Can Driver More...

#include "Std_Types.h"
#include "Can.h"
#include "Can_Arch.h"
#include "Bfx.h"

Macros
#define	Det_ReportError(ModuleId, InstanceId, ApiId, ErrorId)

Functions
void	Can_Init (const Can_ConfigType *Config)
	Can Initialization

void	Can_DeInit (void)
	Can Deinitialization

Std_ReturnType	Can_SetBaudrate (uint8 Controller, uint16 BaudRateConfigID)
	Can Set Baudrate

Std_ReturnType	Can_SetControllerMode (uint8 Controller, Can_ControllerStateType Transition)
	Can Set Controller Mode

void	Can_EnableControllerInterrupts (uint8 Controller)
	Can Enable Controller Interrupts

void	Can_DisableControllerInterrupts (uint8 Controller)
	Can Disable Controller Interrupts

Std_ReturnType	Can_CheckWakeup (uint8 Controller)
	Can wakeup check

Std_ReturnType	Can_GetControllerErrorState (uint8 ControllerId, Can_ErrorStateType *ErrorStatePtr)
	Can Get Controller Error State

Std_ReturnType	Can_GetControllerMode (uint8 Controller, Can_ControllerStateType *ControllerModePtr)
	Can Get Controller Mode

Std_ReturnType	Can_GetControllerRxErrorCounter (uint8 ControllerId, uint8 *RxErrorCounterPtr)
	Can Get Controller Rx Error Counter

Std_ReturnType	Can_GetControllerTxErrorCounter (uint8 ControllerId, uint8 *TxErrorCounterPtr)
	Can Get Controller Tx Error Counter

Std_ReturnType	Can_GetCurrentTime (uint8 ControllerId, Can_TimeStampType *timeStampPtr)
	Can Get Current Time

void	Can_EnableEgressTimeStamp (Can_HwHandleType Hth)
	Can Enable Egress TimeStamp

Std_ReturnType	Can_GetEgressTimeStamp (PduIdType TxPduId, Can_HwHandleType Hth, Can_TimeStampType *timeStampPtr)
	Can Get Egress TimeStamp

Std_ReturnType	Can_GetIngressTimeStamp (Can_HwHandleType Hrh, Can_TimeStampType *timeStampPtr)
	Can Get Ingress TimeStamp

Std_ReturnType	Can_Write (Can_HwHandleType Hth, const Can_PduType *PduInfo)
	Can Write

void	Can_GetVersionInfo (Std_VersionInfoType *versioninfo)
	Can Get Version

Variables
static Can_ControllerStateType	CtrlState [CAN_NUMBER_OF_CONTROLLERS]

static Can_HwUnit	HwUnit
	Variable for the initial value of the port configuration array.

Detailed Description

Can Driver

Author: Diego Perez

The Can module provides services for initiating transmissions and calls the callback functions of the CanIf module for notifying events, independently from the hardware. Furthermore, it provides services to control the behavior and state of the CAN controllers that are belonging to the same CAN Hardware Unit. Several CAN controllers can be controlled by a single Can module as long as they belong to the same CAN Hardware Unit.

Macro Definition Documentation

◆ Det_ReportError

#define Det_ReportError	(	ModuleId,
		InstanceId,
		ApiId,
		ErrorId )

Value:

(void)0

Parameters

ModuleId	module id number
InstanceId	Instance Id
ApiId	Pai id
ErrorId	Error code

Function Documentation

◆ Can_CheckWakeup()

Std_ReturnType Can_CheckWakeup ( uint8 Controller )

Can wakeup check

This function checks if a wakeup has occurred for the given controller.

Parameters

Controller CAN controller for which the wakeup shall be checked.

Return values

E_OK	wakeup detected E_NOT_OK: no wakeup detected

Requirement: SWS_Can_00360, SWS_Can_00362, SWS_Can_00363

◆ Can_DeInit()

void Can_DeInit ( void )

Can Deinitialization

This function de-initializes the module.

Requirement: SWS_Can_91002, SWS_Can_91011, SWS_Can_9101

◆ Can_DisableControllerInterrupts()

void Can_DisableControllerInterrupts ( uint8 Controller )

Can Disable Controller Interrupts

This function disables all interrupts for this CAN controller.

Parameters

Controller CAN controller for which interrupts shall be disabled.

Requirement: SWS_Can_00231, SWS_Can_00205, SWS_Can_00206

◆ Can_EnableControllerInterrupts()

void Can_EnableControllerInterrupts ( uint8 Controller )

Can Enable Controller Interrupts

This function enables all interrupts for this CAN controller.

Parameters

Controller CAN controller for which interrupts shall be enabled.

Requirement: SWS_Can_00232, SWS_Can_00209, SWS_Can_00210

◆ Can_EnableEgressTimeStamp()

void Can_EnableEgressTimeStamp ( Can_HwHandleType Hth )

Can Enable Egress TimeStamp

Activates egress time stamping on a dedicated HTH. Some HW does store once the egress time stamp marker and some HW needs it always before transmission. There will be no "disable" functionality, due to the fact, that the message type is always "time stamped" by network design.

Parameters

Hth	information which HW-transmit handle shall be used for enabling the time stamp.

Note: This is the smallest granularity which can be added for enabling the timestamp, at HTH level, without affecting the performance.

Requirement: SWS_CAN_91025, SWS_CAN_00525, SWS_CAN_00526

< Transmit object

◆ Can_GetControllerErrorState()

Std_ReturnType Can_GetControllerErrorState	(	uint8	ControllerId,
		Can_ErrorStateType *	ErrorStatePtr )

Can Get Controller Error State

This function returns the error state of the CAN controller.

Parameters

ControllerId	CanIf ControllerId which is assigned to a CAN controller, which is requested for ErrorState.
ErrorStatePtr	Pointer to a memory location, where the error state of the CAN controller will be stored.

Return values

E_OK	request accepted E_NOT_OK: request not accepted

Requirement: SWS_Can_91004, SWS_Can_91005, SWS_Can_91006, SWS_Can_91007

◆ Can_GetControllerMode()

Std_ReturnType Can_GetControllerMode	(	uint8	Controller,
		Can_ControllerStateType *	ControllerModePtr )

Can Get Controller Mode

This service reports about the current status of the requested CAN controller.

Parameters

Controller	CAN controller for which the status shall be read.
ControllerModePtr	Pointer to a memory location, where the current mode of the CAN

Return values

E_OK	request accepted E_NOT_OK: request not accepted

Requirement: SWS_Can_91014, SWS_Can_91016, SWS_Can_91017, SWS_Can_91018

◆ Can_GetControllerRxErrorCounter()

Std_ReturnType Can_GetControllerRxErrorCounter	(	uint8	ControllerId,
		uint8 *	RxErrorCounterPtr )

Can Get Controller Rx Error Counter

Returns the Rx error counter for a CAN controller. This value might not be available for all CAN controllers, in which case E_NOT_OK would be returned. Please note that the value of the counter might not be correct at the moment the API returns it, because the Rx counter is handled asynchronously in hardware. Applications should not trust this value for any assumption about the current bus state.

Parameters

ControllerId	CAN controller, whose current Rx error counter shall be acquired.
RxErrorCounterPtr	Pointer to a memory location, where the current Rx error counter of the CAN controller will be stored.

Return values

E_OK	Rx error counter available. E_NOT_OK: Wrong ControllerId, or Rx error counter not available.

Requirement: SWS_Can_00511, SWS_Can_00512, SWS_Can_00513, SWS_Can_00514

◆ Can_GetControllerTxErrorCounter()

Std_ReturnType Can_GetControllerTxErrorCounter	(	uint8	ControllerId,
		uint8 *	TxErrorCounterPtr )

Can Get Controller Tx Error Counter

Returns the Tx error counter for a CAN controller. This value might not be available for all CAN controllers, in which case E_NOT_OK would be returned. Please note that the value of the counter might not be correct at the moment the API returns it, because the Tx counter is handled asynchronously in hardware. Applications should not trust this value for any assumption about the current bus state.

Parameters

ControllerId	CAN controller, whose current Tx error counter shall be acquired.
TxErrorCounterPtr	Pointer to a memory location, where the current Tx error counter

Return values

E_OK	Tx error counter available. E_NOT_OK: Wrong ControllerId, or Tx error counter not

Requirement: SWS_Can_00516, SWS_Can_00517, SWS_Can_00518, SWS_Can_00519

◆ Can_GetCurrentTime()

Std_ReturnType Can_GetCurrentTime	(	uint8	ControllerId,
		Can_TimeStampType *	timeStampPtr )

Can Get Current Time

Returns a time value out of the HW registers according to the capability of the HW

Parameters

ControllerId	CAN controller, whose current time shall be acquired.
timeStampPtr	Pointer to a memory location, where the current time of the CAN

Return values

E_OK	successful E_NOT_OK: failed

Requirement: SWS_CAN_91026, SWS_CAN_00521, SWS_CAN_00522, SWS_CAN_00523

◆ Can_GetEgressTimeStamp()

Std_ReturnType Can_GetEgressTimeStamp	(	PduIdType	TxPduId,
		Can_HwHandleType	Hth,
		Can_TimeStampType *	timeStampPtr )

Can Get Egress TimeStamp

Reads back the egress time stamp on a dedicated message object. It needs to be called within the TxConfirmation() function.

Parameters

TxPduId	Tx-PDU handle of CAN L-PDU that has been transmitted.
Hth	information which HW-transmit handle shall be used for reading the time stamp.
timeStampPtr	Pointer to a memory location where the time stamp value shall be stored.

Return values

E_OK	success E_NOT_OK: failed to read time stamp.

Requirement: SWS_CAN_91027, SWS_CAN_00529, SWS_CAN_00530, SWS_CAN_00531, SWS_CAN_00532

Todo: need to define what is a invalid TxPduId

< Transmit object

◆ Can_GetIngressTimeStamp()

Std_ReturnType Can_GetIngressTimeStamp	(	Can_HwHandleType	Hrh,
		Can_TimeStampType *	timeStampPtr )

Can Get Ingress TimeStamp

Reads back the ingress time stamp on a dedicated message object. It needs to be called within the RxIndication() function.

Parameters

Hrh	information which HW-receive handle shall be used for reading the time stamp.
timeStampPtr	Pointer to a memory location where the time stamp value shall be stored.

Return values

E_OK	success E_NOT_OK: failed to read time stamp

Requirement: SWS_CAN_91028, SWS_CAN_00535, SWS_CAN_00536, SWS_CAN_00537

< Receive object

◆ Can_GetVersionInfo()

void Can_GetVersionInfo ( Std_VersionInfoType * versioninfo )

Can Get Version

This function returns the version information of this module.

Parameters

versioninfo Pointer to where to store the version information of this module.

Requirement: SWS_Can_00224, SWS_Can_00177

◆ Can_Init()

void Can_Init ( const Can_ConfigType * Config )

Can Initialization

This function initializes the module and the CAN controller. The CAN controller is initialized according to the parameter Config.

Parameters

Config Pointer to driver configuration

Requirement: SWS_Can_00223, SWS_Can_00174, SWS_Can_00408

◆ Can_SetBaudrate()

Std_ReturnType Can_SetBaudrate	(	uint8	Controller,
		uint16	BaudRateConfigID )

Can Set Baudrate

This service shall set the baud rate configuration of the CAN controller. Depending on necessary baud rate modifications the controller might have to reset.

Parameters

Controller	CAN controller for which the baud rate shall be set.
BaudRateConfigID	references a baud rate configuration by ID

Return values

E_OK	Service request accepted, setting of (new) baud rate started E_NOT_OK: Service request not accepted

Requirement: SWS_CAN_00491, SWS_Can_00492,SWS_Can_00493, SWS_Can_00494

◆ Can_SetControllerMode()

Std_ReturnType Can_SetControllerMode	(	uint8	Controller,
		Can_ControllerStateType	Transition )

Can Set Controller Mode

This function performs software triggered state transitions of the CAN controller State machine.

Parameters

Controller	CAN controller for which the status shall be changed.
Transition	Transition value to request new state.

Return values

E_OK	request accepted E_NOT_OK: request not accepted

Requirement: SWS_Can_00230, SWS_Can_00198, SWS_Can_00199, SWS_Can_00200

◆ Can_Write()

Std_ReturnType Can_Write	(	Can_HwHandleType	Hth,
		const Can_PduType *	PduInfo )

Can Write

This function is called by CanIf to pass a CAN message to CanDrv for transmission.

Parameters

Hth	information which HW-transmit handle shall be used for transmit. Implicitly this is also the information about the controller to use because the Hth numbers are unique inside one hardware unit.
PduInfo	Pointer to SDU user memory, Data Length and Identifier

Return values

E_OK	Write command has been accepted E_NOT_OK: development error occurred CAN_BUSY: No TX hardware buffer available or pre-emptive call of Can_Write that can't be implemented re-entrant (see Can_ReturnType)

Note: To detect if controller is in FD mode we use a custom field in Config structure instead of a valid CanControllerFdBaudrateConfig

Requirement: SWS_Can_00233, SWS_Can_00216, SWS_Can_00217, SWS_Can_00219, SWS_Can_00218

< Transmit object

< Classic mode

Variable Documentation

◆ CtrlState

Can_ControllerStateType CtrlState[CAN_NUMBER_OF_CONTROLLERS]

static

Initial value:

=
{
    CAN_CS_UNINIT,
    CAN_CS_UNINIT 
}

< Add static when no testing

◆ HwUnit

Can_HwUnit HwUnit

static

Initial value:

=
{
    .HwUnitState     = CAN_CS_UNINIT,
    .Config          = &CanConfig,
    .ControllerState = CtrlState
}

Variable for the initial value of the port configuration array.

< Add static when no testing

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ Det_ReportError

Function Documentation

◆ Can_CheckWakeup()

◆ Can_DeInit()

◆ Can_DisableControllerInterrupts()

◆ Can_EnableControllerInterrupts()

◆ Can_EnableEgressTimeStamp()

◆ Can_GetControllerErrorState()

◆ Can_GetControllerMode()

◆ Can_GetControllerRxErrorCounter()

◆ Can_GetControllerTxErrorCounter()

◆ Can_GetCurrentTime()

◆ Can_GetEgressTimeStamp()

◆ Can_GetIngressTimeStamp()

◆ Can_GetVersionInfo()

◆ Can_Init()

◆ Can_SetBaudrate()

◆ Can_SetControllerMode()

◆ Can_Write()

Variable Documentation

◆ CtrlState

◆ HwUnit