1 /* -------------------------------- Arctic Core ------------------------------
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2 * Arctic Core - the open source AUTOSAR platform http://arccore.com
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4 * Copyright (C) 2009 ArcCore AB <contact@arccore.com>
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6 * This source code is free software; you can redistribute it and/or modify it
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7 * under the terms of the GNU General Public License version 2 as published by the
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8 * Free Software Foundation; See <http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt>.
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10 * This program is distributed in the hope that it will be useful, but
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11 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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12 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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14 * -------------------------------- Arctic Core ------------------------------*/
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27 #include "CanIf_Cbk.h"
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33 #if defined(USE_CANTP)
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34 #include "CanTp_Cbk.h"
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37 #if defined(USE_CANNM)
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42 // TODO: Include upper layer functions, See CANIF208 and CANIF233
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43 #include "PduR_CanIf.h"
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47 #include "PduR_Cbk.h"
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48 #include "CanNm_Cbk.h"
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49 #include "CanTp_Cbk.h"
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52 #if ( CANIF_DEV_ERROR_DETECT == STD_ON )
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53 #define VALIDATE(_exp,_api,_err ) \
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55 Det_ReportError(MODULE_ID_CANIF, 0, _api, _err); \
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59 #define VALIDATE_NO_RV(_exp,_api,_err ) \
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61 Det_ReportError(MODULE_ID_CANIF, 0, _api, _err); \
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64 #define DET_REPORTERROR(_x,_y,_z,_q) Det_ReportError(_x, _y, _z, _q)
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67 #define VALIDATE(_exp,_api,_err )
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68 #define VALIDATE_NO_RV(_exp,_api,_err )
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69 #define DET_REPORTERROR(_x,_y,_z,_q)
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73 // Helper to get the Can Controller refered to by a CanIf Channel
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74 #define ARC_GET_CHANNEL_CONTROLLER(_channel) \
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75 CanIf_ConfigPtr->Arc_ChannelToControllerMap[channel]
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77 /* Global configure */
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78 static const CanIf_ConfigType *CanIf_ConfigPtr;
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80 // Struct of controller private data.
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83 CanIf_ControllerModeType ControllerMode;
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84 CanIf_ChannelGetModeType PduMode;
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85 } CanIf_ChannelPrivateType;
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90 CanIf_ChannelPrivateType channelData[CANIF_CHANNEL_CNT];
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93 void CanIf_PreInit_InitController(uint8 Controller, uint8 ConfigurationIndex);
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95 static CanIf_Arc_ChannelIdType CanIf_Arc_FindHrhChannel( Can_Arc_HRHType hrh )
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97 const CanIf_InitHohConfigType *hohConfig;
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98 const CanIf_HrhConfigType *hrhConfig;
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100 // foreach(hoh){ foreach(hrh in hoh) {} }
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101 hohConfig = CanIf_ConfigPtr->InitConfig->CanIfHohConfigPtr;
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107 hrhConfig = hohConfig->CanIfHrhConfig;
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112 if (hrhConfig->CanIfHrhIdSymRef == hrh){
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113 return hrhConfig->CanIfCanControllerHrhIdRef;
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115 } while(!hrhConfig->CanIf_Arc_EOL);
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116 } while(!hohConfig->CanIf_Arc_EOL);
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118 DET_REPORTERROR(MODULE_ID_CANIF, 0, CANIF_RXINDICATION_ID, CANIF_E_PARAM_HRH);
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120 return (CanIf_Arc_ChannelIdType) -1;
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124 CanIf_GlobalType CanIf_Global;
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126 void CanIf_Init(const CanIf_ConfigType *ConfigPtr)
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128 VALIDATE_NO_RV(ConfigPtr != 0, CANIF_INIT_ID, CANIF_E_PARAM_POINTER); // Only PostBuild case supported
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130 CanIf_ConfigPtr = ConfigPtr;
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132 for (uint8 i = 0; i < CANIF_CHANNEL_CNT; i++)
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134 CanIf_Global.channelData[i].ControllerMode = CANIF_CS_STOPPED;
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135 CanIf_Global.channelData[i].PduMode = CANIF_GET_OFFLINE;
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136 CanIf_PreInit_InitController(i, CanIf_ConfigPtr->Arc_ChannelDefaultConfIndex[i]);
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140 CanIf_Global.initRun = TRUE;
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146 //-------------------------------------------------------------------
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148 * Controller :: CanIf_Arc_ChannelIdType (CanIf-specific id to abstract from Can driver/controllers)
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149 * ConfigurationIndex :: CanIf_Arc_ConfigurationIndexType
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151 void CanIf_InitController(uint8 Controller, uint8 ConfigurationIndex)
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153 // We call this a CanIf channel. Hopefully makes it easier to follow.
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154 CanIf_Arc_ChannelIdType channel = (CanIf_Arc_ChannelIdType) Controller;
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155 CanIf_ControllerModeType mode;
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157 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_INIT_CONTROLLER_ID, CANIF_E_UNINIT );
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158 VALIDATE_NO_RV(channel < CANIF_CHANNEL_CNT, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
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159 VALIDATE_NO_RV(ConfigurationIndex < CANIF_CHANNEL_CONFIGURATION_CNT, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_POINTER);
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161 if (CanIf_GetControllerMode(channel, &mode) == E_OK)
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163 if (mode == CANIF_CS_STARTED)
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165 CanIf_SetControllerMode(channel, CANIF_CS_STOPPED); // CANIF092
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167 else if (mode != CANIF_CS_STOPPED)
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169 VALIDATE_NO_RV(FALSE, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER_MODE); // CANIF092
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174 VALIDATE_NO_RV(FALSE, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER_MODE);
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177 // CANIF293: ..Subsequently the CAN Interface calls the corresponding
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178 // CAN Driver initialization services.
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180 // CANIF066: The CAN Interface has access to the CAN Driver configuration data. All
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181 // public CAN Driver configuration data are described in [8] Specification of CAN Driver.
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183 // Grab the configuration from the Can Controller
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184 const Can_ControllerConfigType *canConfig;
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185 const CanControllerIdType canControllerId = ARC_GET_CHANNEL_CONTROLLER(channel);
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187 // Validate that the configuration at the index match the right channel
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188 VALIDATE_NO_RV(CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfControllerIdRef == channel, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
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190 canConfig = CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfInitControllerRef;
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192 // Validate that the CanIfControllerConfig points to configuration for the right Can Controller
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193 VALIDATE_NO_RV(canConfig->CanControllerId == canControllerId, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
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195 Can_InitController(canControllerId, canConfig);
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197 // Set mode to stopped
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198 CanIf_SetControllerMode(channel, CANIF_CS_STOPPED);
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201 void CanIf_PreInit_InitController(uint8 Controller, uint8 ConfigurationIndex){
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202 // We call this a CanIf channel. Hopefully makes it easier to follow.
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203 CanIf_Arc_ChannelIdType channel = (CanIf_Arc_ChannelIdType) Controller;
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205 VALIDATE_NO_RV(channel < CANIF_CHANNEL_CNT, CANIF_INIT_ID, CANIF_E_PARAM_CONTROLLER);
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206 VALIDATE_NO_RV(ConfigurationIndex < CANIF_CHANNEL_CONFIGURATION_CNT, CANIF_INIT_ID, CANIF_E_PARAM_POINTER);
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209 const CanControllerIdType canControllerId = ARC_GET_CHANNEL_CONTROLLER(channel);
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210 // Validate that the configuration at the index match the right channel
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211 VALIDATE_NO_RV(CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfControllerIdRef == channel, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
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212 const Can_ControllerConfigType *canConfig = CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfInitControllerRef;
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213 // Validate that the CanIfControllerConfig points to configuration for the right Can Controller
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214 VALIDATE_NO_RV(canConfig->CanControllerId == canControllerId, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
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216 Can_InitController(canControllerId, canConfig);
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219 //-------------------------------------------------------------------
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221 Std_ReturnType CanIf_SetControllerMode(uint8 Controller,
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222 CanIf_ControllerModeType ControllerMode)
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224 // We call this a CanIf channel. Hopefully makes it easier to follow.
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225 CanIf_Arc_ChannelIdType channel = (CanIf_Arc_ChannelIdType) Controller;
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228 CanIf_ControllerModeType oldMode;
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230 VALIDATE( CanIf_Global.initRun, CANIF_SET_CONTROLLER_MODE_ID, CANIF_E_UNINIT );
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231 VALIDATE( channel < CANIF_CHANNEL_CNT, CANIF_SET_CONTROLLER_MODE_ID, CANIF_E_PARAM_CONTROLLER );
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233 oldMode = CanIf_Global.channelData[channel].ControllerMode;
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235 if (oldMode == CANIF_CS_UNINIT)
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237 VALIDATE(FALSE, CANIF_SET_CONTROLLER_MODE_ID, CANIF_E_UNINIT); // See figure 32, 33
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240 CanControllerIdType canControllerId = ARC_GET_CHANNEL_CONTROLLER(Controller);
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241 switch (ControllerMode)
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243 case CANIF_CS_STARTED: // Figure 32
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247 case CANIF_CS_SLEEP:
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248 if (Can_SetControllerMode(canControllerId, CAN_T_STOP) == CAN_NOT_OK){
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251 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STOPPED;
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254 // Just fall through
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258 CanIf_SetPduMode(channel, CANIF_SET_ONLINE);
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259 if (Can_SetControllerMode(canControllerId, CAN_T_START) == CAN_NOT_OK){
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262 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STARTED;
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266 case CANIF_CS_SLEEP: // Figure 33
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269 case CANIF_CS_STARTED:
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270 if (Can_SetControllerMode(canControllerId, CAN_T_STOP) == CAN_NOT_OK){
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273 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STOPPED;
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276 // Just fall through for other cases
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280 if (Can_SetControllerMode(canControllerId, CAN_T_SLEEP) == CAN_NOT_OK){
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283 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_SLEEP;
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286 case CANIF_CS_STOPPED:
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290 case CANIF_CS_SLEEP:
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291 if (Can_SetControllerMode(canControllerId, CAN_T_WAKEUP) == CAN_NOT_OK){
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296 // Just fall through for other cases
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300 CanIf_SetPduMode(channel, CANIF_SET_OFFLINE);
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301 if (Can_SetControllerMode(canControllerId, CAN_T_STOP) == CAN_NOT_OK){
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304 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STOPPED;
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308 case CANIF_CS_UNINIT:
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309 // Just fall through
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315 //-------------------------------------------------------------------
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317 Std_ReturnType CanIf_GetControllerMode(uint8 Controller,
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318 CanIf_ControllerModeType *ControllerModePtr)
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320 // We call this a CanIf channel. Hopefully makes it easier to follow.
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321 CanIf_Arc_ChannelIdType channel = (CanIf_Arc_ChannelIdType) Controller;
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323 VALIDATE(CanIf_Global.initRun, CANIF_GET_CONTROLLER_MODE_ID, CANIF_E_UNINIT );
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324 VALIDATE(channel < CANIF_CHANNEL_CNT, CANIF_GET_CONTROLLER_MODE_ID, CANIF_E_PARAM_CONTROLLER );
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325 VALIDATE(ControllerModePtr != NULL, CANIF_GET_CONTROLLER_MODE_ID, CANIF_E_PARAM_POINTER );
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327 *ControllerModePtr = CanIf_Global.channelData[channel].ControllerMode;
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332 //-------------------------------------------------------------------
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334 * Matches a Tx PDU id agaist the ones that are in the database.
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336 * @returns Ptr a TxPdu
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338 #if ( CANIF_ARC_RUNTIME_PDU_CONFIGURATION == STD_ON )
\r
339 CanIf_TxPduConfigType * CanIf_FindTxPduEntry(PduIdType id)
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341 static const CanIf_TxPduConfigType * CanIf_FindTxPduEntry(PduIdType id)
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344 if (id >= CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanTXPduIds) {
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347 return &CanIf_ConfigPtr->InitConfig->CanIfTxPduConfigPtr[id];
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352 #if ( CANIF_ARC_RUNTIME_PDU_CONFIGURATION == STD_ON )
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353 CanIf_RxPduConfigType * CanIf_FindRxPduEntry(PduIdType id) {
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354 if (id >= CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanRxPduIds) {
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357 return &CanIf_ConfigPtr->InitConfig->CanIfRxPduConfigPtr[id];
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361 const CanIf_HrhConfigType* CanIf_Arc_GetReceiveHandler(CanIf_Arc_ChannelIdType Channel) {
362 const CanIf_InitHohConfigType *hohConfig;
363 const CanIf_HrhConfigType *hrhConfig;
365 // foreach(hoh){ foreach(hrh in hoh) {} }
366 hohConfig = CanIf_ConfigPtr->InitConfig->CanIfHohConfigPtr;
372 hrhConfig = hohConfig->CanIfHrhConfig;
377 if (hrhConfig->CanIfCanControllerHrhIdRef == Channel)
379 } while(!hrhConfig->CanIf_Arc_EOL);
381 } while(!hohConfig->CanIf_Arc_EOL);
383 DET_REPORTERROR(MODULE_ID_CANIF, 0, 0xFF, CANIF_E_PARAM_HRH);
388 const CanIf_HthConfigType* CanIf_Arc_GetTransmitHandler(CanIf_Arc_ChannelIdType Channel) {
389 const CanIf_InitHohConfigType *hohConfig;
390 const CanIf_HthConfigType *hthConfig;
392 // foreach(hoh){ foreach(hrh in hoh) {} }
393 hohConfig = CanIf_ConfigPtr->InitConfig->CanIfHohConfigPtr;
399 hthConfig = hohConfig->CanIfHthConfig;
404 if (hthConfig->CanIfCanControllerIdRef == Channel)
406 } while(!hthConfig->CanIf_Arc_EOL);
408 } while(!hohConfig->CanIf_Arc_EOL);
410 DET_REPORTERROR(MODULE_ID_CANIF, 0, 0xFF, CANIF_E_PARAM_HTH);
416 //-------------------------------------------------------------------
\r
418 Std_ReturnType CanIf_Transmit(PduIdType CanTxPduId,
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419 const PduInfoType *PduInfoPtr)
\r
421 Can_PduType canPdu;
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422 const CanIf_TxPduConfigType *txEntry;
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423 CanIf_ControllerModeType csMode;
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424 CanIf_ChannelGetModeType pduMode;
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426 VALIDATE(CanIf_Global.initRun, CANIF_TRANSMIT_ID, CANIF_E_UNINIT );
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427 VALIDATE((PduInfoPtr != 0), CANIF_TRANSMIT_ID, CANIF_E_PARAM_POINTER );
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429 // Get the controller from L-PDU handle
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430 txEntry = CanIf_FindTxPduEntry(CanTxPduId);
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434 VALIDATE(FALSE, CANIF_TRANSMIT_ID, CANIF_E_INVALID_TXPDUID);
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438 CanIf_Arc_ChannelIdType channel = txEntry->CanIfCanTxPduHthRef->CanIfCanControllerIdRef;
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440 // Get and verify the controller mode
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441 if (CanIf_GetControllerMode(channel, &csMode) == E_NOT_OK){
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445 if (csMode != CANIF_CS_STARTED){ // CANIF_161
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449 // Get and verify the PDU channel mode control
\r
450 if (CanIf_GetPduMode(channel, &pduMode) == E_NOT_OK){
\r
454 if ((pduMode != CANIF_GET_TX_ONLINE) && (pduMode != CANIF_GET_ONLINE)){
\r
458 canPdu.id = txEntry->CanIfCanTxPduIdCanId;
\r
460 canPdu.length = PduInfoPtr->SduLength;
\r
461 canPdu.sdu = PduInfoPtr->SduDataPtr;
\r
462 canPdu.swPduHandle = CanTxPduId;
\r
464 Can_ReturnType rVal = Can_Write(txEntry->CanIfCanTxPduHthRef->CanIfHthIdSymRef, &canPdu);
\r
466 if (rVal == CAN_NOT_OK){
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470 if (rVal == CAN_BUSY) // CANIF 082, CANIF 161
\r
472 // Tx buffering not supported so just return.
\r
479 //-------------------------------------------------------------------
\r
481 #if ( CANIF_READRXPDU_DATA_API == STD_ON )
\r
482 Std_ReturnType CanIf_ReadRxPduData(PduIdType CanRxPduId,
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483 PduInfoType *PduInfoPtr)
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485 VALIDATE(FALSE, CANIF_READTXPDUDATA_ID, CANIF_E_NOK_NOSUPPORT);
\r
486 VALIDATE(CanIf_Global.initRun == STD_ON, CANIF_READTXPDUDATA_ID, CANIF_E_UNINIT );
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487 VALIDATE(PduInfoPtr != 0, CANIF_READTXPDUDATA_ID, CANIF_E_PARAM_POINTER );
\r
489 // This function is not supported
\r
495 //-------------------------------------------------------------------
\r
497 #if ( CANIF_READTXPDU_NOTIFY_STATUS_API == STD_ON )
\r
498 CanIf_NotifStatusType CanIf_ReadTxNotifStatus(PduIdType CanTxPduId)
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500 const CanIf_TxPduConfigType *txEntry;
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501 VALIDATE(FALSE, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_NOK_NOSUPPORT);
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502 VALIDATE(CanIf_Global.initRun, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_UNINIT );
\r
504 // Get the controller from L-PDU handle
\r
505 txEntry = CanIf_FindTxPduEntry(CanTxPduId);
\r
509 VALIDATE(FALSE, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_INVALID_TXPDUID);
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510 return CANIF_NO_NOTIFICATION;
\r
513 if (txEntry->CanIfReadTxPduNotifyStatus == FALSE)
\r
515 VALIDATE(FALSE, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_INVALID_TXPDUID);
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516 return CANIF_NO_NOTIFICATION;
\r
519 // This function is not supported
\r
521 return CANIF_NO_NOTIFICATION;
\r
525 //-------------------------------------------------------------------
\r
527 #if ( CANIF_READRXPDU_NOTIFY_STATUS_API == STD_ON )
\r
528 CanIf_NotifStatusType CanIf_ReadRxNotifStatus(PduIdType CanRxPduId)
\r
530 VALIDATE(FALSE, CANIF_READRXNOTIFSTATUS_ID, CANIF_E_NOK_NOSUPPORT);
\r
531 VALIDATE(CanIf_Global.initRun, CANIF_READRXNOTIFSTATUS_ID, CANIF_E_UNINIT );
\r
533 return CANIF_NO_NOTIFICATION;
\r
537 //-------------------------------------------------------------------
\r
539 Std_ReturnType CanIf_SetPduMode(uint8 Controller,
\r
540 CanIf_ChannelSetModeType PduModeRequest)
\r
542 // We call this a CanIf channel. Hopefully makes it easier to follow.
\r
543 CanIf_Arc_ChannelIdType channel = (CanIf_Arc_ChannelIdType) Controller;
\r
545 VALIDATE( CanIf_Global.initRun, CANIF_SETPDUMODE_ID, CANIF_E_UNINIT );
\r
546 VALIDATE( channel < CANIF_CHANNEL_CNT, CANIF_SETPDUMODE_ID, CANIF_E_PARAM_CONTROLLER );
\r
548 CanIf_ChannelGetModeType oldMode = CanIf_Global.channelData[channel].PduMode;
\r
550 switch(PduModeRequest)
\r
552 case CANIF_SET_OFFLINE:
\r
553 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
\r
555 case CANIF_SET_RX_OFFLINE:
\r
556 if (oldMode == CANIF_GET_RX_ONLINE){
\r
557 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
\r
558 } else if (oldMode == CANIF_GET_ONLINE){
\r
559 CanIf_Global.channelData[channel].PduMode = CANIF_GET_TX_ONLINE;
\r
560 } else if (oldMode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE){
\r
561 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE;
\r
564 // Other oldmodes don't care
\r
566 case CANIF_SET_RX_ONLINE:
\r
567 if (oldMode == CANIF_GET_OFFLINE){
\r
568 CanIf_Global.channelData[channel].PduMode = CANIF_GET_RX_ONLINE;
\r
569 } else if (oldMode == CANIF_GET_TX_ONLINE) {
\r
570 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
\r
571 } else if (oldMode == CANIF_GET_OFFLINE_ACTIVE){
\r
572 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE;
\r
575 // Other oldmodes don't care
\r
577 case CANIF_SET_TX_OFFLINE:
\r
578 if (oldMode == CANIF_GET_TX_ONLINE){
\r
579 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
\r
580 } else if (oldMode == CANIF_GET_ONLINE) {
\r
581 CanIf_Global.channelData[channel].PduMode = CANIF_GET_RX_ONLINE;
\r
582 } else if (oldMode == CANIF_GET_OFFLINE_ACTIVE) {
\r
583 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
\r
584 } else if (oldMode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE) {
\r
585 CanIf_Global.channelData[channel].PduMode = CANIF_GET_RX_ONLINE;
\r
588 // Other oldmodes don't care
\r
590 case CANIF_SET_TX_ONLINE:
\r
591 if (oldMode == CANIF_GET_OFFLINE){
\r
592 CanIf_Global.channelData[channel].PduMode = CANIF_GET_TX_ONLINE;
\r
593 } else if (oldMode == CANIF_GET_RX_ONLINE) {
\r
594 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
\r
595 } else if (oldMode == CANIF_GET_OFFLINE_ACTIVE) {
\r
596 CanIf_Global.channelData[channel].PduMode = CANIF_GET_TX_ONLINE;
\r
597 } else if (oldMode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE) {
\r
598 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
\r
601 // Other oldmodes don't care
\r
603 case CANIF_SET_ONLINE:
\r
604 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
\r
607 case CANIF_SET_TX_OFFLINE_ACTIVE:
\r
608 if (oldMode == CANIF_GET_OFFLINE) {
\r
609 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE;
\r
610 } else if (oldMode == CANIF_GET_RX_ONLINE) {
\r
611 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE;
\r
612 } else if (oldMode == CANIF_GET_TX_ONLINE) {
\r
613 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE;
\r
614 } else if (oldMode == CANIF_GET_ONLINE) {
\r
615 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE;
\r
618 // Other oldmodes don't care
\r
625 //-------------------------------------------------------------------
\r
627 Std_ReturnType CanIf_GetPduMode(uint8 Controller,
\r
628 CanIf_ChannelGetModeType *PduModePtr)
\r
630 // We call this a CanIf channel. Hopefully makes it easier to follow.
\r
631 CanIf_Arc_ChannelIdType channel = (CanIf_Arc_ChannelIdType) Controller;
\r
633 VALIDATE( CanIf_Global.initRun, CANIF_GETPDUMODE_ID, CANIF_E_UNINIT );
\r
634 VALIDATE( channel < CANIF_CHANNEL_CNT, CANIF_GETPDUMODE_ID, CANIF_E_PARAM_CONTROLLER );
\r
636 *PduModePtr = CanIf_Global.channelData[channel].PduMode;
\r
641 #if ( CANIF_ARC_RUNTIME_PDU_CONFIGURATION == STD_ON )
642 void CanIf_SetDynamicTxId(PduIdType CanTxPduId, Can_IdType CanId)
\r
644 CanIf_TxPduConfigType *txEntry;
\r
645 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_SETDYNAMICTX_ID, CANIF_E_UNINIT );
\r
647 // Get the controller from L-PDU handle
\r
648 txEntry = CanIf_FindTxPduEntry(CanTxPduId);
\r
652 VALIDATE_NO_RV(FALSE, CANIF_SETDYNAMICTX_ID, CANIF_E_INVALID_TXPDUID);
\r
656 // Check that this is a dymanic PDU
\r
657 if (txEntry->CanIfCanTxPduType != ARC_PDU_TYPE_DYNAMIC)
\r
659 VALIDATE_NO_RV(FALSE, CANIF_SETDYNAMICTX_ID, CANIF_E_INVALID_TXPDUID);
\r
663 // Check that this is an extended or standard id
\r
664 if (((CanId & U0x80000000) && (txEntry->CanIfTxPduIdCanIdType == ARC_CAN_ID_TYPE_29)) ||
\r
665 (((CanId & U0x80000000) == 0) && (txEntry->CanIfTxPduIdCanIdType == ARC_CAN_ID_TYPE_11)))
\r
667 // Update the CanID
\r
668 //txEntry->CanIfCanTxPduIdCanId = CanId; // TODO How do we fix this from a const pointer
\r
674 // Inavlid Canid to configuration
\r
675 VALIDATE_NO_RV(FALSE, CANIF_SETDYNAMICTX_ID, CANIF_E_PARAM_CANID);
\r
680 #if ( CANIF_TRANSCEIVER_API == STD_ON )
\r
681 Std_ReturnType CanIf_SetTransceiverMode(uint8 Transceiver,
\r
682 CanIf_TransceiverModeType TransceiverMode)
\r
684 VALIDATE(FALSE, CANIF_SET_TRANSCEIVERMODE_ID, CANIF_E_NOK_NOSUPPORT);
\r
690 Std_ReturnType CanIf_GetTransceiverMode(uint8 Transceiver,
\r
691 CanIf_TransceiverModeType *TransceiverModePtr)
\r
693 VALIDATE(FALSE, CANIF_GET_TRANSCEIVERMODE_ID, CANIF_E_NOK_NOSUPPORT);
\r
699 Std_ReturnType CanIf_GetTrcvWakeupReason(uint8 Transceiver,
\r
700 CanIf_TrcvWakeupReasonType *TrcvWuReasonPtr)
\r
702 VALIDATE(FALSE, CANIF_GET_TRCVMODEREASON_ID, CANIF_E_NOK_NOSUPPORT);
\r
708 Std_ReturnType CanIf_SetTransceiverWakeupMode(uint8 Transceiver,
\r
709 CanIf_TrcvWakeupModeType *TrcvWakeupMode)
\r
711 VALIDATE(FALSE, CANIF_SET_TRANSCEIVERWAKEMODE_ID, CANIF_E_NOK_NOSUPPORT);
\r
718 #if ( CANIF_WAKEUP_EVENT_API == STD_ON )
\r
719 Std_ReturnType CanIf_CheckWakeup(EcuM_WakeupSourceType WakeupSource)
\r
721 VALIDATE(FALSE, CANIF_CHECKWAKEUP_ID, CANIF_E_NOK_NOSUPPORT);
\r
727 Std_ReturnType CanIf_CheckValidation(EcuM_WakeupSourceType WakeupSource)
\r
729 VALIDATE(FALSE, CANIF_CHECKVALIDATION_ID, CANIF_E_NOK_NOSUPPORT);
\r
737 * Callback interface from driver
\r
739 void CanIf_TxConfirmation(PduIdType canTxPduId)
\r
741 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_TXCONFIRMATION_ID, CANIF_E_UNINIT)
\r
742 VALIDATE_NO_RV(canTxPduId < CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanTXPduIds, CANIF_TXCONFIRMATION_ID, CANIF_E_PARAM_LPDU);
\r
744 const CanIf_TxPduConfigType* entry =
\r
745 &CanIf_ConfigPtr->InitConfig->CanIfTxPduConfigPtr[canTxPduId];
\r
747 if (entry->CanIfUserTxConfirmation != NULL)
\r
749 CanIf_ChannelGetModeType mode;
\r
750 CanIf_GetPduMode(entry->CanIfCanTxPduHthRef->CanIfCanControllerIdRef, &mode);
\r
751 if ((mode == CANIF_GET_TX_ONLINE) || (mode == CANIF_GET_ONLINE)
\r
752 || (mode == CANIF_GET_OFFLINE_ACTIVE) || (mode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE) )
\r
754 entry->CanIfUserTxConfirmation(entry->CanIfTxPduId); /* CANIF053 */
\r
760 void CanIf_RxIndication(uint8 Hrh, Can_IdType CanId, uint8 CanDlc,
\r
761 const uint8 *CanSduPtr)
\r
763 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_RXINDICATION_ID, CANIF_E_UNINIT);
\r
764 VALIDATE_NO_RV(CanSduPtr != NULL, CANIF_RXINDICATION_ID, CANIF_E_PARAM_POINTER);
\r
766 /* Check PDU mode before continue processing */
\r
767 CanIf_ChannelGetModeType mode;
\r
768 CanIf_Arc_ChannelIdType channel = CanIf_Arc_FindHrhChannel( (Can_Arc_HRHType) Hrh);
\r
769 if (channel == -1) // Invalid HRH
\r
774 if (CanIf_GetPduMode(channel, &mode) == E_OK)
\r
776 if ( (mode == CANIF_GET_OFFLINE) || (mode == CANIF_GET_TX_ONLINE) ||
\r
777 (mode == CANIF_GET_OFFLINE_ACTIVE) )
\r
779 // Receiver path is disabled so just drop it
\r
785 return; // No mode so just return
\r
788 const CanIf_RxPduConfigType *entry = CanIf_ConfigPtr->InitConfig->CanIfRxPduConfigPtr;
\r
790 /* Find the CAN id in the RxPduList */
\r
791 for (uint16 i = 0; i < CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanRxPduIds; i++)
\r
793 if (entry->CanIfCanRxPduHrhRef->CanIfHrhIdSymRef == Hrh)
\r
795 // Software filtering
\r
796 if (entry->CanIfCanRxPduHrhRef->CanIfHrhType == CAN_ARC_HANDLE_TYPE_BASIC)
\r
798 if (entry->CanIfCanRxPduHrhRef->CanIfSoftwareFilterHrh)
\r
800 if (entry->CanIfSoftwareFilterType == CANIF_SOFTFILTER_TYPE_MASK)
\r
802 if ((CanId & entry->CanIfCanRxPduCanIdMask ) ==
\r
803 ( entry->CanIfCanRxPduCanId & entry->CanIfCanRxPduCanIdMask))
\r
805 // We found a pdu so call higher layers
\r
810 continue; // Go to next entry
815 DET_REPORTERROR(MODULE_ID_CAN, 0, CANIF_RXINDICATION_ID, CANIF_E_PARAM_HRH);
\r
816 continue; // Not a supported filter type, so just drop the frame
\r
821 #if (CANIF_DLC_CHECK == STD_ON)
\r
822 if (CanDlc < entry->CanIfCanRxPduDlc)
\r
824 VALIDATE_NO_RV(FALSE, CANIF_RXINDICATION_ID, CANIF_E_PARAM_DLC);
\r
829 switch (entry->CanIfRxUserType)
\r
831 case CANIF_USER_TYPE_CAN_SPECIAL:
\r
833 ( (CanIf_FuncTypeCanSpecial)(entry->CanIfUserRxIndication) )(
834 entry->CanIfCanRxPduHrhRef->CanIfCanControllerHrhIdRef,
835 entry->CanIfCanRxPduId,
844 case CANIF_USER_TYPE_CAN_NM:
\r
845 #if defined(USE_CANNM)
\r
846 CanNm_RxIndication(entry->CanIfCanRxPduId,CanSduPtr);
\r
851 case CANIF_USER_TYPE_CAN_PDUR:
\r
852 // Send Can frame to PDU router
\r
853 #if defined(USE_PDUR)
\r
855 PduInfoType pduInfo;
\r
856 pduInfo.SduLength = CanDlc;
\r
857 pduInfo.SduDataPtr = (uint8 *)CanSduPtr;
\r
858 PduR_CanIfRxIndication(entry->CanIfCanRxPduId,&pduInfo);
\r
864 case CANIF_USER_TYPE_CAN_TP:
\r
865 // Send Can frame to CAN TP
\r
866 #if defined(USE_CANTP)
\r
868 PduInfoType CanTpRxPdu;
\r
869 CanTpRxPdu.SduLength = CanDlc;
\r
870 CanTpRxPdu.SduDataPtr = (uint8 *)CanSduPtr;
\r
871 CanTp_RxIndication(entry->CanIfCanRxPduId, &CanTpRxPdu);
\r
882 // Did not find the PDU, something is wrong
\r
883 VALIDATE_NO_RV(FALSE, CANIF_RXINDICATION_ID, CANIF_E_PARAM_LPDU);
\r
886 #if ( CANIF_TRANSMIT_CANCELLATION == STD_ON )
\r
887 void CanIf_CancelTxConfirmation(const Can_PduType *PduInfoPtr)
\r
889 VALIDATE(FALSE, CANIF_CANCELTXCONFIRMATION_ID, CANIF_E_NOK_NOSUPPORT);
\r
890 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_CANCELTXCONFIRMATION_ID, CANIF_E_UNINIT);
\r
891 VALIDATE_NO_RV(PduInfoPtr != NULL, CANIF_RXINDICATION_ID, CANIF_E_PARAM_POINTER);
\r
893 const CanIf_TxPduConfigType *entry =
\r
894 CanIf_ConfigPtr->InitConfig->CanIfTxPduConfigPtr;
\r
898 // Did not find the PDU, something is wrong
\r
899 VALIDATE_NO_RV(FALSE, CANIF_TXCONFIRMATION_ID, CANIF_E_PARAM_LPDU);
\r
903 void CanIf_ControllerBusOff(uint8 Controller)
\r
905 // We call this a CanIf channel. Hopefully makes it easier to follow.
\r
906 CanIf_Arc_ChannelIdType channel = (CanIf_Arc_ChannelIdType) Controller;
\r
908 VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_CONTROLLER_BUSOFF_ID, CANIF_E_UNINIT );
\r
909 VALIDATE_NO_RV( Controller < CANIF_CHANNEL_CNT, CANIF_CONTROLLER_BUSOFF_ID, CANIF_E_PARAM_CONTROLLER );
\r
911 // According to figure 35 in canif spec this should be done in
\r
912 // Can driver but it is better to do it here
\r
913 CanIf_SetControllerMode(channel, CANIF_CS_STOPPED);
\r
915 if (CanIf_ConfigPtr->DispatchConfig->CanIfBusOffNotification != NULL)
\r
917 CanIf_ConfigPtr->DispatchConfig->CanIfBusOffNotification(channel);
\r
921 void CanIf_SetWakeupEvent(uint8 Controller)
\r
923 #if ( CANIF_DEV_ERROR_DETECT == STD_ON )
\r
924 // We call this a CanIf channel. Hopefully makes it easier to follow.
\r
925 CanIf_Arc_ChannelIdType channel = (CanIf_Arc_ChannelIdType) Controller;
\r
930 VALIDATE_NO_RV(FALSE, CANIF_SETWAKEUPEVENT_ID, CANIF_E_NOK_NOSUPPORT);
\r
931 VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_SETWAKEUPEVENT_ID, CANIF_E_UNINIT );
\r
932 VALIDATE_NO_RV( channel < CANIF_CHANNEL_CNT, CANIF_SETWAKEUPEVENT_ID, CANIF_E_PARAM_CONTROLLER );
\r
937 void CanIf_Arc_Error(uint8 Controller, Can_Arc_ErrorType Error)
\r
939 #if ( CANIF_DEV_ERROR_DETECT == STD_ON )
\r
940 // We call this a CanIf channel. Hopefully makes it easier to follow.
\r
941 CanIf_Arc_ChannelIdType channel = Controller;
\r
944 VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_ARCERROR_ID, CANIF_E_UNINIT );
\r
945 VALIDATE_NO_RV( channel < CANIF_CHANNEL_CNT, CANIF_ARCERROR_ID, CANIF_E_PARAM_CONTROLLER );
\r
947 if (CanIf_ConfigPtr->DispatchConfig->CanIfErrorNotificaton != NULL)
\r
949 CanIf_ConfigPtr->DispatchConfig->CanIfErrorNotificaton(Controller, Error);
\r
953 uint8 CanIf_Arc_GetChannelDefaultConfIndex(CanIf_Arc_ChannelIdType Channel)
955 return CanIf_Config.Arc_ChannelDefaultConfIndex[Channel];