To configure a CAN bus interface, a global (optional: const) variable of the type CANBUS_PARA (defined in can_bus.h) must be allocated in the configuration file can_cfg.c, and filled with the corresponding configuration values.
CAN Bus Interface Config
The RX600 CAN Driver will be used as an example to describe the communication parameters required in can_cfg.c.
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#include "can_bus.h"
const CANBUS_PARA CanCfg = { /* --------------- CAN BUS CONFIGURATION -------------- */
CAN_FALSE, [1] /* EXTENDED FLAG */
1000000L, [2] /* BAUDRATE */
0, [3] /* BUS NODE */
0, [4] /* BUS DEVICE */
[5] /* DRIVER FUNCTIONS */
RX600_CAN_Init, /* Init */
RX600_CAN_Open, /* Open */
RX600_CAN_Close, /* Close */
RX600_CAN_IoCtl, /* IoCtl */
RX600_CAN_Read, /* Read */
RX600_CAN_Write, /* Write */
{ /* DRIVER IO FUNCTION CODES */
IO_RX600_CAN_SET_BAUDRATE, [6] /* Set Baud Rate */
IO_RX600_CAN_START, /* Start */
IO_RX600_CAN_STOP, /* Stop */
IO_RX600_CAN_RX_STANDARD, /* Rx Standard */
IO_RX600_CAN_RX_EXTENDED, /* Rx Extended */
IO_RX600_CAN_TX_READY, /* Tx Ready */
IO_RX600_CAN_GET_NODE_STATUS, /* Get Node Status */
}
}; |
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