MCAN Receive

Read data from CAN bus

Since R2024b

• 

Libraries:
Embedded Coder Support Package for Infineon AURIX TC4x Microcontrollers / AURIX TC4x

Description

The MCAN Receive block is a Modular CAN (MCAN) that reads data from the controller area network (CAN) bus.

For unpacked messages, the block outputs the received values as a 64-by-1 array for the CAN-FD frame format and as a 8-by-1 array for the Classic CAN frame format.

For packed messages, the block outputs a Simulink^® bus signal. To extract data from the Simulink bus signal, use the CAN Unpack block if the frame format is Classic CAN or CAN FD Unpack blocks if the frame format is CAN-FD.

Examples

Polling-Based CAN Communication Using MCAN Blocks of Infineon AURIX TC4x

Use the MCAN Transmit and MCAN Receive blocks from Embedded Coder® Support Package for Infineon® AURIX™ TC4x Microcontrollers to handle polling-based communication between different CAN modules of Infineon® AURIX™ TC4x Microcontrollers.

• Open Script

Interrupt-Based CAN Communication Using MCAN Blocks of Infineon AURIX TC4x

Use the MCAN Transmit and Receive blocks from Embedded Coder® Support Package for Infineon® AURIX™ TC4x Microcontrollers to handle interrupt-based communication between different CAN modules of Infineon® AURIX™ TC4x Microcontrollers.

• Open Script

Ports

Input

Buffer Number — Buffer number for CAN communication

scalar

Specify the buffer number.

Dependencies

To enable this port, set the Read source parameter to Buffers and select the Enable input port for buffer number parameter.

Data Types: uint8

Output

Msg — CAN message

vector | scalar

The block outputs the CAN message (data and header) it receives from the Simulink bus signal.

Dependencies

To enable this port, set the Output type parameter to Packed.

Data Types: CAN Message

Data — Message data

vector | scalar

The block outputs the data it reads from the FIFO 0 register, FIFO 1 register, or buffer, based on the value of the Read Source parameter. The maximum size of the data is 8 bytes for the Classic CAN frame format and 64 bytes for CAN-FD frame format.

Dependencies

To enable this port, set the Output type parameter to Unpacked.

Data Types: uint8

Id — CAN message identifier value

scalar

This port outputs a standard or extended ID value from the received CAN message.

Dependencies

To enable this port, set Output type to Unpacked.

Data Types: uint32

Length — CAN message length

scalar

This port outputs the data length of the received CAN message in bytes.

Dependencies

To enable this port, set Output type to Unpacked.

Data Types: uint8

Id Type — CAN message identifier type

scalar

This port outputs the identifier type as:

• 0 — If the ID is an 11-bit standard identifier

• 1 — If the ID is an 29-bit extended identifier

Dependencies

To enable this port, set the Output type parameter to Unpacked and enable Output identifier type parameter.

Data Types: Boolean

Frame Type — CAN message frame type

scalar

This port outputs the CAN frame data format as:

• 0 — If the format is Classic CAN

• 1 — If the format is CAN-FD

Dependencies

To enable this port, set the Output type parameter to Unpacked and enable Output frame type.

Data Types: uint32

Bitrate switching — Bit rate switching status

scalar

This port outputs the status as one of these values:

• 0 — When the block receives the CAN FD frames without bit rate switching

• 1 — When the block receives the with bit rate switching

Dependencies

To enable this port, set the Frame format parameter to CAN-FD, the Output type parameter to Unpacked, and select the Output bit rate switching parameter.

Data Types: uint8

Remote — Remote frame status

scalar

This port outputs the remote reception status as:

• 1 — If the received CAN message is a remote frame

• 0 — If the received CAN message is a data frame

Dependencies

To enable this port, set Frame format to Classic CAN, Output type parameter to Unpacked, and enable Output remote parameter.

Data Types: Boolean

FIFO Level — FIFO fill level

scalar

This port outputs the received FIFO fill level.

The FIFO level indicates the receive level of the FIFO 0 or FIFO 1 register after the block reads the message. Rx FIFO indicates how much of Rx FIFO is empty.

Dependencies

To enable this port, set the Read source parameter to FIFO 0 or FIFO 1 and enable the Output receive FIFO level parameter.

Data Types: uint8

Status — Status of received message

scalar

This port outputs the message read status as:

• 1 — If the read CAN message is invalid

• 0 — If the read CAN message is valid

Dependencies

To enable this port, select the Output Status parameter.

Data Types: uint8

Parameters

Frame format — Frame format type

CAN-FD (default) | Classic CAN

Select the frame type to receive the message.

Read source — Source of received CAN message

FIFO 0 (default) | FIFO 1 | Buffers

Specify the read source as FIFO or buffer.

Note

The block reads the message from FIFO 0, FIFO 1, or buffer depending on the filter configuration you set (see MCAN Receive Peripheral Configuration).

Buffer number — Buffer number for CAN data reception

0 (default) | scalar in the range (0—63)

Specify the number of the buffer for the block to use to read the received CAN message.

Dependencies

To enable this parameter, set Read source to Buffers and disable the Enable input port for buffer number parameter.

Enable input port for buffer number — Option to enable input port for buffer number

off (default) | on

Select this parameter to enable the input port to specify the buffer number.

Dependencies

To enable this parameter, set Read source to Buffers and select the Enable input port for buffer number parameter.

Output Type — Message output type

Packed (default) | Unpacked

Specify the message output type of the block as Packed or Unpacked.

For unpacked messages, the block outputs different fields of the unpacked CAN message.

For packed messages, the block outputs a Simulink bus signal. To extract the data from the Simulink bus signal, use the CAN Unpack block if the frame format is Classic CAN or CAN FD Unpack blocks if the frame format is CAN-FD.

Output identifier type — Option to enable output identifier type

off (default) | on

Select this parameter to enable the Id Type port, which outputs the standard or extended message status.

Dependencies

To enable this parameter, set the Output type parameter to Unpacked.

Output frame type — Option to enable output frame type

off (default) | on

Select this parameter to enable the Frame Type port, which outputs the message frame type.

Dependencies

To enable this parameter, set the Output type parameter to Unpacked.

Output bitrate switching — Option to enable output bit rate switching

off (default) | on

Select this parameter to enable the Bitrate Switching port, which outputs the status of bit rate switching.

Dependencies

To enable this parameter, set the Frame format parameter to CAN-FD and the Output type parameter to Unpacked.

Output remote — Option to enable output frame type

off (default) | on

Select this parameter to enable the Remote port, which outputs the message remote frame status.

Dependencies

To enable this parameter, set the Frame format parameter to Classic CAN and the Output type parameter to Unpacked.

Output receive FIFO level — Enable receive FIFO fill level

off (default) | on

Select this parameter to enable the FIFO level port, which outputs the received FIFO message level.

Dependencies

To enable this parameter, set the Read source parameter to FIFO 0 or FIFO 1.

Output status — Option to enable output status

off (default) | on

Select this parameter to enable the Status port, which outputs the read status.

Sample Time — Time interval to read message

-1 (default) | nonnegative real value

Specify how often the block receives message, in seconds. When you specify this parameter as -1, Simulink determines the best sample time for the block based on the context of the block in the model.

Version History

Introduced in R2024b