Migration from CANpie to CANpie FD

Configuration of bit rate

The function for bit rate setup CpCoreBaudrate() has been renamed to CpCoreBitrate(); the new function has an additional parameter for configuration of the data bit rate. The following code example shows the difference between the two API versions for a bit rate setting of 500 kBit/s.

//-----------------------------------------------------
// CANpie configuration of bit rate
//
CpCoreBaudrate(&tsCanPortG, CP_BAUD_500K);
 
//-----------------------------------------------------
// CANpie FD configuration of bit rate
//
CpCoreBitrate(&tsCanPortG, eCP_BITRATE_500K, 0);

Configuration of message buffer

The functions CpCoreBufferInit() and CpCoreBufferAccMask() have been removed, the function CpCoreBufferConfig() is the replacement.

Configuration for frame transmission

The following example code depicts the difference for initialisation of a transmit message buffer between CANpie and CANpie FD. The new API does not require a CAN frame structure (CpCanMsg_ts) any more.

//-----------------------------------------------------
// CANpie configuration 
//
CpCanMsg_ts    tsCanMsgT;     // CAN frame structure
 
CpCoreBufferRelease(&tsCanPortG, CP_BUFFER_2);
CpMsgClear(&tsCanMsgT);
CpMsgSetStdId(&tsCanMsgT, (uint16_t) 0x123);
CpMsgSetDlc(&tsCanMsgT, 8);
CpCoreBufferInit(&tsCanPortG, &tsCanMsgT, CP_BUFFER_2, CP_BUFFER_DIR_TX);
 
//-----------------------------------------------------
// CANpie FD configuration 
//
CpCoreBufferRelease(&tsCanPortG, eCP_BUFFER_2);
CpCoreBufferConfig(&tsCanPortG, eCP_BUFFER_2, 
                   (uint32_t) 0x123, CP_MASK_STD_FRAME,
                   CP_MSG_FORMAT_CBFF, eCP_BUFFER_DIR_TRM);
CpCoreBufferSetDlc( &tsCanPortG, eCP_BUFFER_2, 8);

Configuration for frame reception

The following example code depicts the difference for initialisation of a receive message buffer between CANpie and CANpie FD. The new API does not require a CAN frame structure (CpCanMsg_ts) any more.

//-----------------------------------------------------
// CANpie configuration 
// accept identifier in the range from 700h .. 77Fh
//
CpCanMsg_ts    tsCanMsgT;     // CAN frame structure
 
CpMsgClear(&tsCanMsgT);
CpMsgSetStdId(&tsCanMsgT, 0x700 );
CpMsgSetDlc(&tsCanMsgT, 1);
CpCoreBufferInit( &tsCanPortG, &tsCanMsgT,
                  CP_BUFFER_4, CP_BUFFER_DIR_RX);
CpCoreBufferAccMask(&tsCanPortG, CP_BUFFER_4, 0x780);
 
//-----------------------------------------------------
// CANpie FD configuration 
// accept identifier in the range from 700h .. 77Fh
//
CpCoreBufferConfig( &tsCanPortG, eCP_BUFFER_4,
                    (uint32_t) 0x700,     // identifier
                    (uint32_t) 0x780,     // mask
                    CP_MSG_FORMAT_CBFF,   // format
                    eCP_BUFFER_DIR_RCV);