regarding CAN Tx and Rx in KEA128

[jashanm]

hi all,

        i am configuring the CAN module in 500 Kbps with Bus clock of 20 MHz, i need to transmit and receive can messages but i couldnt get any supportive document other than the data sheet. I need some clear document or example code to send and receive CAN messages in KEA128.

Regards,

Jashan M

[Hui_Ma]

Hi Jashan,

Please download MSCAN driver for Kinetis EA devices from here.

And KEA128 produce MSCAN module detailed info could be found at KEA128 reference manual chapter 32.

Wish it helps.

Have a great day,
Ma Hui

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[jashanm]

Hi Ma Hui,

              i went through the reference manual, i have few clarifications to make with transmitting the CAN message.

1. first i make INITRQ = INITAK = 0

2. then read CANTFLG

3. later write CANTFLG to CANTBSEL

and now i also have send function which is as given below,

void MSCAN0_send(){

       MSCAN_CANTBSEL = MSCAN_CANTFLG;

       MSCAN_TSIDR0 = 0x12;                  /* ID of the CAN message is 0x123 */

       MSCAN_TSIDR1 = 0x60;

       MSCAN_CANCTL0 &= ~MSCAN_CANCTL0_INITRQ_MASK;        /* Disable INIT mode ************/

      MSCAN_CANCTL1 &= ~MSCAN_CANCTL1_INITAK_MASK;          /* Disable INIT mode ************/

      if(MSCAN_CANTFLG & 0x01){

             for(i=0;i<5;i++){

                  MSCAN_TEDSR(i) = transmit[i];

             }

     }

}

now i can the data to be Tx in respective reg so how do i push this buffer into CAN bus, am i missing some thing here ??

Regards,

Jashan M

[Hui_Ma]

Hi Jashan,

1. It based on which CAN ID mode you are using, standard ID or extend ID.

If using Standard ID, it need to use MSCAN_TSIDR0 and MSCAN_TSIDR1 registers;

If using Extend ID, it need to use MSCAN_TEIDR[0~3] registers.

2. The  MSCAN_TEDSRn register is using to storage the 8 bytes of transmit Data.

Wish it helps.

Have a great day,
Ma Hui

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[jashanm]

hi,

   ya that helped me, now if i want to shift data from buffer to the CAN bus, what should i do ??

Regards,

Jashan M

[Hui_Ma]

Hi,

In my previous answer, there with [MSCAN driver for Kinetis EA devices] software, which provides the example about how to use MSCAN send CAN frame.

The example using Transmit_DataFrame() function in <Test_case.c> file.

Wish it helps.

Have a great day,
Ma Hui

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Note: If this post answers your question, please click the Correct Answer button. Thank you!
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