CAN Bus Software User`s Manual
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1. void can_app_tx void can_t frame frame id 0x55 frame buf_len 1 frame buf 0 0x7F transmit a CAN frame if can_tx amp frame 0 printf success n else printf failure n ssCAN User s Manual Examples Ls Chapter 6 5 2 Receive CAN Frame Example void can_rx_example void can_t frame receive a CAN frame if can_rx amp frame 0 printf success CAN ID is d n frame id else printf failure n ssCAN User s Manual Examples 122. FITNESS FOR A PARTICULAR PURPOSE 6 Limitation of Liability Simma Software s cumulative liability to Client or any other party for any loss or damages resulting from any claims demands or actions arising out of or relating to this License Agreement shall not exceed the license fee paid to Simma Software for the use of the Software In no event shall Simma Software be liable for any indirect incidental consequential special or exemplary damages or lost profits even if Simma Software has been advised of the possibility of such damages SOME STATES DO NOT ALLOW THE LIMITATION OR EXCLUSION OF LIABILITY FOR INCIDENTAL OR CONSEQUENTIAL DAMAGES SO THE ABOVE LIMITATION OR EXCLUSION MAY NOT APPLY TO CLIENT 7 Governing Law This License Agreement shall be construed and governed in accordance with the laws of the State of Indiana 8 Severability Should any court of competent jurisdiction declare any term of this License Agreement void or unenforceable such declaration shall have no effect on the remaining terms hereof 9 No Waiver The failure of either party to enforce any rights granted hereunder or to take action against the other party in the event of any breach hereunder shall not be deemed a waiver by that party as to subsequent enforcement of rights or subsequent actions in the event of future breaches ssCAN User s Manual TABLE OF CONTENTS 10 INTRODUCTION 2 0 INTEGRATION 3 0 SSCAN API 4 0 CONFIGURATION 5 0 EXAMPLES ssC
3. frame was successfully read from the receive buffer ssCAN User s Manual Chapter 3 CAN Hardware Abstraction Layer can_tx Function Prototype uint8_t can_tx can_t frame Description If memory is available inside of the transmit buffer can_tx copies the memory pointed to by frame to the transmit buffer If transmission of CAN frames is not currently in progress then it will be initiated If the most significant bit of frame gt id i e bit 31 is set it indicates an extended CAN frame else it indicates a standard CAN frame Parameters frame Points to the CAN frame that should be copied to the transmit buffer Return Value 1 No CAN frame was written to the transmit buffer 0 The CAN frame was successfully written to the transmit buffer ssCAN User s Manual Chapter 5 Configuration Chapter 4 Configuration This chapter describes all configurable items of the ssCAN module All of these configurations are defined at the top of can c or can h Receive Buffer Count This configuration defines how many incoming CAN data frames can be held in the receive FIFO define CAN_RX_BUF_SIZE 10 Transmit Buffer Size This configuration defines how many incoming CAN data frames can be held in the transmit FIFO define CAN_TX_BUF_SIZE 6 ssCAN User s Manual 10 Chapter 6 Chapter 5 Examples This chapter gives examples of how to receive and receive CAN data frames 5 1 Transmit CAN Frame Example
4. in Client s possession and all other materials pertaining to the Software including all copies thereof Client agrees to certify compliance with such restriction upon Simma Software s request 5 Limited Warranty Simma Software warrants for Client s benefit alone for a period of one year called the Warranty Period from the date of delivery of the software that during this period the Software shall operate substantially in accordance with the functionality described in the User s Manual If during the Warranty Period a defect in the Software appears Simma Software will make all reasonable efforts to cure the defect at no cost to the Client Client agrees that the foregoing constitutes Client s sole and exclusive remedy for breach by Simma Software of any warranties made under this Agreement Simma Software is not responsible for obsolescence of the Software that may result from changes in Client s requirements The foregoing warranty shall apply only to the most current version of the Software issued from time to time by Simma Software Simma Software assumes no responsibility for the use of superseded outdated or uncorrected versions of the licensed software EXCEPT FOR THE WARRANTIES SET FORTH ABOVE THE SOFTWARE AND THE SOFTWARE CONTAINED THEREIN ARE LICENSED AS IS AND SIMMA SOFTWARE DISCLAIMS ANY AND ALL OTHER WARRANTIES WHETHER EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR
5. indicates an extended CAN frame else it indicates a standard CAN frame Definition typedef struct uint32_t id uint8_t buf 8 uint8_t buf_len can_t ssCAN User s Manual 6 Chapter 3 CAN Hardware Abstraction Layer 3 2 Function APIs can_init Function Prototype void can_init void Description can_init initializes the CAN peripheral for reception and transmission of CAN frames at a network speed configured in can h Any external hardware that needs to be initialized for example enabling a CAN transceiver can be done inside of can_init High level CAN protocols such as SAE J1939 and ISO 15765 recommend a sample point as close to 0 875 as possible but never exceeding it See J1939 11 and ISO 15765 for additional bit timing and sample point information Parameters void Return Value void ssCAN User s Manual Chapter 3 CAN Hardware Abstraction Layer can_rx Function Prototype uint8_t can_rx can_t frame Description can_rx checks to see if there is a CAN data frame available in the receive buffer If one is available it is copied into the can_t structure which is pointed to by frame If the most significant bit of frame gt id i e bit 31 is set it indicates an extended CAN frame else it indicates a standard CAN frame Parameters frame Points to memory where the received CAN frame should be stored Return Value 1 No CAN frame was read from the receive buffer 0 A CAN
6. AN User s Manual Chapter 1 Introduction Chapter 1 Introduction ssCAN is an extreme performance CAN bus device driver with low interrupt latency and low CPU overhead written in ANSI C ssCAN adheres to both the ISO 11898 specification and to the software development best practices described in the MISRA C guidelines ssCAN is a modularized design with an emphasis on software readability and performance ssCAN is easy to understand and target specific allowing high level CAN protocols to be completely platform independent ssCAN has been shown to be up to 800 faster and 80 smaller than other commercially available CAN device drivers ssCAN implements the data link layer in accordance to ISO 11898 1 2 3 and 5 Filenames File Description can c Core source file for ssCAN Do not modify can h Core header file for ssCAN Do not modify Table 1 1 ssCAN files ssCAN User s Manual Chapter 2 Integration of ssCAN Chapter 2 Integration of ssCAN This chapter describes how to integrate ssCAN into your application After this is complete you will be able to receive and transmit CAN data frames over a CAN bus For implementation details please see the chapters covering the CAN API Integration Steps 1 Depending on your target CAN related interrupts may need to be added to your microcontrollers vector table Configure your CAN baud rate settings by selecting one of the baud rate configurations
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8. in can h Depending on your target enable corresponding CAN_H and CAN_L GPIO pins for CAN operation Enable clock to CAN peripheral Before using any of the modules features make sure the CAN driver has been initialized by calling can_init Typically it is called shortly after power on reset and before the application is started ssCAN User s Manual Chapter 3 CAN Hardware Abstraction Layer Chapter 3 CAN Hardware Abstraction Layer The hardware abstraction layer HAL is a software module that provides functions for receiving and transmitting controller area network CAN data frames Because CAN peripherals typically differ from one microcontroller to another this module is responsible for encompassing all platform depended aspects of CAN communications The HAL contains three functions that are responsible for initializing the CAN hardware and handling buffered reception and transmission of CAN frames Function Prototype Function Description void can_init void Initializes CAN hardware uint8_t can_rx can_t frame Receives CAN frame buffered I O uint8_t can_tx can_t frame Transmits CAN frame buffered I O Table 3 1 HAL functions 3 1 Data Type Definitions Data type can_t Description can_t is a data type used to store CAN frames It contains the CAN frame identifier the CAN frame data and the size of data NOTE If the most significant bit of id i e bit 31 is set it
9. ssCAN User s Manual rsion 1 0 evise d ae 29 2012 a eated by the CAN Experts So Simma Software ssCAN Device Driver License READ THE TERMS AND CONDITIONS OF THIS LICENSE AGREEMENT CAREFULLY BEFORE OPENING THE PACKAGE CONTAINING THE PROGRAM DISTRIBUTION MEDIA DISKETTES CD ELECTRONIC MAIL THE COMPUTER SOFTWARE THEREIN AND THE ACCOMPANYING USER DOCUMENTATION THIS SOURCE CODE IS COPYRIGHTED AND LICENSED NOT SOLD BY OPENING THE PACKAGE CONTAINING THE SOURCE CODE YOU ARE ACCEPTING AND AGREEING TO THE TERMS OF THIS LICENSE AGREEMENT IF YOU ARE NOT WILLING TO BE BOUND BY THE TERMS OF THIS LICENSE AGREEMENT YOU SHOULD PROMPTLY RETURN THE PACKAGE IN UNOPENED FORM AND YOU WILL RECEIVE A REFUND OF YOUR MONEY THIS LICENSE AGREEMENT REPRESENTS THE ENTIRE AGREEMENT CONCERNING THE CAN DEVICE DRIVER BETWEEN YOU AND SIMMA SOFTWARE INC REFERRED TO AS LICENSOR AND IT SUPERSEDES ANY PRIOR PROPOSAL REPRESENTATION OR UNDERSTANDING BETWEEN THE PARTIES 1 Corporate License Grant Simma Software hereby grants to the purchaser herein referred to as the Client a royalty free non exclusive license to use the CAN device driver source code collectively referred to as the Software as part of Client s product Except as provided above Client agrees to not assign sublicense transfer pledge lease rent or share the Software Code under this License Agreement 2 Simma Software s Rights Client acknowledges and agrees th
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