Detailed Description

In order to create small and fast code, CANpie supplies a set of macros to access the CAN message structure (CpCanMsg_ts). These macros can be used instead of the functions defined in the cp_msg.h header file. However keep in mind that macros can't be used to check for value ranges or parameter consistency. Usage of macros is enabled via the symbol CP_CAN_MSG_MACRO.

Example

//--- setup a CAN message ----------------------------------------
CpCanMsg_ts   myMessage;
CpMsgInit(&myMessage, CP_MSG_FORMAT_CBFF);   // initialise message
CpMsgSetIdentifier(&myMessage, 100);         // identifier is 100 dec.
CpMsgSetDlc(&myMessage, 2);                  // data length code is 2
CpMsgSetData(&myMessage, 0, 0x11);           // byte 0 has the value 0x11
CpMsgSetData(&myMessage, 1, 0x22);           // byte 1 has the value 0x22
//... do something with it ....
 
//--- evaluate a message that was received -----------------------
CpCanMsg_ts   receiveMsg;
//... receive the stuff ....
 
if(CpMsgIsExtended(&receiveMsg))
{
   //--- this is an Extended Frame ---------------------
   DoExtendedMessageService();
   return;
}
 
if(CpMsgIsRemote(&receiveMsg))
{
   //... do something with RTR frames
}

Include dependency graph for cp_msg.h:

Functions
void	CpMsgClear (CpCanMsg_ts *ptsCanMsgV)

void	CpMsgClrOverrun (CpCanMsg_ts *ptsCanMsgV)

void	CpMsgClrRemote (CpCanMsg_ts *ptsCanMsgV)

uint8_t	CpMsgDlcToSize (const uint8_t ubDlcV)

uint8_t	CpMsgGetData (const CpCanMsg_ts *ptsCanMsgV, uint8_t ubPosV)

uint8_t	CpMsgGetDlc (const CpCanMsg_ts *ptsCanMsgV)

uint32_t	CpMsgGetExtId (const CpCanMsg_ts *ptsCanMsgV)

uint32_t	CpMsgGetIdentifier (const CpCanMsg_ts *ptsCanMsgV)

uint16_t	CpMsgGetStdId (const CpCanMsg_ts *ptsCanMsgV)

CpTime_ts *	CpMsgGetTime (CpCanMsg_ts *ptsCanMsgV)

void	CpMsgInit (CpCanMsg_ts *ptsCanMsgV, uint8_t ubFormatV)

bool_t	CpMsgIsBitrateSwitchSet (const CpCanMsg_ts *ptsCanMsgV)

bool_t	CpMsgIsExtended (const CpCanMsg_ts *ptsCanMsgV)

bool_t	CpMsgIsFdFrame (const CpCanMsg_ts *ptsCanMsgV)

bool_t	CpMsgIsOverrun (const CpCanMsg_ts *ptsCanMsgV)

bool_t	CpMsgIsRemote (const CpCanMsg_ts *ptsCanMsgV)

bool_t	CpMsgIsRpc (const CpCanMsg_ts *ptsCanMsgV)

uint8_t	CpMsgRpcGetCanMode (const CpCanMsg_ts *ptsCanMsgV)

int32_t	CpMsgRpcGetDataBitrate (const CpCanMsg_ts *ptsCanMsgV)

int32_t	CpMsgRpcGetNominalBitrate (const CpCanMsg_ts *ptsCanMsgV)

void	CpMsgRpcSetCanMode (CpCanMsg_ts *ptsCanMsgV, uint8_t ubModeV)

void	CpMsgRpcSetBitrate (CpCanMsg_ts *ptsCanMsgV, int32_t slNomBitRateV, int32_t slDatBitRateV)

uint32_t	CpMsgRpcType (const CpCanMsg_ts *ptsCanMsgV)

void	CpMsgSetBitrateSwitch (CpCanMsg_ts *ptsCanMsgV)

void	CpMsgSetData (CpCanMsg_ts *ptsCanMsgV, uint8_t ubPosV, uint8_t ubValueV)

void	CpMsgSetDlc (CpCanMsg_ts *ptsCanMsgV, uint8_t ubDlcV)

void	CpMsgSetExtId (CpCanMsg_ts *ptsCanMsgV, uint32_t ulExtIdV)

void	CpMsgSetIdentifier (CpCanMsg_ts *ptsCanMsgV, uint32_t ulIdentifierV)

void	CpMsgSetOverrun (CpCanMsg_ts *ptsCanMsgV)

void	CpMsgSetRemote (CpCanMsg_ts *ptsCanMsgV)

void	CpMsgSetStdId (CpCanMsg_ts *ptsCanMsgV, uint16_t uwStdIdV)

void	CpMsgSetTime (CpCanMsg_ts ptsCanMsgV, const CpTime_ts ptsTimeV)

uint8_t	CpMsgSizeToDlc (uint8_t ubSizeV)

Function Documentation

◆ CpMsgClear()

void CpMsgClear ( CpCanMsg_ts * ptsCanMsgV )

Clear message structure.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

This function sets the identifier field and the flags field of a CAN message structure to 0. It is recommended to use this function when a message structure is assigned in memory.

Deprecated:: It is advised to use CpMsgInit() for new applications.

◆ CpMsgClrOverrun()

void CpMsgClrOverrun ( CpCanMsg_ts * ptsCanMsgV )

Clear Overrun bit.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

See also: CpMsgSetOverrun()

This function clears the Overrun bit (RTR).

◆ CpMsgClrRemote()

void CpMsgClrRemote ( CpCanMsg_ts * ptsCanMsgV )

Clear RTR bit.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

See also: CpMsgSetRemote()

This function clears the Remote Transmission bit (RTR).

◆ CpMsgDlcToSize()

uint8_t CpMsgDlcToSize ( const uint8_t ubDlcV )

Convert DLC to payload size.

Parameters

ubDlcV Data Length Code

Returns: Number of bytes in CAN payload

See also: CpMsgSizeToDlc()

This function converts the DLC value to the corresponding size of the CAN message payload.

◆ CpMsgGetData()

uint8_t CpMsgGetData	(	const CpCanMsg_ts *	ptsCanMsgV,
		uint8_t	ubPosV
	)

Get Data.

Parameters

ptsCanMsgV	Pointer to a CpCanMsg_ts message
ubPosV	Zero based index of byte position

Returns: Value of data at position ubPosV

This function retrieves the data of a CAN message. The parameter ubPosV must be within the range 0 .. 7 for Classical CAN frames. For ISO CAN FD frames the valid range is 0 .. 63. Please note that the macro implementation does not check the value range of the parameter ubPosV.

◆ CpMsgGetDlc()

uint8_t CpMsgGetDlc ( const CpCanMsg_ts * ptsCanMsgV )

Get Data Length Code.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

Returns: Data Length Code (DLC) of CAN message

This function retrieves the data length code (DLC) of a CAN message. The return value range is between 0 and 8.

◆ CpMsgGetExtId()

uint32_t CpMsgGetExtId ( const CpCanMsg_ts * ptsCanMsgV )

Get 29 Bit Identifier Value.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

Returns: Extended Identifier value

See also: CpMsgGetStdId()

This function retrieves the value for the identifier of an extended frame (CAN 2.0B). The frame format of the CAN message can be tested with the CpMsgIsExtended() function.

Deprecated:: It is advised to use CpMsgGetIdentifier() for new applications.

◆ CpMsgGetIdentifier()

uint32_t CpMsgGetIdentifier ( const CpCanMsg_ts * ptsCanMsgV )

Get Identifier Value.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

Returns: Identifier value

See also: CpMsgSetIdentifier()

This function retrieves the value for the identifier of a CAN frame. The frame format of the CAN message can be tested with the CpMsgIsExtended() function.

◆ CpMsgGetStdId()

uint16_t CpMsgGetStdId ( const CpCanMsg_ts * ptsCanMsgV )

Get 11 Bit Identifier Value.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

Returns: Standard Identifier value

See also: CpMsgGetExtId()

This macro retrieves the value for the identifier of an standard frame (CAN 2.0A). The frame format of the CAN message can be tested with the CpMsgIsExtended() function.

Deprecated:: It is advised to use CpMsgGetIdentifier() for new applications.

◆ CpMsgGetTime()

CpTime_ts* CpMsgGetTime ( CpCanMsg_ts * ptsCanMsgV )

Get time-stamp value.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

Returns: Pointer to time-stamp structure

See also: CpMsgSetTime

This function returns the time-stamp value for a CAN frame.

◆ CpMsgInit()

void CpMsgInit	(	CpCanMsg_ts *	ptsCanMsgV,
		uint8_t	ubFormatV
	)

Initialise message structure.

Parameters

ptsCanMsgV	Pointer to a CpCanMsg_ts message
ubFormatV	Frame format

This function sets the identifier field and the DLC field of a CAN message structure to 0. The parameter ubFormatV defines the frame format. Possible value are:

CP_MSG_FORMAT_CBFF : Classical base frame format
CP_MSG_FORMAT_CEFF : Classical extended frame format
CP_MSG_FORMAT_FBFF : FD base frame format
CP_MSG_FORMAT_FEFF : FD extended frame format

The contents of the data field and all other optional fields (time-stamp, user, message marker) are not altered.

◆ CpMsgIsBitrateSwitchSet()

bool_t CpMsgIsBitrateSwitchSet ( const CpCanMsg_ts * ptsCanMsgV )

Check for bit-rate.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

Returns: true if bit-rate switch is set

See also: CpMsgSetBitrateSwitch()

This function checks the frame type. If the frame is a CAN FD frame and the bit-rate switch (BRS) bit is set, the value true is returned.

◆ CpMsgIsExtended()

bool_t CpMsgIsExtended ( const CpCanMsg_ts * ptsCanMsgV )

Check for Extended CAN frame.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

Returns: true for Extended CAN frame

This function checks the frame type. If the frame is CAN 2.0A (Standard Frame), the value false is returned. If the frame is CAN 2.0B (Extended Frame), the value true is returned.

◆ CpMsgIsFdFrame()

bool_t CpMsgIsFdFrame ( const CpCanMsg_ts * ptsCanMsgV )

Check for CAN FD frame.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

Returns: true for CAN FD frame

This function checks the frame type. If the frame is a CAN FD frame CAN 2.0B (Extended Frame), the value true is returned.

◆ CpMsgIsOverrun()

bool_t CpMsgIsOverrun ( const CpCanMsg_ts * ptsCanMsgV )

Check for message overrun.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

Returns: 1 for data overrun, else 0

This function checks if a data overrun has occurred for the message.

◆ CpMsgIsRemote()

bool_t CpMsgIsRemote ( const CpCanMsg_ts * ptsCanMsgV )

Check for remote frame.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

Returns: 0 for data frame, 1 for remote frame

This function checks if the Remote Transmission bit (RTR) is set. If the RTR bit is set, the function will return 1, otherwise 0.

◆ CpMsgIsRpc()

bool_t CpMsgIsRpc ( const CpCanMsg_ts * ptsCanMsgV )

Check for Remote Procedure Call.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

Returns: 0 for CAN frame, 1 for Remote Procedure Call

This function checks if the Remote Procedure Call bit (RPC) is set. If the RPC bit is set, the function will return 1, otherwise 0.

◆ CpMsgRpcGetCanMode()

uint8_t CpMsgRpcGetCanMode ( const CpCanMsg_ts * ptsCanMsgV )

Get CAN controller mode via RPC.

Parameters

[in] ptsCanMsgV Pointer to a CpCanMsg_ts message

Returns: Mode selection

This function returns the operating mode of the CAN controller which is provided via a Remote Procedure Call. Possible return values are defined in the CpMode_e enumeration.

◆ CpMsgRpcGetDataBitrate()

int32_t CpMsgRpcGetDataBitrate ( const CpCanMsg_ts * ptsCanMsgV )

Get Data Bit Timing selection via RPC.

Parameters

[in] ptsCanMsgV Pointer to a CpCanMsg_ts message

Returns: Data Bitrate

This function returns the Data Bit Timing selection of the CAN controller which is provided via a Remote Procedure Call. Possible return values are defined in the CpBitrate_e enumeration.

◆ CpMsgRpcGetNominalBitrate()

int32_t CpMsgRpcGetNominalBitrate ( const CpCanMsg_ts * ptsCanMsgV )

Get Nominal Bit Timing selection via RPC.

Parameters

[in] ptsCanMsgV Pointer to a CpCanMsg_ts message

Returns: Nominal Bitrate

This function returns the Nominal Bit Timing selection of the CAN controller which is provided via a Remote Procedure Call. Possible return values are defined in the CpBitrate_e enumeration.

◆ CpMsgRpcSetBitrate()

void CpMsgRpcSetBitrate	(	CpCanMsg_ts *	ptsCanMsgV,
		int32_t	slNomBitRateV,
		int32_t	slDatBitRateV
	)

Set bit-rate of CAN controller via RPC.

Parameters

[in]	ptsCanMsgV	Pointer to a CpCanMsg_ts message
[in]	slNomBitRateV	Nominal Bit Timing selection
[in]	slDatBitRateV	Data Bit Timing selection

This function initializes the bit timing registers of a CAN controller to pre-defined values. The values are defined by the enumeration CpBitrate_e.

◆ CpMsgRpcSetCanMode()

void CpMsgRpcSetCanMode	(	CpCanMsg_ts *	ptsCanMsgV,
		uint8_t	ubModeV
	)

Set state of CAN controller via RPC.

Parameters

[in]	ptsCanMsgV	Pointer to a CpCanMsg_ts message
[in]	ubModeV	Mode selection

This function changes the operating mode of the CAN controller FSA. Possible values for the parameter ubModeV are defined in the CpMode_e enumeration.

◆ CpMsgRpcType()

uint32_t CpMsgRpcType ( const CpCanMsg_ts * ptsCanMsgV )

Identify Remote Procedure Call.

Parameters

[in] ptsCanMsgV Pointer to a CpCanMsg_ts message

Returns: Value from CpRpc_e enumeration

This function returns a value defined inside the CpRpc_e enumeration which identifies the RPC type.

◆ CpMsgSetBitrateSwitch()

void CpMsgSetBitrateSwitch ( CpCanMsg_ts * ptsCanMsgV )

Set bit-rate switch.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

See also: CpMsgIsBitrateSwitch()

This function checks the frame type. If the frame is a CAN FD frame the bit-rate switch (BRS) bit is set, otherwise the bit value in the message control field is not altered.

◆ CpMsgSetData()

void CpMsgSetData	(	CpCanMsg_ts *	ptsCanMsgV,
		uint8_t	ubPosV,
		uint8_t	ubValueV
	)

Set Data.

Parameters

ptsCanMsgV	Pointer to a CpCanMsg_ts message
ubPosV	Zero based index of byte position
ubValueV	Value of data byte in CAN message

This function sets the data in a CAN message. The parameter ubPosV must be within the range 0 .. 7 for Classical CAN frames. For ISO CAN FD frames the valid range is 0 .. 63. Please note that the macro implementation does not check the value range of the parameter ubPosV.

◆ CpMsgSetDlc()

void CpMsgSetDlc	(	CpCanMsg_ts *	ptsCanMsgV,
		uint8_t	ubDlcV
	)

Set Data Length Code.

Parameters

ptsCanMsgV	Pointer to a CpCanMsg_ts message
ubDlcV	Data Length Code

This function sets the Data Length Code (DLC) of a CAN message. The parameter ubDlcV must be within the range from 0..8. Please note that the macro implementation does not check the value range of the parameter ubDlcV.

◆ CpMsgSetExtId()

void CpMsgSetExtId	(	CpCanMsg_ts *	ptsCanMsgV,
		uint32_t	ulExtIdV
	)

Set 29 Bit Identifier Value.

Parameters

ptsCanMsgV	Pointer to a CpCanMsg_ts message
ulExtIdV	Identifier value

See also: CpMsgSetStdId()

This function sets the identifier value for an Extended Frame (CAN 2.0B) and marks the frame format as accordingly. The value of ulExtIdV is limited to CP_MASK_EXT_FRAME.

Deprecated:: It is advised to use CpMsgSetIdentifier() for new applications.

◆ CpMsgSetIdentifier()

void CpMsgSetIdentifier	(	CpCanMsg_ts *	ptsCanMsgV,
		uint32_t	ulIdentifierV
	)

Set Identifier Value.

Parameters

ptsCanMsgV	Pointer to a CpCanMsg_ts message
ulIdentifierV	Identifier value

See also: CpMsgGetIdentifier()

This function sets the identifier value for a CAN frame. The parameter ulIdentifierV is truncated to a 11-bit value (AND operation with CP_MASK_STD_FRAME) when the message uses base frame format. The parameter ulIdentifierV is truncated to a 29-bit value (AND operation with CP_MASK_EXT_FRAME) when the message uses extended frame format.

◆ CpMsgSetOverrun()

void CpMsgSetOverrun ( CpCanMsg_ts * ptsCanMsgV )

Set Overrun bit.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

See also: CpMsgClrOverrun()

This function sets the Overrun bit.

◆ CpMsgSetRemote()

void CpMsgSetRemote ( CpCanMsg_ts * ptsCanMsgV )

Set RTR bit.

Parameters

ptsCanMsgV Pointer to a CpCanMsg_ts message

See also: CpMsgClrRemote()

This function sets the Remote Transmission bit (RTR).

◆ CpMsgSetStdId()

void CpMsgSetStdId	(	CpCanMsg_ts *	ptsCanMsgV,
		uint16_t	uwStdIdV
	)

Set 11 Bit Identifier Value.

Parameters

ptsCanMsgV	Pointer to a CpCanMsg_ts message
uwStdIdV	Identifier value

See also: CpMsgSetExtFrame()

This function sets the identifier value for a Standard frame (CAN 2.0A). The value of uwStdIdV is limited to CP_MASK_STD_FRAME.

Deprecated:: It is advised to use CpMsgSetIdentifier() for new applications.

◆ CpMsgSetTime()

void CpMsgSetTime	(	CpCanMsg_ts *	ptsCanMsgV,
		const CpTime_ts *	ptsTimeV
	)

Set time-stamp value.

Parameters

ptsCanMsgV	Pointer to a CpCanMsg_ts message
ptsTimeV	Pointer to time-stamp structure

This function sets the time-stamp value for a CAN frame.

◆ CpMsgSizeToDlc()

uint8_t CpMsgSizeToDlc ( uint8_t ubSizeV )

Convert CAN payload size to DLC.

Parameters

ubSizeV Size of CAN message payload in bytes

Returns: DLC value

See also: CpMsgDlcToSize()

This function converts the size of the CAN message payload into a DLC value.

Detailed Description

Functions

Function Documentation

◆ CpMsgClear()

◆ CpMsgClrOverrun()

◆ CpMsgClrRemote()

◆ CpMsgDlcToSize()

◆ CpMsgGetData()

◆ CpMsgGetDlc()

◆ CpMsgGetExtId()

◆ CpMsgGetIdentifier()

◆ CpMsgGetStdId()

◆ CpMsgGetTime()

◆ CpMsgInit()

◆ CpMsgIsBitrateSwitchSet()

◆ CpMsgIsExtended()

◆ CpMsgIsFdFrame()

◆ CpMsgIsOverrun()

◆ CpMsgIsRemote()

◆ CpMsgIsRpc()

◆ CpMsgRpcGetCanMode()

◆ CpMsgRpcGetDataBitrate()

◆ CpMsgRpcGetNominalBitrate()

◆ CpMsgRpcSetBitrate()

◆ CpMsgRpcSetCanMode()

◆ CpMsgRpcType()

◆ CpMsgSetBitrateSwitch()

◆ CpMsgSetData()

◆ CpMsgSetDlc()

◆ CpMsgSetExtId()

◆ CpMsgSetIdentifier()

◆ CpMsgSetOverrun()

◆ CpMsgSetRemote()

◆ CpMsgSetStdId()

◆ CpMsgSetTime()

◆ CpMsgSizeToDlc()