文章

API Migration for CAN FD application

• CMSG_X and EVMSG_X which are always timestamped.

  • data size增加到64 bytes。
  • No_BRS位，提示在CAN FD数据传输阶段是否需要进行bit rate switch。value=0为需要切换bit rate，value=1为不需要切换。
  • 增加ESI (Error State indicator) flag。

• Several macros are provided to write an application in a frame type aware way especially conversion routines between the data size and the frame´s Data Length Code (DLC).

• CAN I/O functions canTakeX(), canReadX(), canSendX() and canWriteX(). These functions can be used to send CAN FD messages as well as Classical CAN messages.

• A CAN handle for CAN FD I/O has to be opened with the new mode flag NTCAN_MODE_FD for canOpen().

• canSetBaudrateX() is introduced not only for CAN FD but for configuring just the Classical CAN operation mode. Call canGetBaudrateX() to request the current bit rate configuration of a device.

• EV_BAUD_CHANGE events for the nominal and the data bit rate.