Detailed Description

To create compact and fast code, CANpie supplies a set of macros to access the CAN frame 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 cannot be used to check value ranges or parameter consistency. Use of macros is enabled via the symbol CP_CAN_MSG_MACRO.

Example

//----------------------------------------------------------------
// set up a CAN frame
CpCanMsg_ts   myMessage;
CpMsgInit(&myMessage, CP_MSG_FORMAT_CBFF);   // initialise as a classic standard CAN frame
CpMsgSetIdentifier(&myMessage, 100);         // identifier is 100 (decimal)
CpMsgSetDlc(&myMessage, 2);                  // Data Length Code (DLC) 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 whether a CAN frame 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 "canpie.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)

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 )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

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

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

◆ CpMsgClrOverrun()

void CpMsgClrOverrun ( CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

See also: CpMsgSetOverrun()

This function clears the Overrun bit.

◆ CpMsgClrRemote()

void CpMsgClrRemote ( CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

See also: CpMsgSetRemote()

This function clears the Remote Transmission bit (RTR).

◆ CpMsgDlcToSize()

uint8_t CpMsgDlcToSize ( const uint8_t ubDlcV )

Parameters

[in] 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 frame payload.

◆ CpMsgGetData()

uint8_t CpMsgGetData	(	const CpCanMsg_ts *	ptsCanMsgV,
		uint8_t	ubPosV )

Parameters

[in]	ptsCanMsgV	Pointer to CAN frame structure
[in]	ubPosV	Zero-based index of byte position

Returns: Value of data at position ubPosV

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

◆ CpMsgGetDlc()

uint8_t CpMsgGetDlc ( const CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

Returns: Data Length Code (DLC) of CAN frame

This function retrieves the Data Length Code (DLC) of a CAN frame. The return value range is 0 .. 8 for Classic CAN frames and 0 .. 15 for ISO CAN FD frames.

◆ CpMsgGetExtId()

uint32_t CpMsgGetExtId ( const CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

Returns: Extended Identifier value

See also: CpMsgGetStdId()

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

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

◆ CpMsgGetIdentifier()

uint32_t CpMsgGetIdentifier ( const CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

Returns: Identifier value

See also: CpMsgSetIdentifier()

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

◆ CpMsgGetStdId()

uint16_t CpMsgGetStdId ( const CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

Returns: Standard Identifier value

See also: CpMsgGetExtId()

This macro retrieves the identifier value of a standard frame (CAN 2.0A). The frame format can be tested using the CpMsgIsExtended() function.

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

◆ CpMsgGetTime()

CpTime_ts * CpMsgGetTime ( CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

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 )

Parameters

[in]	ptsCanMsgV	Pointer to CAN frame structure
[in]	ubFormatV	Frame format

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

CP_MSG_FORMAT_CBFF : Classic base frame format
CP_MSG_FORMAT_CEFF : Classic 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, frame marker) are not altered.

◆ CpMsgIsBitrateSwitchSet()

bool_t CpMsgIsBitrateSwitchSet ( const CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

Returns: true if bit-rate switch is set

See also: CpMsgSetBitrateSwitch()

Returns true if the frame is a CAN FD frame and the bit-rate switch (BRS) bit is set.

◆ CpMsgIsExtended()

bool_t CpMsgIsExtended ( const CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

Returns: true for Extended CAN frame

Returns true for an extended frame format; otherwise false (base frame format).

◆ CpMsgIsFdFrame()

bool_t CpMsgIsFdFrame ( const CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

Returns: true for CAN FD frame

Returns true if the frame type is CAN FD.

◆ CpMsgIsOverrun()

bool_t CpMsgIsOverrun ( const CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

Returns: 1 for data overrun, otherwise 0

This function checks whether a data overrun has occurred for the CAN frame.

◆ CpMsgIsRemote()

bool_t CpMsgIsRemote ( const CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

Returns: false for data frame, true for remote frame

This function checks whether the Remote Transmission (RTR) bit is set. If the RTR bit is set, the function returns true; otherwise false.

◆ CpMsgIsRpc()

bool_t CpMsgIsRpc ( const CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

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

This function checks whether the Remote Procedure Call bit (RPC) is set. If the RPC bit is set, the function returns 1; otherwise 0.

◆ CpMsgRpcGetCanMode()

uint8_t CpMsgRpcGetCanMode ( const CpCanMsg_ts * ptsCanMsgV )

Get CAN controller mode via RPC.

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

Returns: Mode selection

This function returns the operating mode of the CAN controller, 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 CAN frame structure

Returns: Data bit rate

This function returns the data bit-timing selection of the CAN controller, provided via a Remote Procedure Call. Possible return values are defined in the CpBitrate_e enumeration.

◆ CpMsgSetBitrateSwitch()

void CpMsgSetBitrateSwitch ( CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

See also: CpMsgIsBitrateSwitch()

Sets the bit-rate switch (BRS) bit if the CAN frame is a CAN FD frame; otherwise the frame control field is not altered.

◆ CpMsgSetData()

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

Parameters

[in]	ptsCanMsgV	Pointer to CAN frame structure
[in]	ubPosV	Zero-based index of byte position
[in]	ubValueV	Value of data byte in CAN frame

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

◆ CpMsgSetDlc()

void CpMsgSetDlc	(	CpCanMsg_ts *	ptsCanMsgV,
		uint8_t	ubDlcV )

Parameters

[in]	ptsCanMsgV	Pointer to CAN frame structure
[in]	ubDlcV	Data Length Code

This function sets the Data Length Code (DLC) of a CAN frame. The parameter ubDlcV must be within the range 0 .. 8 for Classic CAN frames and the range 0 .. 15 for ISO CAN FD frames.

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 )

Parameters

[in]	ptsCanMsgV	Pointer to CAN frame structure
[in]	ulExtIdV	Identifier value

See also: CpMsgSetStdId()

This function sets the identifier value for an extended frame (CAN 2.0B).

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

◆ CpMsgSetIdentifier()

void CpMsgSetIdentifier	(	CpCanMsg_ts *	ptsCanMsgV,
		uint32_t	ulIdentifierV )

Parameters

[in]	ptsCanMsgV	Pointer to CAN frame structure
[in]	ulIdentifierV	Identifier value

See also: CpMsgGetIdentifier()

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

◆ CpMsgSetOverrun()

void CpMsgSetOverrun ( CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

See also: CpMsgClrOverrun()

This function sets the Overrun bit.

◆ CpMsgSetRemote()

void CpMsgSetRemote ( CpCanMsg_ts * ptsCanMsgV )

Parameters

[in] ptsCanMsgV Pointer to CAN frame structure

See also: CpMsgClrRemote()

This function sets the Remote Transmission bit (RTR).

◆ CpMsgSetStdId()

void CpMsgSetStdId	(	CpCanMsg_ts *	ptsCanMsgV,
		uint16_t	uwStdIdV )

Parameters

[in]	ptsCanMsgV	Pointer to CAN frame structure
[in]	uwStdIdV	Identifier value

See also: CpMsgSetExtFrame()

This function sets the identifier value for a standard frame (CAN 2.0A).

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

◆ CpMsgSetTime()

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

Parameters

[in]	ptsCanMsgV	Pointer to CAN frame structure
[in]	ptsTimeV	Pointer to time-stamp structure

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

◆ CpMsgSizeToDlc()

uint8_t CpMsgSizeToDlc ( uint8_t ubSizeV )

Parameters

[in] ubSizeV Size of CAN message payload in bytes

Returns: DLC value

See also: CpMsgDlcToSize()

This function converts the size of the CAN frame 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()

◆ CpMsgSetBitrateSwitch()

◆ CpMsgSetData()

◆ CpMsgSetDlc()

◆ CpMsgSetExtId()

◆ CpMsgSetIdentifier()

◆ CpMsgSetOverrun()

◆ CpMsgSetRemote()

◆ CpMsgSetStdId()

◆ CpMsgSetTime()

◆ CpMsgSizeToDlc()