Constant Definitions (CAN)

This section describes CAN-specific constant definitions used by this product.

Main APIs​

• CAN operation mode / baudrate / sample point: MPXCANSetParam
• CAN frame type / slot enable-disable / transmission trigger type: MPXCANSetSlot
• CAN slot change request info: MPXCANChangeSlot
• CAN ID format / CAN remote transmission request: MPXCANSetSlot, MPXCANDirectSend
• CAN error flag / CAN error information: MPXCANGetLogEx

Definition List​

Item	Constant Name
CAN Error Flag	MPX_CAN_ERRFLG_*
CAN Error Information	MPX_CAN_ERR_*
CAN Termination Resistor	MPX_CAN_TERMINATE_*
CAN Operation Mode	MPX_CAN_MODE_*
CAN Arbitration Baudrate	MPX_CAN_PARAM_ABR_*
CAN Sample Point	MPX_CAN_PARAM_SP_*
CAN Data Baudrate	MPX_CAN_PARAM_DBR_*
CAN Protocol	MPX_CAN_PROTOCOL_*
CAN Bit Rate Switch	MPX_CAN_BRS_*
CAN Error Behavior	MPX_CAN_ERR_BEHAVIOR_*
CAN One-shot Transmission	MPX_CAN_ONESHOT_*
CAN Frame Type	MPX_CAN_FRAME_TYPE_*
CAN Slot Enable/Disable	MPX_CAN_SLOT_*
CAN ID Format	MPX_CAN_IDE_*
CAN Remote Transmission Request	MPX_CAN_RTR_*
CAN Transmission Trigger Type	MPX_CAN_SIM_TRIGGER_*
CAN Increment Enable/Disable	MPX_CAN_SIM_INC_*
CAN Slot Change Request Info	MPX_CAN_SLOT_REQ_*

Definition Details (CAN)​

CAN Error Flag​

Constant Name	Value	Description
MPX_CAN_ERRFLG_FALSE	0 (0x0)	No error
MPX_CAN_ERRFLG_TRUE	1 (0x1)	Error present

CAN Error Information​

Constant Name	Value	Description
MPX_CAN_ERR_NONE	0 (0x0)	No error
MPX_CAN_ERR_BUS	1 (0x1)	Bus error
MPX_CAN_ERR_WARN	2 (0x2)	Error warning
MPX_CAN_ERR_PASV	4 (0x4)	Error passive
MPX_CAN_ERR_BUSOFF	8 (0x8)	Bus-off start
MPX_CAN_ERR_BUSWAKE	16 (0x10)	Recovery from bus-off
MPX_CAN_ERR_OVERLOAD	32 (0x20)	Overload
MPX_CAN_ERR_BUSLOCK	64 (0x40)	Channel bus lock
MPX_CAN_ERR_ARBLOST	128 (0x80)	Arbitration lost
MPX_CAN_ERR_STAFF	256 (0x100)	Stuff error
MPX_CAN_ERR_FORM	512 (0x200)	Form error
MPX_CAN_ERR_ACK	1024 (0x400)	ACK error
MPX_CAN_ERR_CRC	2048 (0x800)	CRC error
MPX_CAN_ERR_RECEIVE	4096 (0x1000)	Recessive bit error
MPX_CAN_ERR_DOMINANT	8192 (0x2000)	Dominant error
MPX_CAN_ERR_DELIMITER	16384 (0x4000)	ACK delimiter error

CAN Termination Resistor​

Constant Name	Value	Description
MPX_CAN_TERMINATE_DISABLE	0 (0x0)	No termination resistor
MPX_CAN_TERMINATE_ENABLE	1 (0x1)	Termination resistor enabled

CAN Operation Mode​

Constant Name	Value	Description
MPX_CAN_MODE_LISTEN	0 (0x0)	Monitor mode (no ACK)
MPX_CAN_MODE_MONITOR	1 (0x1)	Monitor mode (with ACK)
MPX_CAN_MODE_SIM	2 (0x2)	Simulation mode
MPX_CAN_MODE_NONE	255 (0xFF)	No operation

CAN Arbitration Baudrate​

Constant Name	Value	Description
MPX_CAN_PARAM_ABR_1M	0 (0x0)	1Mbps
MPX_CAN_PARAM_ABR_500K	1 (0x1)	500Kbps
MPX_CAN_PARAM_ABR_250K	2 (0x2)	250Kbps
MPX_CAN_PARAM_ABR_125K	3 (0x3)	125Kbps

CAN Sample Point​

Constant Name	Value	Description
MPX_CAN_PARAM_SP_60P	0 (0x0)	60%
MPX_CAN_PARAM_SP_65P	1 (0x1)	65%
MPX_CAN_PARAM_SP_70P	2 (0x2)	70%
MPX_CAN_PARAM_SP_75P	3 (0x3)	75%
MPX_CAN_PARAM_SP_80P	4 (0x4)	80%
MPX_CAN_PARAM_SP_85P	5 (0x5)	85%

CAN Data Baudrate​

Constant Name	Value	Description
MPX_CAN_PARAM_DBR_5M	0 (0x0)	5Mbps
MPX_CAN_PARAM_DBR_4M	1 (0x1)	4Mbps
MPX_CAN_PARAM_DBR_2M	2 (0x2)	2Mbps
MPX_CAN_PARAM_DBR_1M	3 (0x3)	1Mbps
MPX_CAN_PARAM_DBR_500K	4 (0x4)	500Kbps

CAN Protocol​

Constant Name	Value	Description
MPX_CAN_PROTOCOL_CAN	0 (0x0)	CAN
MPX_CAN_PROTOCOL_CANFD	1 (0x1)	CAN-FD

CAN Bit Rate Switch​

Constant Name	Value	Description
MPX_CAN_BRS_DISABLE	0 (0x0)	BRS disabled
MPX_CAN_BRS_ENABLE	1 (0x1)	BRS enabled

CAN Error Behavior​

Constant Name	Value	Description
MPX_CAN_ERR_BEHAVIOR_ACTIVE	0 (0x0)	Error active
MPX_CAN_ERR_BEHAVIOR_PASSIVE	1 (0x1)	Error passive

CAN One-shot Transmission​

Constant Name	Value	Description
MPX_CAN_ONESHOT_DISABLE	0 (0x0)	One-shot disabled
MPX_CAN_ONESHOT_ENABLE	1 (0x1)	One-shot enabled

CAN Frame Type​

Constant Name	Value	Description
MPX_CAN_FRAME_TYPE_PERIODIC	0 (0x0)	Periodic transmission
MPX_CAN_FRAME_TYPE_PERIODIC_TRIGGER	1 (0x1)	Start periodic transmission by event
MPX_CAN_FRAME_TYPE_EVENT	2 (0x2)	Event transmission
MPX_CAN_FRAME_TYPE_EVENTPERIODIC	3 (0x3)	Event-periodic transmission

CAN Slot Enable/Disable​

Constant Name	Value	Description
MPX_CAN_SLOT_DISABLE	0 (0x0)	Slot disabled
MPX_CAN_SLOT_ENABLE	1 (0x1)	Slot enabled

CAN ID Format​

Constant Name	Value	Description
MPX_CAN_IDE_STD	0 (0x0)	Standard ID
MPX_CAN_IDE_EXT	1 (0x1)	Extended ID

CAN Remote Transmission Request​

Constant Name	Value	Description
MPX_CAN_RTR_DATA	0 (0x0)	Data frame
MPX_CAN_RTR_REMOTE	1 (0x1)	Remote frame

CAN Transmission Trigger Type​

Constant Name	Value	Description
MPX_CAN_SIM_TRIGGER_USER	0 (0x0)	User-specified
MPX_CAN_SIM_TRIGGER_CAN	1 (0x1)	Reception of specified CAN ID
MPX_CAN_SIM_TRIGGER_CANFD	2 (0x2)	Reception of specified CAN FD ID

CAN Increment Enable/Disable​

Constant Name	Value	Description
MPX_CAN_SIM_INC_FALSE	0 (0x0)	No increment
MPX_CAN_SIM_INC_TRUE	1 (0x1)	Increment enabled

CAN Slot Change Request Info​

Constant Name	Value	Description
MPX_CAN_SLOT_REQ_NONE	0 (0x0)	No transmission trigger, no data rewrite
MPX_CAN_SLOT_REQ_DATA	1 (0x1)	No transmission trigger, data rewrite
MPX_CAN_SLOT_REQ_TRG	2 (0x2)	Transmission trigger, no data rewrite
MPX_CAN_SLOT_REQ_DATA_TRG	3 (0x3)	Transmission trigger and data rewrite

Supplementary Information​

Baudrate and Sample Point in CAN/CAN FD Protocol​

In CAN/CAN FD protocol, available sample points depend on the combination of arbitration baudrate and data baudrate.

Baudrate		Arbitration Sample Point						Data Sample Point
Arbitration	Data	60%	65%	70%	75%	80%	85%	60%	65%	70%	75%	80%	85%
125kbps	500kbps	○	○	○	○	○	○	○	○	○	○	○	○
	1Mbps					○	○	○	○	○	○	○	○
	2Mbps					○	○	○		○		○
250kbps	500kbps	○	○	○	○	○	○	○	○	○	○	○	○
	1Mbps	○	○	○	○	○	○	○	○	○	○	○	○
	2Mbps	○	○	○	○	○	○	○		○		○
	4Mbps					○	○	○		○		○
	5Mbps					○	○				○
500kbps	500kbps	○	○	○	○	○	○	○	○	○	○	○	○
	1Mbps	○	○	○	○	○	○	○	○	○	○	○	○
	2Mbps	○	○	○	○	○	○	○		○		○
	4Mbps	○	○	○	○	○	○	○		○		○
	5Mbps	○	○	○	○	○	○				○
1Mbps	500kbps	○		○		○		○	○	○	○	○	○
	1Mbps	○	○	○	○	○	○	○	○	○	○	○	○
	2Mbps	○	○	○	○	○	○	○		○		○
	4Mbps	○	○	○	○	○	○	○		○		○
	5Mbps	○	○	○	○	○	○				○

Combinations with arbitration baudrate 125kbps and data baudrate 4Mbps or 5Mbps are not configurable.