PEAK-System Forum

I can see that in the PCAN-Router example in one of the forums has a function call to CAN_ReferenceRxQueue. I am new to the Router FD handling, but cannot seem to find anything similar. Is there? Or is there an inherent queue in the call of CAN_Read? If not, is there an example that implements a buffer?

Hello,

The PCAN-Router examples have Tx and Rx buffer implementations present, that will buffer messages coming in (serving messages from the buffer when CAN_Read() is called) and moving messages to the Tx buffer for transmission using CAN_Write().

In case you dont have the examples at hand, please download the PCAN-Router-package from our website:

https://www.peak-system.com/fileadmin/m ... router.zip

In the folder "Examples" open the very first example called "1_Routing":

in can_user.c you can see that the queues here are defined as arrays upon Initialisation:

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#include "datatypes.h"
#include "lpc21xx.h"
#include "can.h"
#include "can_user.h"


// Queues for CAN1
CANMsg_t  TxQueueCAN1[CAN1_TX_QUEUE_SIZE];
CANMsg_t  RxQueueCAN1[CAN1_RX_QUEUE_SIZE];


// Queues for CAN2
CANMsg_t  TxQueueCAN2[CAN2_TX_QUEUE_SIZE];
CANMsg_t  RxQueueCAN2[CAN2_RX_QUEUE_SIZE];

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void  CAN_UserInit ( void)
{

	// init CAN1

	CAN_ReferenceTxQueue ( CAN_BUS1, &TxQueueCAN1[0], CAN1_TX_QUEUE_SIZE);				// Reference above Arrays as Queues
	CAN_ReferenceRxQueue ( CAN_BUS1, &RxQueueCAN1[0], CAN1_RX_QUEUE_SIZE);

	CAN_SetTimestampHandler ( CAN_BUS1, NULL);

In can.h you can find the definitions for CAN_ReferenceTxQueue and CAN_ReferenceRxQueue:

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//! @brief
//! Reference a CANMsg_t array as TxQueue to a CAN bus. The user can vary queue
//! size depending on the application.
//!
//! @param		hBus				handle for CAN_BUSx
//! @param		pQueueStart		start of the queue
//! @param		QueueSize		size of the queue as message count
//!
//! @return		CAN_ERR_OK		OK, queue is referenced
CANStatus_t  CAN_ReferenceTxQueue (	CANHandle_t hBus, CANMsg_t  *pQueueStart, u16_t  QueueSize);



//! @brief
//! Reference a CANMsg_t array or a CANRxMsg_t array as RxQueue to a CAN bus.
//! The user can vary queue size depending on the application.
//!
//! @param		hBus				handle for CAN_BUSx
//! @param		pQueueStart		start of the queue
//! @param		QueueSize		size of the queue as message count
//!
//! @return		CAN_ERR_OK		OK, queue is referenced
CANStatus_t  CAN_ReferenceRxQueue (	CANHandle_t  hBus, void  *pQueueStart, u16_t  QueueSize);

in can_user.h you can see the user defined size of these queues:

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// defines
#define  CAN1_TX_QUEUE_SIZE	8
#define  CAN1_RX_QUEUE_SIZE	16

#define  CAN2_TX_QUEUE_SIZE	8
#define  CAN2_RX_QUEUE_SIZE	16

The examples given in the PCAN-Router package also show how to utilize these buffer-queues.

Best Regards

Marvin

Hello, the example you pointed me to is for the PCAN-Router, not the Router FD. Do you have similar functionality in the Router FD?

Pardon me.

You're right.

The PCAN-Router FD handles it's buffers in a different way.

Using the PCAN-Router the queues where defined in software as arrays whereas the PCAN Router-FD uses hardware buffers.

The difference here is that you cannot change the size of the buffers, which is 4Kilobyte for each direction.

Again, use the example "01_ROUTING" for reference (This time from the PCAN Router FD package)

https://www.peak-system.com/fileadmin/m ... ter_fd.zip

You will find can.h in the "inc" folder, it contains definitons for the buffers:

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////////////////////////////////////////////////////////////
//! @name buffertypes
//! Types of the different buffers.
//! @{
#define	CAN_BUFFER_INVALID		0x0000	//!< invalid BUFFER, do not use
#define	CAN_BUFFER_RX_MSG			0x0001	//!< receive message BUFFER
#define	CAN_BUFFER_STATUS			0x0003	//!< status notification BUFFER

#define	CAN_BUFFER_CRITICAL		0x0102	//!< receive cache level is critical
#define	CAN_BUFFER_TX_MSG			0x1000	//!< transmit message BUFFER
/*! @}*/	


/////////////////////////////////////////////////////////////

the file "can_user.c" shows how use the buffers as a parameter to implement the function "CAN_UserRead":

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// CAN_UserRead
// This wrapper is used to pre-process some incoming data.
CANResult_t  CAN_UserRead ( CANHandle_t  hBus, void  *buff)
{
	CANResult_t  ret;
	CANBuffer_t  *rx_buff;
	
	
	ret = CAN_ERR_RX_EMPTY;
	rx_buff = buff;
	
	...

As you can see in main.c a Txbuffer is used.

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// main_greeting()
// transmit a message at module start
static void  main_greeting ( void)
{
	CANTxMsg_t  Msg;
	
	
	Msg.bufftype = CAN_BUFFER_TX_MSG;
	Msg.dlc      = CAN_LEN8_DLC;
	Msg.msgtype  = CAN_MSGTYPE_STANDARD;
	Msg.id       = 0x123;
	
	Msg.data32[0] = 0x67452301;
	Msg.data32[1] = 0xEFCDAB89;
	
	// Send Msg
	CAN_Write ( CAN_BUS1, &Msg);
}

And a defined Rxbuffer is used to call CAN-UserRead:

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	// main loop
	while ( 1)
	{
		CANRxMsg_t  RxMsg;
		
		
		// process messages from CAN1
		if ( CAN_UserRead ( CAN_BUS1, &RxMsg) == CAN_ERR_OK)
		{
			// message received from CAN1
			LED_toggleCAN1 ^= 1;

			if ( LED_toggleCAN1)
			{
				HW_SetLED ( HW_LED_CAN1, HW_LED_ORANGE);
			}
			
			else
			{
				HW_SetLED ( HW_LED_CAN1, HW_LED_GREEN);
			}
			
			// forward message to CAN2
			CAN_Write ( CAN_BUS2, &RxMsg);
		}

You can also take a look at the other examples contained in the PCAN-Router FD package, to see different usecases using those buffers.

Best Regards

Marvin

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