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Functional Overview
CAN Bus
These functions allow easy access to the Controller Area Network (CAN) features included with
the MCP2515 CAN interface chip and the PIC18 MCU. These functions will only work with the
MCP2515 CAN interface chip and PIC microcontroller units containing either a CAN or an
ECAN module. Some functions are only available for the ECAN module and are specified by the
work ECAN at the end of the description. The listed interrupts are no available to the MCP2515
interface chip.
Relevant Functions:
Initializes the CAN module and clears all the filters
can_init(void);
can_set_baud(void);
can_set_mode
(CAN_OP_MODE mode);
can_set_functional_mode
(CAN_FUN_OP_MODE mode);
can_set_id(int* addr, int32 id, int1 ext);
can_get_id(int * addr, int1 ext);
can_putd
(int32 id, int * data, int len,
int priority, int1 ext, int1 rtr);
can_getd
(int32 & id, int * data, int & len,
struct rx_stat & stat);
can_enable_rtr(PROG_BUFFER b);
can_disable_rtr(PROG_BUFFER b);
can_load_rtr
(PROG_BUFFER b, int * data, int len);
and masks so that all messages can be received
from any ID.
Initializes the baud rate of the CAN bus to125kHz, if
using a 20 MHz clock and the default CAN-BRG
defines, it is called inside the can_init() function so
there is no need to call it.
Allows the mode of the CAN module to be changed
to configuration mode, listen mode, loop back mode,
disabled mode, or normal mode.
Allows the functional mode of ECAN modules to be
changed to legacy mode, enhanced legacy mode,
or first in firstout (fifo) mode. ECAN
Can be used to set the filter and mask ID's to the
value specified by addr. It is also used to set the ID
of the message to be sent.
Returns the ID of a received message.
Constructs a CAN packet using the given
arguments and places it in one of the available
transmit buffers.
Retrieves a received message from one of the CAN
buffers and stores the relevant data in the
referenced function parameters.
Enables the automatic response feature which
automatically sends a user created packet when a
specified ID is received. ECAN
Disables the automatic response feature. ECAN
Creates and loads the packet that will automatically
transmitted when the triggering ID is received.
33
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