Structure Definitions (CAN)

This section describes CAN-related structure definitions for this product.

Main APIs​

• StMPXCANParam: MPXCANSetParam
• StMPXCANLog: MPXCANGetLogEx
• StMPXCANSlot: MPXCANSetSlot
• StMPXCANFrame: MPXCANChangeSlot
• StMPXCANDirect: MPXCANDirectSend

Definition List​

Type Name	Description
StMPXCANParam	CAN parameter setting information
StMPXCANLog	Log information for CAN log acquisition API
StMPXCANFrameOption	CAN frame option information
StMPXCANFrameType	CAN frame attribute information
StMPXCANID	CAN ID information
StMPXCANFrame	CAN frame information
StMPXCANSlot	CAN slot information
StMPXCANDirect	CAN direct transmission information

Definition Details​

StMPXCANParam​

Members of StMPXCANParam (CAN parameter setting information) are as follows.

Variable	Type	Description	Notes
EnableTerminate	unsigned char	Termination resistor enable/disable	See CAN Termination Resistor.
Mode	unsigned char	Operation mode	See CAN Operation Mode.
ArbitrationBaudrate	unsigned char	Arbitration baudrate	See CAN Arbitration Baudrate.
ArbitrationSamplepoint	unsigned char	Arbitration sample point	See CAN Sample Point.
DataBaudrate	unsigned char	Data baudrate	See CAN Data Baudrate.
DataSamplepoint	unsigned char	Data sample point	See CAN Sample Point.
Reserved	unsigned char [2]	Reserved

StMPXCANLog​

Members of StMPXCANLog (log information for CAN log acquisition API) are as follows.

Variable	Type	Description	Notes
mSec	unsigned long	Timestamp (milliseconds)	Timestamp is represented by combining mSec and uSec. For example, for 12.345 ms (12 ms + 345 us), mSec is 12 and uSec is 345.
uSec	unsigned short	Timestamp (microseconds)
Protocol	unsigned char	Protocol	See Log Type.
Dir	unsigned char	Direction	See Log Direction.
ID	unsigned long	CAN ID (standard or extended)	For standard ID, set in lower 11 bits (bit10 to bit0).
RTR	unsigned char	Remote Transmission Request (RTR)	See CAN RTR.
IDE	unsigned char	ID format (IDE)	See CAN ID Format.
DL	unsigned char	Data length (DL)
Error	unsigned char	Error flag	See CAN Error Flag.
ErrorInfo	unsigned long	Error information	See CAN Error Information.
Data	unsigned char [64]	Data	Element indices 0 to 63 correspond to D1 to D64.

StMPXCANFrameOption​

Members of StMPXCANFrameOption (CAN frame option information) are as follows.

Variable	Type	Description	Notes
Protocol	unsigned char	Protocol	See CAN Protocol.
BRS	unsigned char	Bit Rate Switch (BRS)	See CAN Bit Rate Switch.
ErrorAction	unsigned char	Error behavior	See CAN Error Behavior.
Reserved	unsigned char	Reserved

StMPXCANFrameType​

Members of StMPXCANFrameType (CAN frame attribute information) are as follows.

Variable	Type	Description	Notes
isOneShot	unsigned char	One-shot transmission enable/disable	See CAN One-shot Transmission.
FrameType	unsigned char	Frame type	See CAN Frame Type.
Enabled	unsigned char	Slot enable/disable	See CAN Slot Enable/Disable.
Reserved	unsigned char	Reserved
Option	StMPXCANFrameOption	CAN frame option information

StMPXCANID​

Members of StMPXCANID (CAN ID information) are as follows.

Variable	Type	Description	Notes
ID	unsigned long	CAN ID (standard or extended)	For standard ID, set lower 11 bits (bit10 to bit0).
RTR	unsigned char	Remote Transmission Request (RTR)	See CAN RTR.
IDE	unsigned char	ID format (IDE)	See CAN ID Format.
Reserved	unsigned char [2]	Reserved

StMPXCANFrame​

Members of StMPXCANFrame (CAN frame information) are as follows.

Variable	Type	Description	Notes
ID	StMPXCANID	CAN ID information
DL	unsigned char	Data length (DL)	Available values are 0 to 8, 12, 16, 20, 24, 32, 48, and 64.
Reserved	unsigned char [3]	Reserved
Data	unsigned char [64]	Data (D1 to D64)	Element indices 0 to 63 correspond to D1 to D64.

StMPXCANSlot​

Members of StMPXCANSlot (slot information) are as follows.

Variable	Type	Description	Notes
SlotNo	unsigned char	Slot number (1 to 28)
TriggerType	unsigned char	Transmission trigger type	See CAN Transmission Trigger Type.
Reserved1	unsigned char [2]	Reserved
FrameType	StMPXCANFrameType	CAN frame attribute information
TriggerID	StMPXCANID	Reception trigger ID
msSendDelay	unsigned long	Delay for event transmission (ms)	Delay for event transmission, transmit offset, transmit cycle, and minimum guaranteed transmit interval are represented as follows. [Delay for event transmission] msSendDelay, usSendDelay [Transmit offset] msSendOffset, usSendOffset [Transmit cycle] msSendCycle, usSendCycle [Minimum guaranteed transmit interval] msMinTransInterval, usMinTransInterval For example, to set transmit offset to 12.345 ms (12 ms + 345 us), set msSendOffset=12 and usSendOffset=345.
msSendOffset	unsigned long	Transmit offset (ms)
msSendCycle	unsigned long	Transmit cycle (ms)
msMinTransInterval	unsigned long	Minimum guaranteed transmit interval (ms)
usSendDelay	unsigned short	Delay for event transmission (us)
usSendOffset	unsigned short	Transmit offset (us)
usSendCycle	unsigned short	Transmit cycle (us)
usMinTransInterval	unsigned short	Minimum guaranteed transmit interval (us)
SendCounter	unsigned short	Transmission count	If set to 0, transmission count is unlimited.
Reserved2	unsigned char [2]	Reserved
Frame	StMPXCANFrame	CAN frame information
Increment	unsigned char [64]	Increment enabled/disabled	Element indices 0 to 63 correspond to D1 to D64. See CAN Increment Enable/Disable.

StMPXCANDirect​

Members of StMPXCANDirect (CAN direct transmission information) are as follows.

Variable	Type	Description
FrameType	StMPXCANFrameType	CAN frame attribute information
Frame	StMPXCANFrame	CAN frame information