Can Specific Arquitecture Driver More...

#include "Can_Types.h"

Macros
#define	CAN_FDCAN1 0u

#define	CAN_FDCAN2 1u

#define	CAN_SRAMCAN1 0u

#define	CAN_SRAMCAN2 1u

#define	CAN_CLOCK_DIV1 0x00u

#define	CAN_CLOCK_DIV2 0x01u

#define	CAN_CLOCK_DIV4 0x02u

#define	CAN_CLOCK_DIV6 0x03u

#define	CAN_CLOCK_DIV8 0x04u

#define	CAN_CLOCK_DIV10 0x05u

#define	CAN_CLOCK_DIV12 0x06u

#define	CAN_CLOCK_DIV14 0x07u

#define	CAN_CLOCK_DIV16 0x08u

#define	CAN_CLOCK_DIV18 0x09u

#define	CAN_CLOCK_DIV20 0x0Au

#define	CAN_CLOCK_DIV22 0x0Bu

#define	CAN_CLOCK_DIV24 0x0Cu

#define	CAN_CLOCK_DIV26 0x0Du

#define	CAN_CLOCK_DIV28 0x0Eu

#define	CAN_CLOCK_DIV30 0x0Fu

#define	CAN_FRAME_CLASSIC 0u

#define	CAN_FRAME_FD 1u

#define	CAN_TX_FIFO_OPERATION 0u

#define	CAN_TX_QUEUE_OPERATION 1u

#define	CAN_MODE_NORMAL 0u

#define	CAN_MODE_RESTRICTED_OPERATION 1u

#define	CAN_MODE_BUS_MONITORING 2u

#define	CAN_MODE_INTERNAL_LOOPBACK 3u

#define	CAN_MODE_EXTERNAL_LOOPBACK 4u

#define	CAN_TX_BUFFER0 1u

#define	CAN_TX_BUFFER1 2u

#define	CAN_TX_BUFFER2 4u

#define	CAN_INTERRUPT_LINE0 0u

#define	CAN_INTERRUPT_LINE1 1u

#define	CAN_IT_GROUP_RX_FIFO0 0u

#define	CAN_IT_GROUP_RX_FIFO1 1u

#define	CAN_IT_GROUP_SMSG 2u

#define	CAN_IT_GROUP_TX_FIFO_ERROR 3u

#define	CAN_IT_GROUP_MISC 4u

#define	CAN_IT_GROUP_BIT_LINE_ERROR 5u

#define	CAN_IT_GROUP_PROTOCOL_ERROR 6u

#define	CAN_IT_LIST_RX_FIFO0 0x00000007

#define	CAN_IT_LIST_RX_FIFO1 0x00000038

#define	CAN_IT_LIST_SMSG 0x000001C0

#define	CAN_IT_LIST_TX_FIFO_ERROR 0x00001E00

#define	CAN_IT_LIST_MISC 0x0000E000

#define	CAN_IT_LIST_BIT_LINE_ERROR 0x00030000

#define	CAN_IT_LIST_PROTOCOL_ERROR 0x00FC0000

#define	CAN_IT_RX_FIFO0_MESSAGE_LOST ( (uint32)1u << 0u )

#define	CAN_IT_RX_FIFO0_FULL ( (uint32)1u << 1u )

#define	CAN_IT_RX_FIFO0_NEW_MESSAGE ( (uint32)1u << 2u )

#define	CAN_IT_RX_FIFO1_MESSAGE_LOST ( (uint32)1u << 3u )

#define	CAN_IT_RX_FIFO1_FULL ( (uint32)1u << 4u )

#define	CAN_IT_RX_FIFO1_NEW_MESSAGE ( (uint32)1u << 5u )

#define	CAN_IT_RX_HIGH_PRIORITY_MSG ( (uint32)1u << 6u )

#define	CAN_IT_TX_COMPLETE ( (uint32)1u << 7u )

#define	CAN_IT_TX_ABORT_COMPLETE ( (uint32)1u << 8u )

#define	CAN_IT_TX_FIFO_EMPTY ( (uint32)1u << 9u )

#define	CAN_IT_TX_EVT_FIFO_NEW_DATA ( (uint32)1u << 10 )

#define	CAN_IT_TX_EVT_FIFO_FULL ( (uint32)1u << 11 )

#define	CAN_IT_TX_EVT_FIFO_ELT_LOST ( (uint32)1u << 12 )

#define	CAN_IT_TIMESTAMP_WRAPAROUND ( (uint32)1u << 13u )

#define	CAN_IT_TIMEOUT_OCCURRED ( (uint32)1u << 15u )

#define	CAN_IT_RAM_ACCESS_FAILURE ( (uint32)1u << 14u )

#define	CAN_IT_ERROR_LOGGING_OVERFLOW ( (uint32)1u << 16u )

#define	CAN_IT_RAM_WATCHDOG ( (uint32)1u << 20u )

#define	CAN_IT_ARB_PROTOCOL_ERROR ( (uint32)1u << 21u )

#define	CAN_IT_DATA_PROTOCOL_ERROR ( (uint32)1u << 22u )

#define	CAN_IT_RESERVED_ADDRESS_ACCESS ( (uint32)1u << 23u )

#define	CAN_IT_ERROR_PASSIVE ( (uint32)1u << 17u )

#define	CAN_IT_ERROR_WARNING ( (uint32)1u << 18u )

#define	CAN_IT_BUS_OFF ( (uint32)1u << 19u )

#define	CAN_FILTER_TYPE_RANGE 0x00u

#define	CAN_FILTER_TYPE_DUAL 0x01u

#define	CAN_FILTER_TYPE_CLASSIC 0x02u

#define	CAN_HOH_TYPE_RECEIVE 0u

#define	CAN_HOH_TYPE_TRANSMIT 1u

#define	CAN_OBJECT_PL_8 0x08u

#define	CAN_OBJECT_PL_12 0x09u

#define	CAN_OBJECT_PL_16 0x0Au

#define	CAN_OBJECT_PL_20 0x0Bu

#define	CAN_OBJECT_PL_24 0x0Cu

#define	CAN_OBJECT_PL_32 0x0Du

#define	CAN_OBJECT_PL_48 0x0Eu

#define	CAN_OBJECT_PL_64 0x0Fu

#define	CAN_ID_STANDARD 0u

#define	CAN_ID_EXTENDED 1u

#define	CAN_ID_MIXED 2u

#define	CAN_FULL 0x00u

#define	CAN_BASIC 0x01u

#define	CAN_RX_FIFO0 1u

#define	CAN_RX_FIFO1 2u

#define	CAN_OBJ_HTH_TX00 0u

#define	CAN_OBJ_HRH_RX00 1u

#define	CAN_OBJ_HRH_RX01 2u

#define	CAN_OBJ_HTH_TX10 3u

#define	CAN_OBJ_HRH_RX10 4u

#define	CAN_OBJ_HRH_RX11 5u

Functions
void	Can_Arch_Init (Can_HwUnit HwUnit, const Can_ConfigType Config, uint8 Controller)
	Can low level Initialization

void	Can_Arch_DeInit (Can_HwUnit *HwUnit, uint8 Controller)
	Can low level Deinitialization

Std_ReturnType	Can_Arch_SetBaudrate (Can_HwUnit *HwUnit, uint8 Controller, uint16 BaudRateConfigID)
	Can low level Set Baudrate

Std_ReturnType	Can_Arch_SetControllerMode (Can_HwUnit *HwUnit, uint8 Controller, Can_ControllerStateType Transition)
	Can low level Set Controller Mode

void	Can_Arch_DisableControllerInterrupts (Can_HwUnit *HwUnit, uint8 Controller)
	Can low level Disable Controller Interrupts

void	Can_Arch_EnableControllerInterrupts (Can_HwUnit *HwUnit, uint8 Controller)
	Can low level Enable Controller Interrupts

Std_ReturnType	Can_Arch_CheckWakeup (Can_HwUnit *HwUnit, uint8 Controller)
	Can low level wakeup check

Std_ReturnType	Can_Arch_GetControllerErrorState (Can_HwUnit HwUnit, uint8 ControllerId, Can_ErrorStateType ErrorStatePtr)
	Can low level Get Controller Error State

Std_ReturnType	Can_Arch_GetControllerMode (Can_HwUnit HwUnit, uint8 Controller, Can_ControllerStateType ControllerModePtr)
	Can low level Get Controller Mode

Std_ReturnType	Can_Arch_GetControllerRxErrorCounter (Can_HwUnit HwUnit, uint8 ControllerId, uint8 RxErrorCounterPtr)
	Can low level Get Controller Rx Error Counter

Std_ReturnType	Can_Arch_GetControllerTxErrorCounter (Can_HwUnit HwUnit, uint8 ControllerId, uint8 TxErrorCounterPtr)
	Can low level Get Controller Tx Error Counter

Std_ReturnType	Can_Arch_Write (Can_HwUnit HwUnit, Can_HwHandleType Hth, const Can_PduType PduInfo)
	Can low level Write

Std_ReturnType	Can_Arch_GetCurrentTime (Can_HwUnit HwUnit, uint8 ControllerId, Can_TimeStampType timeStampPtr)
	Can low level Get Current Time

void	Can_Arch_EnableEgressTimeStamp (Can_HwUnit *HwUnit, Can_HwHandleType Hth)
	Can low level Enable Egress TimeStamp

Std_ReturnType	Can_Arch_GetEgressTimeStamp (Can_HwUnit HwUnit, PduIdType TxPduId, Can_HwHandleType Hth, Can_TimeStampType timeStampPtr)
	Can low level Get Egress TimeStamp

Std_ReturnType	Can_Arch_GetIngressTimeStamp (Can_HwUnit HwUnit, Can_HwHandleType Hrh, Can_TimeStampType timeStampPtr)
	Can low level Get Ingress TimeStamp

void	Can_Arch_IsrMainHandler (Can_HwUnit *HwUnit, uint8 Controller)
	Can Interrupt Handler

Detailed Description

Can Specific Arquitecture Driver

Author: Diego Perez

Can driver implementation for the STM32G0xx family of microcontrollers. This file contains the hardware specific implementation of the Can driver. The file is implemented as a means of abstraction from the hardware, this way we can avoid to include Arch headers in the actual driver header, making the low level interfaces available only for the inmediate upper layer.

Function Documentation

◆ Can_Arch_CheckWakeup()

Std_ReturnType Can_Arch_CheckWakeup	(	Can_HwUnit *	HwUnit,
		uint8	Controller )

Can low level wakeup check

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

Parameters

HwUnit	Pointer to the hardware unit configuration
Controller	CAN controller for which the wakeup shall be checked.

Return values

E_OK	wakeup detected E_NOT_OK: no wakeup detected

◆ Can_Arch_DeInit()

void Can_Arch_DeInit	(	Can_HwUnit *	HwUnit,
		uint8	Controller )

Can low level Deinitialization

This function deinitializes the CAN controller. It sets the complete CAN controller into a state comparable to power on reset. All CAN controller registers will be reset to their reset values.

Parameters

HwUnit	Pointer to the hardware unit configuration
Controller	CAN controller to be de-initialized

Requirement: SWS_Can_00223

< Initialization bit

< Clock stop request bit

< Clock stop acknowledge bit

< Configuration change enable bit

< Interrupt Line 0

< Interrupt Line 1

◆ Can_Arch_DisableControllerInterrupts()

void Can_Arch_DisableControllerInterrupts	(	Can_HwUnit *	HwUnit,
		uint8	Controller )

Can low level Disable Controller Interrupts

This function disables all interrupts for this CAN controller. The function will only disable the internals interrupt lines zero and one, the external interrupt line must be disabled by the application using the Nvic Driver.

Parameters

HwUnit	Pointer to the hardware unit configuration
Controller	CAN controller for which interrupts shall be disabled.

Requirement: SWS_Can_00049

< Interrupt Line 0

< Interrupt Line 1

◆ Can_Arch_EnableControllerInterrupts()

void Can_Arch_EnableControllerInterrupts	(	Can_HwUnit *	HwUnit,
		uint8	Controller )

Can low level Enable Controller Interrupts

This function enables all interrupts for this CAN controller. The function will only enable the internals interrupt lines zero and one, the external interrupt line must be enabled by the application using the Nvic Driver.

Parameters

HwUnit	Pointer to the hardware unit configuration
Controller	CAN controller for which interrupts shall be enabled.

Requirement: SWS_Can_00208

< Interrupt Line 0

< Interrupt Line 1

◆ Can_Arch_EnableEgressTimeStamp()

void Can_Arch_EnableEgressTimeStamp	(	Can_HwUnit *	HwUnit,
		Can_HwHandleType	Hth )

Can low level Enable Egress TimeStamp

Activates egress time stamping on the messages to be transmitted.

Parameters

HwUnit	Pointer to the hardware unit configuration
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.

◆ Can_Arch_GetControllerErrorState()

Std_ReturnType Can_Arch_GetControllerErrorState	(	Can_HwUnit *	HwUnit,
		uint8	ControllerId,
		Can_ErrorStateType *	ErrorStatePtr )

Can low level Get Controller Error State

This function returns the error state of the CAN controller reading the internal registers.

Parameters

HwUnit	Pointer to the hardware unit configuration
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_91008

< Bus_Off bit

< Protocol_Error bit

◆ Can_Arch_GetControllerMode()

Std_ReturnType Can_Arch_GetControllerMode	(	Can_HwUnit *	HwUnit,
		uint8	Controller,
		Can_ControllerStateType *	ControllerModePtr )

Can low level Get Controller Mode

The fucntion only returns the current software flag which stores the mode of the CAN controller set by the Can_Arch_SetControllerMode() function. It does not read any hardware registers

Parameters

HwUnit	Pointer to the hardware unit configuration
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_91015

◆ Can_Arch_GetControllerRxErrorCounter()

Std_ReturnType Can_Arch_GetControllerRxErrorCounter	(	Can_HwUnit *	HwUnit,
		uint8	ControllerId,
		uint8 *	RxErrorCounterPtr )

Can low level Get Controller Rx Error Counter

Reads and return the Rx internal error counter of the can peripheral

Parameters

HwUnit	Pointer to the hardware unit configuration
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_00515

< Receive Error Counter

< Receive Error Counter bitfiled size

< Receive Error Passive

◆ Can_Arch_GetControllerTxErrorCounter()

Std_ReturnType Can_Arch_GetControllerTxErrorCounter	(	Can_HwUnit *	HwUnit,
		uint8	ControllerId,
		uint8 *	TxErrorCounterPtr )

Can low level Get Controller Tx Error Counter

Reads and return the Tx internal error counter of the can peripheral

Parameters

HwUnit	Pointer to the hardware unit configuration
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_00520

< Transmit Error Counter

< Transmit Error Counter bitfiled size

◆ Can_Arch_GetCurrentTime()

Std_ReturnType Can_Arch_GetCurrentTime	(	Can_HwUnit *	HwUnit,
		uint8	ControllerId,
		Can_TimeStampType *	timeStampPtr )

Can low level Get Current Time

Returns a time value out of the HW registers.

Parameters

HwUnit	Pointer to the hardware unit configuration
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

◆ Can_Arch_GetEgressTimeStamp()

Std_ReturnType Can_Arch_GetEgressTimeStamp	(	Can_HwUnit *	HwUnit,
		PduIdType	TxPduId,
		Can_HwHandleType	Hth,
		Can_TimeStampType *	timeStampPtr )

Can low level Get Egress TimeStamp

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

Parameters

HwUnit	Pointer to the hardware unit configuration
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.

◆ Can_Arch_GetIngressTimeStamp()

Std_ReturnType Can_Arch_GetIngressTimeStamp	(	Can_HwUnit *	HwUnit,
		Can_HwHandleType	Hrh,
		Can_TimeStampType *	timeStampPtr )

Can low level Get Ingress TimeStamp

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

Parameters

HwUnit	Pointer to the hardware unit configuration
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.

◆ Can_Arch_Init()

void Can_Arch_Init	(	Can_HwUnit *	HwUnit,
		const Can_ConfigType *	Config,
		uint8	Controller )

Can low level Initialization

Set up the internal register for the CAN controller inside the microcontroller. This function shall take out the controller from the reset mode, set operation mode and initialize the baudrate according to the parameters in config structure, enable the interrupts for the controller and initialize all message objects as free.

Parameters

HwUnit	Pointer to the hardware unit configuration
Config	Pointer to driver configuration
Controller	Index of the controller to be initialized

Requirement: SWS_Can_00237, SWS_Can_00236, SWS_Can_00238, SWS_Can_00239, SWS_Can_00419, SWS_Can_00250, SWS_Can_00053, SWS_Can_00407, SWS_Can_00021, SWS_Can_00291, SWS_Can_00413, SWS_Can_00223 SWS_Can_00245

< Clock stop request bit

< Clock stop acknowledge bit

< Initialization bit

< Configuration change enable bit

< Disable automatic retransmission bit

< Transmit pause bit

< Protocol exception handling disable bit

< FD operation enable bit

< Test mode enable bit

< Bus monitoring mode bit

< Restricted operation mode bit

< Loop back mode bit

< Restricted Operation mode

< Restricted operation mode bit

< Normal mode

< Bus Monitoring mode

< Test mode enable bit

< Loop back mode bit

< Internal LoopBack mode

< Bus monitoring mode bit

< Tx FIFO/Queue Mode bit

< Reject Remote Frames Standard

< Reject Remote Frames Extended

< Reject Remote Frames Standard

< Reject Remote Frames Extended

◆ Can_Arch_IsrMainHandler()

void Can_Arch_IsrMainHandler	(	Can_HwUnit *	HwUnit,
		uint8	Controller )

Can Interrupt Handler

This function is the interrupt handler for the Can controller, it will check the interrupt flags and call the corresponding callback functions.

Parameters

HwUnit	Pointer to the hardware unit configuration
Controller	CAN controller for which the status shall be changed.

Requirement: SWS_Can_00420, SWS_Can_00033

◆ Can_Arch_SetBaudrate()

Std_ReturnType Can_Arch_SetBaudrate	(	Can_HwUnit *	HwUnit,
		uint8	Controller,
		uint16	BaudRateConfigID )

Can low level Set Baudrate

This function sets the baudrate configuration of the CAN controller. The fucntion will determine if FD baud rate configuration is required and will set the baud rate accordingly. Function does not check if the baud rate configuration is valid.

Parameters

HwUnit	Pointer to the hardware unit configuration
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_00255, SWS_Can_00256, SWS_Can_00260, SWS_Can_00422, SWS_Can_00500 SWS_Can_00062

◆ Can_Arch_SetControllerMode()

Std_ReturnType Can_Arch_SetControllerMode	(	Can_HwUnit *	HwUnit,
		uint8	Controller,
		Can_ControllerStateType	Transition )

Can low level Set Controller Mode

This function performs software triggered state transitions of the CAN controller State machine. Trnasitions are: Start, Stop, Wakeup, Reset. It is required a previous state in order to proceed with the requested transition, otherwise the function will return E_NOT_OK.

Parameters

HwUnit	Pointer to the hardware unit configuration
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_00261, SWS_Can_00409, SWS_Can_00265, SWS_Can_00266, SWS_Can_00411, SWS_Can_00017 SWS_Can_00384, SWS_Can_00257, SWS_Can_00282, SWS_Can_00426, SWS_Can_00425

< Initialization bit

< Clock stop request bit

< Clock stop acknowledge bit

< Configuration change enable bit

< Clock stop request bit

< Clock stop acknowledge bit

◆ Can_Arch_Write()

Std_ReturnType Can_Arch_Write	(	Can_HwUnit *	HwUnit,
		Can_HwHandleType	Hth,
		const Can_PduType *	PduInfo )

Can low level Write

The function stores the message pointed to by PduInfo into the internal Tx message buffer of the CAN Sram area and activates the corresponding hardware transmit bits. It reades the hardware fifo index to know which of the three buffers is available for transmission. The function will return CAN_BUSY if no buffer is available.

Parameters

HwUnit	Pointer to the hardware unit configuration
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)

Requirement: SWS_Can_00213, SWS_Can_00214, SWS_Can_00275, SWS_Can_00277, SWS_Can_00401, SWS_Can_00402 SWS_Can_00403, SWS_Can_00011, SWS_Can_00486, SWS_Can_00502, SWS_Can_00276

< Tx FIFO/Queue Full

< Tx FIFO/Queue Put Index

< Tx FIFO/Queue Put Index bitfiled size

< ID bit

< Standard ID

< Tx standard ID bit

< Tx standard ID bitfield size

< Extended identifier bit

< Tx extended ID bit

< Tx extended ID bitfield size

< Extended identifier bit

< Message Marker bit

< Message Marker bitfield size

< Fromat ID bit

< Classic mode

< FD format bit

< Bit rate switch enable bit

< Bit rate switch bit

< Event FIFO Control bit

< Data length code bit

< Data length code bitfield size

Macros

Functions

Detailed Description

Function Documentation

◆ Can_Arch_CheckWakeup()

◆ Can_Arch_DeInit()

◆ Can_Arch_DisableControllerInterrupts()

◆ Can_Arch_EnableControllerInterrupts()

◆ Can_Arch_EnableEgressTimeStamp()

◆ Can_Arch_GetControllerErrorState()

◆ Can_Arch_GetControllerMode()

◆ Can_Arch_GetControllerRxErrorCounter()

◆ Can_Arch_GetControllerTxErrorCounter()

◆ Can_Arch_GetCurrentTime()

◆ Can_Arch_GetEgressTimeStamp()

◆ Can_Arch_GetIngressTimeStamp()

◆ Can_Arch_Init()

◆ Can_Arch_IsrMainHandler()

◆ Can_Arch_SetBaudrate()

◆ Can_Arch_SetControllerMode()

◆ Can_Arch_Write()