Clear the data part of receive frame */
    memset(g_can_rx_frame.data, 0, CAN_FRAME_TRANSMIT_DATA_BYTES);

    /* CAN Destination Device ID, in this case it is the same device with another mailbox */
    g_can_tx_frame.id               = CAN_MAILBOX_NUMBER_4;
    g_can_tx_frame.type             = CAN_FRAME_TYPE_DATA;
    g_can_tx_frame.data_length_code = CAN_FRAME_TRANSMIT_DATA_BYTES;

    /* Write some data to the transmit frame */
    for (i = 0; i < sizeof(g_can_tx_frame.data); i++)
    {
        g_can_tx_frame.data[i] = (uint8_t) i;
    }

    /* Send data on the bus */
    g_rx_flag  = false;
    g_err_flag = false;

    err = R_CAN_Write(&g_can0_ctrl, CAN_MAILBOX_NUMBER_31, &g_can_tx_frame);
    assert(FSP_SUCCESS == err);

    /* Since there is nothing else to do, block until Callback triggers*/
    while ((true != g_rx_flag) && timeout_ms)
    {
        R_BSP_SoftwareDelay(1U, BSP_DELAY_UNITS_MILLISECONDS);
        timeout_ms--;
    }

    if (true == g_err_flag)
    {
        __BKPT(0);
    }

    /* Verify received data */
    diff = memcmp(&g_can_rx_frame.data[0], &g_can_tx_frame.data[0], CAN_FRAME_TRANSMIT_DATA_BYTES);
    if (0 != diff)
    {
        __BKPT(0);
    }
}

Data Structures
struct	can_mailbox_t
struct	can_fifo_interrupt_cfg_t
struct	can_rx_fifo_cfg_t
struct	can_extended_cfg_t

Enumerations
enum	can_status_t
enum	can_error_t
enum	can_mailbox_number_t
enum	can_mailbox_send_receive_t
enum	can_global_id_mode_t
enum	can_message_mode_t
enum	can_clock_source_t
enum	can_fifo_interrupt_mode_t

---

Data Structure Documentation

can_mailbox_t

struct can_mailbox_t

CAN Mailbox

Data Fields
uint32_t	mailbox_id	Mailbox ID.
can_id_mode_t	id_mode	Standard or Extended ID. Only used in Mixed ID mode.
can_frame_type_t	frame_type	Frame type for receive mailbox.
can_mailbox_send_receive_t	mailbox_type	Receive or Transmit mailbox type.

can_fifo_interrupt_cfg_t

struct can_fifo_interrupt_cfg_t

CAN FIFO interrupt configuration

Data Fields
can_fifo_interrupt_mode_t	fifo_int_mode	FIFO interrupts mode (RX and TX combined).
IRQn_Type	tx_fifo_irq	TX FIFO IRQ.
IRQn_Type	rx_fifo_irq	RX FIFO IRQ.

can_rx_fifo_cfg_t

struct can_rx_fifo_cfg_t

CAN RX FIFO configuration

Data Fields
uint32_t	rx_fifo_mask1	RX FIFO acceptance filter mask 1.
uint32_t	rx_fifo_mask2	RX FIFO acceptance filter mask 1.
can_mailbox_t	rx_fifo_id1	RX FIFO acceptance filter ID 1.
can_mailbox_t	rx_fifo_id2	RX FIFO acceptance filter ID 2.

can_extended_cfg_t

struct can_extended_cfg_t

CAN extended configuration

Data Fields
can_clock_source_t	clock_source	Source of the CAN clock.
uint32_t *	p_mailbox_mask	Mailbox mask, one for every 4 mailboxes.
can_mailbox_t *	p_mailbox	Pointer to mailboxes.
can_global_id_mode_t	global_id_mode	Standard or Extended ID mode.
uint32_t	mailbox_count	Number of mailboxes.
can_message_mode_t	message_mode	Overwrite message or overrun.
can_fifo_interrupt_cfg_t const *	p_fifo_int_cfg	Pointer to FIFO interrupt configuration.
can_rx_fifo_cfg_t *	p_rx_fifo_cfg	Pointer to RX FIFO configuration.

Enumeration Type Documentation

can_status_t

enum can_status_t

CAN Status

Enumerator
CAN_STATUS_NEW_DATA	New Data status flag.
CAN_STATUS_SENT_DATA	Sent Data status flag.
CAN_STATUS_RECEIVE_FIFO	Receive FIFO status flag.
CAN_STATUS_TRANSMIT_FIFO	Transmit FIFO status flag.
CAN_STATUS_NORMAL_MBOX_MESSAGE_LOST	Normal mailbox message lost status flag.
CAN_STATUS_FIFO_MBOX_MESSAGE_LOST	FIFO mailbox message lost status flag.
CAN_STATUS_TRANSMISSION_ABORT	Transmission abort status flag.
CAN_STATUS_ERROR	Error status flag.
CAN_STATUS_RESET_MODE	Reset mode status flag.
CAN_STATUS_HALT_MODE	Halt mode status flag.
CAN_STATUS_SLEEP_MODE	Sleep mode status flag.
CAN_STATUS_ERROR_PASSIVE	Error-passive status flag.
CAN_STATUS_BUS_OFF	Bus-off status flag.

can_error_t

enum can_error_t

CAN Error Code

Enumerator
CAN_ERROR_STUFF	Stuff Error.
CAN_ERROR_FORM	Form Error.
CAN_ERROR_ACK	ACK Error.
CAN_ERROR_CRC	CRC Error.
CAN_ERROR_BIT_RECESSIVE	Bit Error (recessive) Error.
CAN_ERROR_BIT_DOMINANT	Bit Error (dominant) Error.
CAN_ERROR_ACK_DELIMITER	ACK Delimiter Error.

can_mailbox_number_t

enum can_mailbox_number_t

CAN Mailbox IDs (MB + FIFO)

can_mailbox_send_receive_t

enum can_mailbox_send_receive_t

CAN Mailbox type

Enumerator
CAN_MAILBOX_RECEIVE	Mailbox is for receiving.
CAN_MAILBOX_TRANSMIT	Mailbox is for sending.

can_global_id_mode_t

enum can_global_id_mode_t

Global CAN ID mode settings

Enumerator
CAN_GLOBAL_ID_MODE_STANDARD	Standard IDs of 11 bits used.
CAN_GLOBAL_ID_MODE_EXTENDED	Extended IDs of 29 bits used.
CAN_GLOBAL_ID_MODE_MIXED	Both Standard and Extended IDs used.

can_message_mode_t

enum can_message_mode_t

CAN Message Modes

Enumerator
CAN_MESSAGE_MODE_OVERWRITE	Receive data will be overwritten if not read before the next frame.
CAN_MESSAGE_MODE_OVERRUN	Receive data will be retained until it is read.

can_clock_source_t

enum can_clock_source_t

CAN Source Clock

Enumerator
CAN_CLOCK_SOURCE_PCLKB	PCLKB is the source of the CAN Clock.
CAN_CLOCK_SOURCE_CANMCLK	CANMCLK is the source of the CAN Clock.

can_fifo_interrupt_mode_t

enum can_fifo_interrupt_mode_t

CAN FIFO Interrupt Modes

Function Documentation

R_CAN_Open()

fsp_err_t R_CAN_Open	(	can_ctrl_t *const	p_api_ctrl,
		can_cfg_t const *const	p_cfg
	)

Open and configure the CAN channel for operation.

Example:

    /* Initialize the CAN module */
    err = R_CAN_Open(&g_can0_ctrl, &g_can0_cfg);

Return values

FSP_SUCCESS	Channel opened successfully
FSP_ERR_ALREADY_OPEN	Driver already open.
FSP_ERR_CAN_INIT_FAILED	Channel failed to initialize.
FSP_ERR_ASSERTION	Null pointer presented.

R_CAN_Close()

fsp_err_t R_CAN_Close

(

can_ctrl_t *const

p_api_ctrl

)

Close the CAN channel.

Return values

FSP_SUCCESS	Channel closed successfully.
FSP_ERR_NOT_OPEN	Control block not open.
FSP_ERR_ASSERTION	Null pointer presented.

R_CAN_Write()

fsp_err_t R_CAN_Write	(	can_ctrl_t *const	p_api_ctrl,
		uint32_t	mailbox,
		can_frame_t *const	p_frame
	)

Write data to the CAN channel. Write up to eight bytes to the channel mailbox.

Example:

    err = R_CAN_Write(&g_can0_ctrl, CAN_MAILBOX_NUMBER_31, &g_can_tx_frame);
    assert(FSP_SUCCESS == err);

Return values

FSP_SUCCESS	Operation succeeded.
FSP_ERR_NOT_OPEN	Control block not open.
FSP_ERR_CAN_TRANSMIT_NOT_READY	Transmit in progress, cannot write data at this time.
FSP_ERR_CAN_TRANSMIT_FIFO_FULL	Transmit FIFO is full.
FSP_ERR_CAN_RECEIVE_MAILBOX	Mailbox is setup for receive and cannot send.
FSP_ERR_INVALID_ARGUMENT	Data length or frame type invalid.
FSP_ERR_ASSERTION	Null pointer presented

R_CAN_Read()

fsp_err_t R_CAN_Read	(	can_ctrl_t *const	p_api_ctrl,
		uint32_t	mailbox,
		can_frame_t *const	p_frame
	)

Read data from a mailbox or FIFO.

Note

This function is not supported.

Return values

FSP_ERR_UNSUPPORTED

Function not supported.

R_CAN_ModeTransition()

fsp_err_t R_CAN_ModeTransition	(	can_ctrl_t *const	p_api_ctrl,
		can_operation_mode_t	operation_mode,
		can_test_mode_t	test_mode
	)

CAN Mode Transition is used to change CAN driver state.

Example:

    err = R_CAN_ModeTransition(&g_can0_ctrl, operation_mode, test_mode);
    assert(FSP_SUCCESS == err);

Return values

FSP_SUCCESS	Operation succeeded.
FSP_ERR_NOT_OPEN	Control block not open.
FSP_ERR_ASSERTION	Null pointer presented

R_CAN_InfoGet()

fsp_err_t R_CAN_InfoGet	(	can_ctrl_t *const	p_api_ctrl,
		can_info_t *const	p_info
	)

Get CAN state and status information for the channel.

Return values

FSP_SUCCESS	Operation succeeded.
FSP_ERR_NOT_OPEN	Control block not open.
FSP_ERR_ASSERTION	Null pointer presented

R_CAN_CallbackSet()

fsp_err_t R_CAN_CallbackSet	(	can_ctrl_t *const	p_api_ctrl,
		void(*)(can_callback_args_t *)	p_callback,
		void const *const	p_context,
		can_callback_args_t *const	p_callback_memory
	)

Updates the user callback with the option to provide memory for the callback argument structure. Implements can_api_t::callbackSet.

Return values

FSP_SUCCESS	Callback updated successfully.
FSP_ERR_ASSERTION	A required pointer is NULL.
FSP_ERR_NOT_OPEN	The control block has not been opened.
FSP_ERR_NO_CALLBACK_MEMORY	p_callback is non-secure and p_callback_memory is either secure or NULL.