Instructions

Message Types

12 (26)

CAN INIT CUSTOM

Initializes the CAN controller with user defined baud rates via register values for brp, sjw, tseg1

and tseg2. For CAN FD values tdo and iso must additionally be set, as well as all register values

for the data phase.

If customized register values are used, check in CAN-Gateway Configurator if the values result in a usable

baud rate.

Classic CAN:

CAN <port> INIT CUSTOM <mode> <brp>/<sjw>/<tseg1>/<tseg2>

CAN FD:

CAN <port> INIT CUSTOM <mode> <brp>/<sjw>/<tseg1>/<tseg2>�

Parameter

Description

port

CAN port number (NT 200: 1...2, NT 420: 1...4)

mode Operational Mode

STD = Standard

LISTEN = Listen only

brp Baud rate prescaler

sjw

Synchronization jump width

tseg1 Time segment 1

tseg2 Time segment 2

tdo Transceiver delay offset (only with CAN FD)

iso

ISO or nonISO (only with CAN FD)

Example

Classic CAN:

CAN 1 INIT CUSTOM STD 16/1/12/2

CAN 2 INIT CUSTOM LISTEN 16/1/12/2

CAN FD:

CAN 3 INIT CUSTOM STD 16/1/12/2 4/1/12/2/8

CAN 4 INIT CUSTOM STD 16/1/12/2 4/1/12/2/8 nonISO

Return Value

Return value Description

R ok

Function succeeded

R ERR <error-number> <error-description>

See List of Error Codes, p. 24

Remark

When the controller is initialized, configure a filter with CAN FILTER ADD and start the controller.

CAN@net NT 200/420 Software Design Guide

4.02.0332.20000 1.5 en-US