1 /* -------------------------------- Arctic Core ------------------------------
2 * Arctic Core - the open source AUTOSAR platform http://arccore.com
4 * Copyright (C) 2009 ArcCore AB <contact@arccore.com>
6 * This source code is free software; you can redistribute it and/or modify it
7 * under the terms of the GNU General Public License version 2 as published by the
8 * Free Software Foundation; See <http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt>.
10 * This program is distributed in the hope that it will be useful, but
11 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
12 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
14 * -------------------------------- Arctic Core ------------------------------*/
19 #include "stm32f10x.h"
\r
20 #include "stm32f10x_can.h"
23 #include "CanIf_Cbk.h"
\r
36 /* CONFIGURATION NOTES
\r
37 * ------------------------------------------------------------------
\r
38 * - CanHandleType must be CAN_ARC_HANDLE_TYPE_BASIC
\r
39 * i.e. CanHandleType=CAN_ARC_HANDLE_TYPE_FULL NOT supported
\r
40 * i.e CanIdValue is NOT supported
\r
41 * - All CanXXXProcessing must be CAN_ARC_PROCESS_TYPE_INTERRUPT
\r
42 * ie CAN_ARC_PROCESS_TYPE_POLLED not supported
\r
43 * - HOH's for Tx are global and Rx are for each controller
\r
46 /* IMPLEMENTATION NOTES
\r
47 * -----------------------------------------------
\r
48 * - A HOH us unique for a controller( not a config-set )
\r
49 * - Hrh's are numbered for each controller from 0
\r
50 * - loopback in HW NOT supported
51 * - Only one transmit mailbox is used because otherwise
52 * we cannot use tx_confirmation since there is no way to know
53 * which mailbox caused the tx interrupt. TP will need this feature.
54 * - Sleep,wakeup not fully implemented since other modules lack functionality
\r
58 * -----------------------------------------------
\r
59 * - Can Hardware unit - One or multiple Can controllers of the same type.
\r
60 * - Hrh - HOH with receive definitions
\r
61 * - Hth - HOH with transmit definitions
\r
65 typedef CAN_TypeDef CAN_HW_t;
\r
66 //-------------------------------------------------------------------
\r
68 #define GET_CONTROLLER_CONFIG(_controller) \
\r
69 &Can_Global.config->CanConfigSet->CanController[(_controller)]
\r
71 #define GET_CALLBACKS() \
\r
72 (Can_Global.config->CanConfigSet->CanCallbacks)
\r
74 #define GET_PRIVATE_DATA(_controller) \
\r
75 &CanUnit[_controller]
\r
77 #define GET_CONTROLLER_CNT() (CAN_CONTROLLER_CNT)
\r
79 //-------------------------------------------------------------------
\r
81 #if ( CAN_DEV_ERROR_DETECT == STD_ON )
\r
82 #define VALIDATE(_exp,_api,_err ) \
\r
84 Det_ReportError(MODULE_ID_CAN,0,_api,_err); \
\r
85 return CAN_NOT_OK; \
\r
88 #define VALIDATE_NO_RV(_exp,_api,_err ) \
\r
90 Det_ReportError(MODULE_ID_CAN,0,_api,_err); \
\r
94 #define DET_REPORTERROR(_x,_y,_z,_q) Det_ReportError(_x, _y, _z, _q)
\r
96 #define VALIDATE(_exp,_api,_err )
\r
97 #define VALIDATE_NO_RV(_exp,_api,_err )
\r
98 #define DET_REPORTERROR(_x,_y,_z,_q)
\r
102 #define VALIDATE_DEM_NO_RV(_exp,_err ) \
104 Dem_ReportErrorStatus(_err, DEM_EVENT_STATUS_FAILED); \
108 #define VALIDATE_DEM_NO_RV(_exp,_err )
111 //-------------------------------------------------------------------
\r
117 } Can_DriverStateType;
\r
119 // Mapping between HRH and Controller//HOH
\r
120 typedef struct Can_Arc_ObjectHOHMapStruct
\r
122 CanControllerIdType CanControllerRef; // Reference to controller
\r
123 const Can_HardwareObjectType* CanHOHRef; // Reference to HOH.
\r
124 } Can_Arc_ObjectHOHMapType;
\r
126 /* Type for holding global information used by the driver */
\r
128 Can_DriverStateType initRun;
\r
131 const Can_ConfigType *config;
\r
133 // One bit for each channel that is configured.
\r
134 // Used to determine if validity of a channel
\r
136 // 0 - NOT configured
\r
138 // Maps the a channel id to a configured channel id
\r
139 uint8 channelMap[CAN_CONTROLLER_CNT];
\r
141 // This is a map that maps the HTH:s with the controller and Hoh. It is built
\r
142 // during Can_Init and is used to make things faster during a transmit.
\r
143 Can_Arc_ObjectHOHMapType CanHTHMap[NUM_OF_HTHS];
\r
147 Can_GlobalType Can_Global =
\r
149 .initRun = CAN_UNINIT,
\r
152 /* Type for holding information about each controller */
\r
154 CanIf_ControllerModeType state;
\r
158 Can_Arc_StatisticsType stats;
\r
160 // Data stored for Txconfirmation callbacks to CanIf
\r
161 PduIdType swPduHandle; //
\r
164 Can_UnitType CanUnit[CAN_CONTROLLER_CNT] =
\r
167 .state = CANIF_CS_UNINIT,
\r
170 .state = CANIF_CS_UNINIT,
\r
174 //-------------------------------------------------------------------
\r
175 static CAN_HW_t * GetController(int unit)
177 return ((CAN_HW_t *)(CAN1_BASE + unit*0x400));
180 //-------------------------------------------------------------------
\r
182 * Function that finds the Hoh( HardwareObjectHandle ) from a Hth
\r
183 * A HTH may connect to one or several HOH's. Just find the first one.
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185 * @param hth The transmit handle
\r
186 * @returns Ptr to the Hoh
\r
188 static const Can_HardwareObjectType * Can_FindHoh( Can_Arc_HTHType hth , uint32* controller)
\r
190 const Can_HardwareObjectType *hohObj;
\r
191 const Can_Arc_ObjectHOHMapType *map;
\r
192 const Can_ControllerConfigType *canHwConfig;
\r
194 map = &Can_Global.CanHTHMap[hth];
\r
196 // Verify that this is the correct map
\r
197 if (map->CanHOHRef->CanObjectId != hth)
\r
199 DET_REPORTERROR(MODULE_ID_CAN, 0, 0x6, CAN_E_PARAM_HANDLE);
\r
202 canHwConfig= GET_CONTROLLER_CONFIG(Can_Global.channelMap[map->CanControllerRef]);
\r
204 hohObj = map->CanHOHRef;
\r
206 // Verify that this is the correct Hoh type
\r
207 if ( hohObj->CanObjectType == CAN_OBJECT_TYPE_TRANSMIT)
\r
209 *controller = map->CanControllerRef;
\r
213 DET_REPORTERROR(MODULE_ID_CAN, 0, 0x6, CAN_E_PARAM_HANDLE);
\r
218 //-------------------------------------------------------------------
\r
220 static void Can_RxIsr( int unit );
221 static void Can_TxIsr( int unit );
222 static void Can_ErrIsr( int unit );
\r
224 void Can_1_RxIsr( void ) { Can_RxIsr(CAN_CTRL_1); }
225 void Can_2_RxIsr( void ) { Can_RxIsr(CAN_CTRL_2); }
227 void Can_1_TxIsr( void ) { Can_TxIsr(CAN_CTRL_1); }
228 void Can_2_TxIsr( void ) { Can_TxIsr(CAN_CTRL_2); }
230 void Can_1_ErrIsr( void ) { Can_ErrIsr(CAN_CTRL_1); }
231 void Can_2_ErrIsr( void ) { Can_ErrIsr(CAN_CTRL_2); }
234 //-------------------------------------------------------------------
\r
236 // Uses 25.4.5.1 Transmission Abort Mechanism
237 static void Can_AbortTx( CAN_HW_t *canHw, Can_UnitType *canUnit ) {
238 // Disable Transmit irq
240 // check if mb's empty
242 // Abort all pending mb's
244 // Wait for mb's being emptied
248 * Hardware wake ISR for CAN
250 * @param unit CAN controller number( from 0 )
252 static void Can_WakeIsr( int unit ) {
253 if (GET_CALLBACKS()->ControllerWakeup != NULL)
255 GET_CALLBACKS()->ControllerWakeup(unit);
258 Can_SetControllerMode(unit, CAN_T_STOP);
260 // TODO EcuM_CheckWakeup();
264 * Hardware error ISR for CAN
\r
266 * @param unit CAN controller number( from 0 )
\r
268 static void Can_ErrIsr( int unit ) {
\r
269 CAN_HW_t *canHw = GetController(unit);
\r
270 Can_UnitType *canUnit = GET_PRIVATE_DATA(unit);
271 Can_Arc_ErrorType err;
\r
275 if(SET == CAN_GetITStatus(canHw, CAN_IT_WKU)){
\r
277 CAN_ClearITPendingBit(canHw, CAN_IT_WKU);
280 if(SET == CAN_GetITStatus(canHw, CAN_IT_BOF)){
281 canUnit->stats.boffCnt++;
282 if (GET_CALLBACKS()->ControllerBusOff != NULL)
284 GET_CALLBACKS()->ControllerBusOff(unit);
286 Can_SetControllerMode(unit, CAN_T_STOP); // CANIF272
288 Can_AbortTx( canHw, canUnit ); // CANIF273
291 CAN_ClearITPendingBit(canHw, CAN_IT_BOF);
296 if (GET_CALLBACKS()->Arc_Error != NULL)
298 GET_CALLBACKS()->Arc_Error( unit, err );
303 //-------------------------------------------------------------------
\r
306 * ISR for CAN. Normal Rx/operation
\r
308 * @param unit CAN controller number( from 0 )
\r
310 static void Can_RxIsr(int unit) {
\r
312 CAN_HW_t *canHw= GetController(unit);
\r
313 const Can_ControllerConfigType *canHwConfig= GET_CONTROLLER_CONFIG(Can_Global.channelMap[unit]);
\r
314 Can_UnitType *canUnit = GET_PRIVATE_DATA(unit);
\r
315 const Can_HardwareObjectType *hohObj;
319 RxMessage.StdId=0x00;
320 RxMessage.ExtId=0x00;
324 RxMessage.Data[0]=0x00;
325 RxMessage.Data[1]=0x00;
326 CAN_Receive(canHw,CAN_FIFO0, &RxMessage);
\r
328 // Loop over all the Hoh's
\r
329 hohObj= canHwConfig->Can_Arc_Hoh;
\r
334 if (hohObj->CanObjectType == CAN_OBJECT_TYPE_RECEIVE)
\r
338 // According to autosar MSB shuould be set if extended
\r
339 if (RxMessage.IDE != CAN_ID_STD) {
340 id = RxMessage.ExtId;
343 id = RxMessage.StdId;
346 if (GET_CALLBACKS()->RxIndication != NULL)
\r
348 GET_CALLBACKS()->RxIndication(hohObj->CanObjectId,
\r
351 (uint8 *)&RxMessage.Data[0] ); // Next layer will copy
\r
353 // Increment statistics
\r
354 canUnit->stats.rxSuccessCnt++;
\r
356 } while ( !hohObj->Can_Arc_EOL);
\r
360 * ISR for CAN. Normal Tx operation
362 * @param unit CAN controller number( from 0 )
364 static void Can_TxIsr(int unit) {
365 CAN_HW_t *canHw= GetController(unit);
366 const Can_ControllerConfigType *canHwConfig= GET_CONTROLLER_CONFIG(Can_Global.channelMap[unit]);
367 Can_UnitType *canUnit = GET_PRIVATE_DATA(unit);
368 const Can_HardwareObjectType *hohObj;
370 // Loop over all the Hoh's
371 hohObj= canHwConfig->Can_Arc_Hoh;
376 if (hohObj->CanObjectType == CAN_OBJECT_TYPE_TRANSMIT)
378 if (GET_CALLBACKS()->TxConfirmation != NULL)
380 GET_CALLBACKS()->TxConfirmation(canUnit->swPduHandle);
382 canUnit->swPduHandle = 0; // Is this really necessary ??
384 // Clear Tx interrupt
385 CAN_ClearITPendingBit(canHw,CAN_IT_RQCP0);
386 CAN_ClearITPendingBit(canHw,CAN_IT_RQCP1);
387 CAN_ClearITPendingBit(canHw,CAN_IT_RQCP2);
389 } while ( !hohObj->Can_Arc_EOL);
392 //-------------------------------------------------------------------
\r
394 #define INSTALL_HANDLERS(_can_name,_sce,_rx,_tx) \
\r
396 ISR_INSTALL_ISR2( "Can_Err", _can_name ## _ErrIsr, _sce, 2, 0 ); \
397 ISR_INSTALL_ISR2( "Can_Rx", _can_name ## _RxIsr, _rx, 2, 0 ); \
398 ISR_INSTALL_ISR2( "Can_Tx", _can_name ## _TxIsr, _tx, 2, 0 ); \
401 // This initiates ALL can controllers
\r
402 void Can_Init( const Can_ConfigType *config ) {
\r
403 Can_UnitType *canUnit;
\r
404 const Can_ControllerConfigType *canHwConfig;
\r
407 VALIDATE_NO_RV( (Can_Global.initRun == CAN_UNINIT), 0x0, CAN_E_TRANSITION );
\r
408 VALIDATE_NO_RV( (config != NULL ), 0x0, CAN_E_PARAM_POINTER );
\r
411 Can_Global.config = config;
\r
412 Can_Global.initRun = CAN_READY;
\r
414 for (int configId=0; configId < CAN_ARC_CTRL_CONFIG_CNT; configId++) {
\r
415 canHwConfig = GET_CONTROLLER_CONFIG(configId);
\r
416 ctlrId = canHwConfig->CanControllerId;
\r
418 // Assign the configuration channel used later..
\r
419 Can_Global.channelMap[canHwConfig->CanControllerId] = configId;
\r
420 Can_Global.configured |= (1<<ctlrId);
\r
422 canUnit = GET_PRIVATE_DATA(ctlrId);
\r
423 canUnit->state = CANIF_CS_STOPPED;
\r
425 canUnit->lock_cnt = 0;
\r
428 memset(&canUnit->stats, 0, sizeof(Can_Arc_StatisticsType));
431 // Could install handlers depending on HW objects to trap more errors
433 switch( canHwConfig->CanControllerId ) {
436 INSTALL_HANDLERS(Can_1, CAN1_SCE_IRQn, USB_LP_CAN1_RX0_IRQn, USB_HP_CAN1_TX_IRQn); break;
439 INSTALL_HANDLERS(Can_1, CAN1_SCE_IRQn, CAN1_RX0_IRQn, CAN1_TX_IRQn); break;
441 INSTALL_HANDLERS(Can_2, CAN2_SCE_IRQn, CAN2_RX0_IRQn, CAN2_TX_IRQn); break;
447 Can_InitController(ctlrId, canHwConfig);
\r
449 // Loop through all Hoh:s and map them into the HTHMap
\r
450 const Can_HardwareObjectType* hoh;
\r
451 hoh = canHwConfig->Can_Arc_Hoh;
\r
457 if (hoh->CanObjectType == CAN_OBJECT_TYPE_TRANSMIT)
\r
459 Can_Global.CanHTHMap[hoh->CanObjectId].CanControllerRef = canHwConfig->CanControllerId;
\r
460 Can_Global.CanHTHMap[hoh->CanObjectId].CanHOHRef = hoh;
\r
462 } while (!hoh->Can_Arc_EOL);
\r
467 // Unitialize the module
\r
470 Can_UnitType *canUnit;
\r
471 const Can_ControllerConfigType *canHwConfig;
\r
474 for (int configId=0; configId < CAN_ARC_CTRL_CONFIG_CNT; configId++) {
\r
475 canHwConfig = GET_CONTROLLER_CONFIG(configId);
\r
476 ctlrId = canHwConfig->CanControllerId;
\r
478 canUnit = GET_PRIVATE_DATA(ctlrId);
\r
479 canUnit->state = CANIF_CS_UNINIT;
\r
481 Can_DisableControllerInterrupts(ctlrId);
\r
483 canUnit->lock_cnt = 0;
\r
486 memset(&canUnit->stats, 0, sizeof(Can_Arc_StatisticsType));
\r
489 Can_Global.config = NULL;
\r
490 Can_Global.initRun = CAN_UNINIT;
\r
495 void Can_InitController( uint8 controller, const Can_ControllerConfigType *config)
503 Can_UnitType *canUnit;
\r
504 uint8 cId = controller;
\r
505 const Can_ControllerConfigType *canHwConfig;
\r
506 const Can_HardwareObjectType *hohObj;
\r
508 VALIDATE_NO_RV( (Can_Global.initRun == CAN_READY), 0x2, CAN_E_UNINIT );
\r
509 VALIDATE_NO_RV( (config != NULL ), 0x2,CAN_E_PARAM_POINTER);
\r
510 VALIDATE_NO_RV( (controller < GET_CONTROLLER_CNT()), 0x2, CAN_E_PARAM_CONTROLLER );
\r
512 canUnit = GET_PRIVATE_DATA(controller);
\r
514 VALIDATE_NO_RV( (canUnit->state==CANIF_CS_STOPPED), 0x2, CAN_E_TRANSITION );
\r
516 canHw = GetController(cId);
\r
517 canHwConfig = GET_CONTROLLER_CONFIG(Can_Global.channelMap[cId]);
\r
519 // Start this baby up
522 /* CAN filter init. We set up two filters - one for the master (CAN1) and
523 * one for the slave (CAN2)
525 * CAN_SlaveStartBank(n) denotes which filter is the first of the slave.
527 * The filter registers reside in CAN1 and is shared to CAN2, so we only need
528 * to set up this once.
531 // We let all frames in and do the filtering in software.
532 CAN_FilterInitTypeDef CAN_FilterInitStructure;
533 CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
534 CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
535 CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
536 CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
537 CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
538 CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
539 CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
540 CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
542 // Init filter 0 (CAN1/master)
543 CAN_FilterInitStructure.CAN_FilterNumber=0;
544 CAN_FilterInit(&CAN_FilterInitStructure);
546 // Init filter 1 (CAN2/slave)
547 CAN_FilterInitStructure.CAN_FilterNumber=1;
548 CAN_FilterInit(&CAN_FilterInitStructure);
550 // Set which filter to use for CAN2.
551 CAN_SlaveStartBank(1);
553 // acceptance filters
554 hohObj = canHwConfig->Can_Arc_Hoh;
558 if (hohObj->CanObjectType == CAN_OBJECT_TYPE_RECEIVE)
562 }while( !hohObj->Can_Arc_EOL );
\r
564 // Clock calucation
\r
565 // -------------------------------------------------------------------
\r
567 // * 1 TQ = Sclk period( also called SCK )
\r
568 // * Ftq = Fcanclk / ( PRESDIV + 1 ) = Sclk
\r
569 // ( Fcanclk can come from crystal or from the peripheral dividers )
\r
572 // TQ = 1/Ftq = (PRESDIV+1)/Fcanclk --> PRESDIV = (TQ * Fcanclk - 1 )
\r
573 // TQ is between 8 and 25
\r
574 clock = McuE_GetSystemClock()/2;
576 tqSync = config->CanControllerPropSeg + 1;
577 tq1 = config->CanControllerSeg1 + 1;
\r
578 tq2 = config->CanControllerSeg2 + 1;
\r
579 tq = tqSync + tq1 + tq2;
581 CAN_InitTypeDef CAN_InitStructure;
582 CAN_StructInit(&CAN_InitStructure);
585 CAN_InitStructure.CAN_TTCM=DISABLE;
586 CAN_InitStructure.CAN_ABOM=ENABLE;
587 CAN_InitStructure.CAN_AWUM=ENABLE;
588 CAN_InitStructure.CAN_NART=DISABLE;
589 CAN_InitStructure.CAN_RFLM=DISABLE;
590 CAN_InitStructure.CAN_TXFP=DISABLE;
591 if(config->Can_Arc_Loopback){
592 CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack;
594 CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
597 CAN_InitStructure.CAN_SJW=config->CanControllerPropSeg;
598 CAN_InitStructure.CAN_BS1=config->CanControllerSeg1;
599 CAN_InitStructure.CAN_BS2=config->CanControllerSeg2;
600 CAN_InitStructure.CAN_Prescaler= clock/(config->CanControllerBaudRate*1000*tq);
602 if(CANINITOK != CAN_Init(canHw,&CAN_InitStructure))
607 canUnit->state = CANIF_CS_STOPPED;
\r
608 Can_EnableControllerInterrupts(cId);
\r
614 Can_ReturnType Can_SetControllerMode( uint8 controller, Can_StateTransitionType transition ) {
\r
617 Can_ReturnType rv = CAN_OK;
\r
618 VALIDATE( (controller < GET_CONTROLLER_CNT()), 0x3, CAN_E_PARAM_CONTROLLER );
\r
620 Can_UnitType *canUnit = GET_PRIVATE_DATA(controller);
\r
622 VALIDATE( (canUnit->state!=CANIF_CS_UNINIT), 0x3, CAN_E_UNINIT );
\r
623 canHw = GetController(controller);
\r
625 switch(transition )
\r
628 canUnit->state = CANIF_CS_STARTED;
\r
630 if (canUnit->lock_cnt == 0){ // REQ CAN196
\r
631 Can_EnableControllerInterrupts(controller);
636 VALIDATE(canUnit->state == CANIF_CS_SLEEP, 0x3, CAN_E_TRANSITION);
638 canUnit->state = CANIF_CS_STOPPED;
640 case CAN_T_SLEEP: //CAN258, CAN290
\r
641 // Should be reported to DEM but DET is the next best
\r
642 VALIDATE(canUnit->state == CANIF_CS_STOPPED, 0x3, CAN_E_TRANSITION);
\r
644 canUnit->state = CANIF_CS_SLEEP;
648 canUnit->state = CANIF_CS_STOPPED;
\r
649 Can_AbortTx( canHw, canUnit ); // CANIF282
\r
652 // Should be reported to DEM but DET is the next best
\r
653 VALIDATE(canUnit->state == CANIF_CS_STOPPED, 0x3, CAN_E_TRANSITION);
\r
660 void Can_DisableControllerInterrupts( uint8 controller )
\r
663 Can_UnitType *canUnit;
\r
666 VALIDATE_NO_RV( (controller < GET_CONTROLLER_CNT()), 0x4, CAN_E_PARAM_CONTROLLER );
\r
668 canUnit = GET_PRIVATE_DATA(controller);
\r
670 VALIDATE_NO_RV( (canUnit->state!=CANIF_CS_UNINIT), 0x4, CAN_E_UNINIT );
\r
673 if(canUnit->lock_cnt > 0 )
\r
675 // Interrupts already disabled
\r
676 canUnit->lock_cnt++;
\r
680 canUnit->lock_cnt++;
\r
683 /* Don't try to be intelligent, turn everything off */
\r
684 canHw = GetController(controller);
\r
686 /* Turn off the tx interrupt mailboxes */
\r
687 CAN_ITConfig(canHw, CAN_IT_TME, DISABLE);
\r
689 /* Turn off the bus off/tx warning/rx warning and error and rx */
\r
690 CAN_ITConfig(canHw, CAN_IT_FMP0 | CAN_IT_BOF | CAN_IT_ERR | CAN_IT_WKU, DISABLE);
693 void Can_EnableControllerInterrupts( uint8 controller ) {
695 Can_UnitType *canUnit;
\r
697 const Can_ControllerConfigType *canHwConfig;
\r
698 VALIDATE_NO_RV( (controller < GET_CONTROLLER_CNT()), 0x5, CAN_E_PARAM_CONTROLLER );
\r
700 canUnit = GET_PRIVATE_DATA(controller);
\r
702 VALIDATE_NO_RV( (canUnit->state!=CANIF_CS_UNINIT), 0x5, CAN_E_UNINIT );
\r
705 if( canUnit->lock_cnt > 1 )
\r
707 // IRQ should still be disabled so just decrement counter
\r
708 canUnit->lock_cnt--;
\r
711 } else if (canUnit->lock_cnt == 1)
\r
713 canUnit->lock_cnt = 0;
\r
717 canHw = GetController(controller);
\r
719 canHwConfig = GET_CONTROLLER_CONFIG(Can_Global.channelMap[controller]);
\r
721 if( canHwConfig->CanRxProcessing == CAN_ARC_PROCESS_TYPE_INTERRUPT ) {
\r
722 /* Turn on the rx interrupt */
\r
723 CAN_ITConfig(canHw, CAN_IT_FMP0, ENABLE);
725 if( canHwConfig->CanTxProcessing == CAN_ARC_PROCESS_TYPE_INTERRUPT ) {
726 /* Turn on the tx interrupt mailboxes */
727 CAN_ITConfig(canHw, CAN_IT_TME, ENABLE);
730 // BusOff here represents all errors and warnings
\r
731 if( canHwConfig->CanBusOffProcessing == CAN_ARC_PROCESS_TYPE_INTERRUPT ) {
\r
732 /* Turn on the bus off/tx warning/rx warning and error and rx */
733 CAN_ITConfig(canHw, CAN_IT_BOF | CAN_IT_ERR | CAN_IT_WKU, ENABLE);
739 Can_ReturnType Can_Write( Can_Arc_HTHType hth, Can_PduType *pduInfo ) {
\r
740 Can_ReturnType rv = CAN_OK;
\r
742 const Can_HardwareObjectType *hohObj;
\r
743 const Can_ControllerConfigType *canHwConfig;
747 VALIDATE( (Can_Global.initRun == CAN_READY), 0x6, CAN_E_UNINIT );
\r
748 VALIDATE( (pduInfo != NULL), 0x6, CAN_E_PARAM_POINTER );
\r
749 VALIDATE( (pduInfo->length <= 8), 0x6, CAN_E_PARAM_DLC );
\r
750 VALIDATE( (hth < NUM_OF_HTHS ), 0x6, CAN_E_PARAM_HANDLE );
\r
752 hohObj = Can_FindHoh(hth, &controller);
\r
753 if (hohObj == NULL)
\r
756 Can_UnitType *canUnit = GET_PRIVATE_DATA(controller);
\r
758 canHw = GetController(controller);
\r
763 TxMessage.RTR=CAN_RTR_DATA;
764 TxMessage.DLC=pduInfo->length;
766 memcpy(TxMessage.Data, pduInfo->sdu, pduInfo->length);
768 if (hohObj->CanIdType == CAN_ID_TYPE_EXTENDED) {
769 TxMessage.IDE=CAN_ID_EXT;
770 TxMessage.ExtId=pduInfo->id;
772 TxMessage.IDE=CAN_ID_STD;
773 TxMessage.StdId=pduInfo->id;
776 // check for any free box
\r
777 if(CAN_Transmit(canHw,&TxMessage) != CAN_NO_MB) {
778 canHwConfig = GET_CONTROLLER_CONFIG(Can_Global.channelMap[controller]);
780 if( canHwConfig->CanTxProcessing == CAN_ARC_PROCESS_TYPE_INTERRUPT ) {
781 /* Turn on the tx interrupt mailboxes */
782 CAN_ITConfig(canHw,CAN_IT_TME, ENABLE);
785 // Increment statistics
786 canUnit->stats.txSuccessCnt++;
\r
788 // Store pdu handle in unit to be used by TxConfirmation
\r
789 canUnit->swPduHandle = pduInfo->swPduHandle;
\r
798 void Can_MainFunction_Read( void ) {
\r
800 /* NOT SUPPORTED */
\r
803 void Can_MainFunction_BusOff( void ) {
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804 /* Bus-off polling events */
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806 /* NOT SUPPORTED */
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809 void Can_MainFunction_Wakeup( void ) {
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810 /* Wakeup polling events */
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812 /* NOT SUPPORTED */
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817 * Get send/receive/error statistics for a controller
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819 * @param controller The controller
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820 * @param stats Pointer to data to copy statistics to
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823 void Can_Arc_GetStatistics( uint8 controller, Can_Arc_StatisticsType *stats)
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825 Can_UnitType *canUnit = GET_PRIVATE_DATA(controller);
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826 *stats = canUnit->stats;
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829 #else // Stub all functions for use in simulator environment
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833 void Can_Init( const Can_ConfigType *Config )
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835 // Do initial configuration of layer here
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838 void Can_InitController( uint8 controller, const Can_ControllerConfigType *config)
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840 // Do initialisation of controller here.
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843 Can_ReturnType Can_SetControllerMode( uint8 Controller, Can_StateTransitionType transition )
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845 // Turn on off controller here depending on transition
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849 Can_ReturnType Can_Write( Can_Arc_HTHType hth, Can_PduType *pduInfo )
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851 // Write to mailbox on controller here.
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852 DEBUG(DEBUG_MEDIUM, "Can_Write(stub): Received data ");
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853 for (int i = 0; i < pduInfo->length; i++) {
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854 DEBUG(DEBUG_MEDIUM, "%d ", pduInfo->sdu[i]);
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856 DEBUG(DEBUG_MEDIUM, "\n");
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861 extern void CanIf_RxIndication(uint8 Hrh, Can_IdType CanId, uint8 CanDlc, const uint8 *CanSduPtr);
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862 Can_ReturnType Can_ReceiveAFrame()
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864 // This function is not part of autosar but needed to feed the stack with data
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865 // from the mailboxes. Normally this is an interrup but probably not in the PCAN case.
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866 uint8 CanSduData[] = {1,2,1,0,0,0,0,0};
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867 CanIf_RxIndication(CAN_HRH_0_1, 3, 8, CanSduData);
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872 void Can_DisableControllerInterrupts( uint8 controller )
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876 void Can_EnableControllerInterrupts( uint8 controller )
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881 // Hth - for Flexcan, the hardware message box number... .We don't care
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882 void Can_Cbk_CheckWakeup( uint8 controller ){}
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884 void Can_MainFunction_Write( void ){}
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885 void Can_MainFunction_Read( void ){}
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886 void Can_MainFunction_BusOff( void ){}
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887 void Can_MainFunction_Wakeup( void ){}
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889 void Can_Arc_GetStatistics( uint8 controller, Can_Arc_StatisticsType * stat){}
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