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 <span id="projectnumber">1.1</span>
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<div id="projectbrief">ECE445M starter code</div>
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<li class="navelem"><a class="el" href="dir_d9737668015ddda3d9b152d7c8d1103c.html">RTOS_Labs_common</a></li> </ul>
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<div class="title">CAN.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// CAN.h</span></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// Runs on MSPM0G3507</span></div>
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<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// Use FDCAN0 to communicate on CAN bus PA12 and PA13</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// </span></div>
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<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// Jonathan Valvano</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// December 11, 2025</span></div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// derived from can_to_uart_bridge_LP_MSPM0G3507_nortos_ticlang</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">/* </span></div>
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<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> Copyright 2025 by Jonathan W. Valvano, valvano@mail.utexas.edu</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> You may use, edit, run or distribute this file</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> as long as the above copyright notice remains</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF</span></div>
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<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.</span></div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> VALVANO SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,</span></div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.</span></div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> For more information about my classes, my research, and my books, see</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> http://users.ece.utexas.edu/~valvano/</span></div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> */</span></div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">// Use TCAN1057AVDRQ1 (not TCAN1057A-Q1, the version with pin 5 nc)</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">// Pin1 TXD ---- CAN_Tx PA12 FD-CAN module 0 transmit</span></div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">// Pin2 Vss ---- ground</span></div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">// Pin3 VCC ---- +5V with 0.1uF cap to ground</span></div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">// Pin4 RXD ---- CAN_Rx PA13 FD-CAN module 0 receive (0 to 3.3V)</span></div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">// Pin5 VIO ---- +3.3V (digital interface supply)</span></div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">// Pin6 CANL ---- to other CANL on network </span></div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">// Pin7 CANH ---- to other CANH on network </span></div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">// Pin8 RS ---- ground, Slope-Control Input (maximum slew rate)</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">// 120 ohm across CANH, CANL on both ends of network</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor">#ifndef __CAN_H__</span></div>
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<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor">#define __CAN_H__</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#include <stdint.h></span></div>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="keywordtype">void</span> CAN_Init(<span class="keywordtype">void</span>);</div>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
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<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="keywordtype">void</span> CAN_EnableInterrupts(uint32_t priority);</div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
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<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment">// 0 if failure</span></div>
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<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="comment">// 1 if ok</span></div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="keywordtype">int</span> CAN_Send(uint32_t <span class="keywordtype">id</span>, uint32_t dlc, uint8_t *data);</div>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
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<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment">// Returns 1 if receive data is available</span></div>
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<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment">// 0 if no receive data ready</span></div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="keywordtype">int</span> CAN_CheckMail(<span class="keywordtype">void</span>);</div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment">// if receive data is ready, gets the data and returns true</span></div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment">// if no receive data is ready, returns false</span></div>
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<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="keywordtype">int</span> CAN_GetMailNonBlock(uint32_t *<span class="keywordtype">id</span>, uint32_t *dlc, uint8_t *data);</div>
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<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment">// if receive data is ready, gets the data </span></div>
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment">// if no receive data is ready, it waits until it is ready</span></div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="keywordtype">void</span> CAN_GetMail(uint32_t *<span class="keywordtype">id</span>, uint32_t *dlc, uint8_t *data);</div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="preprocessor">#endif </span><span class="comment">// __CAN_H__</span></div>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
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