*
* @file fr.h
*
- * @copyright Copyright (C) 2013 Czech Technical University in Prague
+ * @copyright Copyright (C) 2013, 2015 Czech Technical University in Prague
*
* @author Carlos Jenkins <carlos@jenkins.co.cr>
* @author Michal Horn <hornmich@fel.cvut.cz>
* Enumeration of states for the FlexRay
*/
typedef enum {
- RPP_FR_UNKNOWN, /**< FlexRay is in unknown state, this should not happen */
+ RPP_FR_UNKNOWN, /**< FlexRay is in unknown state, this should not happen */
RPP_FR_NOT_INITIALIZED, /**< FlexRay driver was not yet configured and initialized, communication is not running. This is the default state after reset */
RPP_FR_DRV_INITIALIZED, /**< FlexRay driver was initialized, communication is not running, Driver is ready for controller initialization */
RPP_FR_CTR_INITIALIZED, /**< FlexRay controller was initlized, communicatin is not running, but can be started */
- RPP_FR_RUNNING, /**< Communication is running */
- RPP_FR_HALTED, /**< Communication was halted, controller is ready for reconfiguration and restart of the communication */
- RPP_FR_ABORTED /**< Communication was aborted, controller is ready for reconfiguration and restart of the communication */
+ RPP_FR_RUNNING, /**< Communication is running */
+ RPP_FR_HALTED, /**< Communication was halted, controller is ready for reconfiguration and restart of the communication */
+ RPP_FR_ABORTED /**< Communication was aborted, controller is ready for reconfiguration and restart of the communication */
} rpp_fr_state_t;
-#define RPP_FR_MAX_STATIC_BUF_CNT 32 /**< Maximum number of the buffers for static segment of the communication cycle */
-#define RPP_FR_MAX_DYNAMIC_BUF_CNT 32 /**< Maximum number of the buffers for dynamic segment of the communication cycle */
-#define RPP_FR_MAX_FIFO_BUF_DEPTH 32 /**< Maximal depth of the RX FIFO buffer */
+#define RPP_FR_MAX_STATIC_BUF_CNT 128 /**< Maximum number of the buffers for static segment of the communication cycle */
+#define RPP_FR_MAX_DYNAMIC_BUF_CNT 128 /**< Maximum number of the buffers for dynamic segment of the communication cycle */
+#define RPP_FR_MAX_FIFO_BUF_DEPTH 128 /**< Maximal depth of the RX FIFO buffer */
/* AUTOSAR-like API */
/**
* FlexRay driver initialization.
*
+ * This function is not thread safe. Do not call it from multiple threads.
+ *
* This method should be called before any other function from this
* module.
*
* FAILURE if module already initialized.
*
*/
-int8_t rpp_fr_init_driver(const Fr_ConfigType* config_ptr, uint32_t* error);
+int8_t rpp_fr_init_driver(const Fr_ConfigType *config_ptr, uint32_t *error);
/**
* FlexRay controller initialization.
*
+ * The function is thread safe, unless compiled with
+ * -DRPP_THREADSAFE=0.
+ *
* This method should be called after rpp_fr_init_driver(), rpp_fr_halt_communication() or
* rpp_fr_abort_communication() and before any other function from this module.
*
* FAILURE if module already initialized.
*/
-int8_t rpp_fr_init_controller(uint8_t ctrl, uint32_t* error);
+int8_t rpp_fr_init_controller(uint8_t ctrl, uint32_t *error);
/**
* Start communication
*
+ * The function is thread safe, unless compiled with
+ * -DRPP_THREADSAFE=0.
+ *
* This method should be called after rpp_fr_init_controller() and
* before any attempt to send or receive messages.
*
* FAILURE if module already initialized.
*
*/
-int8_t rpp_fr_start_communication(uint8_t ctrl, uint32_t* error);
+int8_t rpp_fr_start_communication(uint8_t ctrl, uint32_t *error);
/**
* Allow communication on all slots
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The FlexRay node can be configured to communicate only on key
* frames after the startup. If this is the case, after calling this
* function, communication on all configured slots is allowed.
/**
* Stop communication after the end of the communication cycle.
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function should be called only after
* rpp_fr_start_communication() has been called.
*
/**
* Stop communication immediately.
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function should be called only after
* rpp_fr_start_communication() has been called.
*
/**
* Send wakeup pattern.
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function should be called after FlexRay controller is initialized
* and before the communication start.
*
/**
* Set channel for wakeup pattern sending.
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* This allows to change the configuration passed to the
* rpp_fr_init_driver().
*
/**
* Get FlexRay POC state
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time after the driver is
* initialized.
*
* FAILURE if something failed.
*
*/
-int8_t rpp_fr_get_poc_status(uint8_t ctrl, Fr_POCStatusType* poc_status_ptr);
+int8_t rpp_fr_get_poc_status(uint8_t ctrl, Fr_POCStatusType *poc_status_ptr);
/**
* Send a message on the bus in the specified frame
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time when communication is running
* (rpp_fr_start_communication() was called).
*
* FAILURE if something failed.
*
*/
-int8_t rpp_fr_transmit_lpdu(uint8_t ctrl, uint16_t lpdu_idx, const uint8_t* lsdu, uint8_t lsdu_length);
+int8_t rpp_fr_transmit_lpdu(uint8_t ctrl, uint16_t lpdu_idx, const uint8_t *lsdu, uint8_t lsdu_length);
/**
* Cancel a transmission of the message.
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time when communication is running
* (rpp_fr_start_communication() was called).
*
/**
* Receive a message from the bus from the specified frame.
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time when communication is running
* (rpp_fr_start_communication() was called).
*
* If a new message was received in a buffer configured for the static
- * or dynamic segment, this function can retrieve it.
+ * and dynamic segment or FIFO, this function can retrieve it.
+ *
+ * The buffers with lower index (specified in configuration) have higher
+ * priority in retrieving process. This means for example if some buffer is
+ * configured to accept messages from slot 2 on channel A and another buffer
+ * accepts from slot 2 on channel B, the message from the first buffer
+ * will be retrieved first. If there is a FIFO buffer configured to accept
+ * messages from slot 2 in different cyclesets then other buffers, those
+ * messages accepted by the FIFO will be retrieved at the end of the process.
*
* @param [in] ctrl Not used, set always to zero.
* @param [in] lpdu_idx Index of the frame where message will be received from.
* FAILURE if something failed.
*
*/
-int8_t rpp_fr_receive_lpdu(uint8_t ctrl, uint16_t lpdu_idx, uint8_t* lsdu, Fr_RxLPduStatusType* lpdu_status, uint8_t* lsdu_length);
+int8_t rpp_fr_receive_lpdu(uint8_t ctrl, uint16_t lpdu_idx, uint8_t *lsdu, Fr_RxLPduStatusType *lpdu_status, uint8_t *lsdu_length);
/**
* Check TX buffer status
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time when communication is running
* (rpp_fr_start_communication() was called).
*
* @return SUCCESS if everything is OK.
* FAILURE if something failed.
*/
-int8_t rpp_fr_check_tx_lpdu_status(uint8_t ctrl, uint16_t lpdu_idx, Fr_TxLPduStatusType* lpdu_status);
+int8_t rpp_fr_check_tx_lpdu_status(uint8_t ctrl, uint16_t lpdu_idx, Fr_TxLPduStatusType *lpdu_status);
/**
* Reconfigure buffer
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time when after controller was initialized
* (rpp_fr_init_controller() was called).
*
* @param [in] lpdu_idx Index of the frame, where reconfigured buffer is communicating.
* @param [in] frame_id Frame ID, where the buffer will be communicating after the reconfiguration.
* @param [in] channel Channel, where the buffer will be communicating. For dynamic segment it should not be AB.
- * @param [in] cycle Cycle rejection filter.
- * @param [in] payload Maximum payload for the reconfigured buffer in half-word. Must not be higher than the original payload.
+ * @param [in] cycle_set Cycle set value for cycle filtering. Can be 1, 2, 4, 8, 16, 32, 64.
+ * @param [in] cycle_offset Cycle offset value for cycle filtering. Must be 0 - cycle_set-1
+ * @param [in] payload Maximum payload for the reconfigured buffer in bytes. Must not be higher than the original payload, defined in half-words.
+ * @param [in] header_crc Not used, set to zero. The CRC is calculated automaticaly inside the function.
*
* @return SUCCESS if everything is OK.
* FAILURE if something failed.
*/
-int8_t rpp_fr_reconfigure_lpdu(uint8_t ctrl, uint16_t lpdu_idx, uint16_t frame_id, Fr_ChannelType channel, uint8_t cycle, uint8_t payload);
+int8_t rpp_fr_reconfigure_lpdu(uint8_t ctrl, uint16_t lpdu_idx, uint16_t frame_id, Fr_ChannelType channel, uint8_t cycle_set, uint8_t cycle_offset, uint8_t payload, uint16_t header_crc);
/**
* Disable a FlexRay buffer
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time when communication is running
* (rpp_fr_start_communication() was called).
*
/**
* Get FlexRay global time
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time after the controller is initialized.
*
* @param [in] ctrl Not used, set always to zero.
* FAILURE if something failed.
*
*/
-int8_t rpp_fr_get_global_time(uint8_t ctrl, uint8_t* cycle, uint16_t* macroticks);
+int8_t rpp_fr_get_global_time(uint8_t ctrl, uint8_t *cycle, uint16_t *macroticks);
/**
* Get Network management vector.
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time after the controller is initialized.
*
* The FlexRay controller updates the vector at the end of every cycle
* @return SUCCESS if everything is OK.
* FAILURE if something failed.
*/
-int8_t rpp_fr_get_network_management_vector(uint8_t ctrl, uint8_t* nm_vector);
+int8_t rpp_fr_get_network_management_vector(uint8_t ctrl, uint8_t *nm_vector);
/**
* Get channel status.
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time after the controller is
* initialized.
*
* FAILURE if something failed.
*
*/
-int8_t rpp_fr_get_channel_status(uint8_t ctrl, uint16_t* channel_a_status, uint16_t* channel_b_status);
+int8_t rpp_fr_get_channel_status(uint8_t ctrl, uint16_t *channel_a_status, uint16_t *channel_b_status);
/**
* Get clock correction.
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called while the communication is running or
* was stopped.
*
* FAILURE if something failed.
*
*/
-int8_t rpp_fr_get_clock_correction(uint8_t ctrl, int16_t* rate_correction, int32_t* offset_correction);
+int8_t rpp_fr_get_clock_correction(uint8_t ctrl, int16_t *rate_correction, int32_t *offset_correction);
/**
* Gets a list of syncframes received or transmitted on channel A and channel B via the even and odd communication cycle.
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called while communication is running or was stopped.
*
* @param [in] ctrl Not used, set always to zero.
* FAILURE if something failed.
*
*/
-int8_t rpp_fr_get_sync_frame_list(uint8_t ctrl, uint8_t list_size, uint16_t* channel_a_even_list,
- uint16_t* channel_b_even_list, uint16_t* channel_a_odd_list, uint16_t* channel_b_odd_list);
+int8_t rpp_fr_get_sync_frame_list(uint8_t ctrl, uint8_t list_size, uint16_t *channel_a_even_list,
+ uint16_t *channel_b_even_list, uint16_t *channel_a_odd_list, uint16_t *channel_b_odd_list);
/**
* Get the status of WUP receiving
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time after controller is initialized.
*
* If the Wake Up Pattern was received on some channel, the flag is set in status address.
* FAILURE if something failed.
*
*/
-int8_t rpp_fr_get_wakeup_rx_status(uint8_t ctrl, uint8_t* status);
+int8_t rpp_fr_get_wakeup_rx_status(uint8_t ctrl, uint8_t *status);
/**
* Set the absolute timer and start it.
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time after communication is running.
*
* The FlexRay controller has two absolute timers. Each of them can be
/**
* Stop the absolute timer, clear IRQ.
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time after communication is running.
*
* The FlexRay controller has two absolute timers. Each of them can be
/**
* Clear the IRQ flag of the absolute timer
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time after communication is running.
*
* The FlexRay controller has two absolute timers. Each of them can be
/**
* Get IRQ flag of the absolute timer
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time after communication is running.
*
* The FlexRay controller has two absolute timers. Each of them can be
* FAILURE if something failed.
*
*/
-int8_t rpp_fr_get_timer_irq_status(uint8_t ctrl, uint8_t timer_idx, boolean_t* irq_pending);
+int8_t rpp_fr_get_timer_irq_status(uint8_t ctrl, uint8_t timer_idx, boolean_t *irq_pending);
/**
* Get information about the driver vendor, module and version.
*
+ * The function is thread safe
+ *
* The function can be called any time.
*
* @param [out] version Address, where the information will be stored.
* @return always SUCCESS
*
*/
-int8_t rpp_fr_get_driver_version(Std_VersionInfoType* version);
+int8_t rpp_fr_get_driver_version(Std_VersionInfoType *version);
/**
* Get configuration parameter value from the internal driver structures.
*
+ * The function is thread safe, unless compiled with -DRPP_THREADSAFE=0.
+ *
* The function can be called any time.
*
* @param [in] ctrl Not used, set always to zero.
* FAILURE if something failed.
*
*/
-int8_t rpp_fr_read_com_ctrl_config(uint8_t ctrl, uint8_t param_idx, uint32_t* param_value);
+int8_t rpp_fr_read_com_ctrl_config(uint8_t ctrl, uint8_t param_idx, uint32_t *param_value);
#endif /* __RPP_FR_H */
projects / pes-rpp / rpp-lib.git / blobdiff