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 ------------------------------*/
27 #include "CanIf_Cbk.h"
30 // Added by Mattias 2008-11-18
34 #if defined(USE_CANTP)
35 #include "CanTp_Cbk.h"
39 // TODO: Include upper layer functions, See CANIF208 and CANIF233
40 #include "PduR_CanIf.h"
45 #include "CanNm_Cbk.h"
46 #include "CanTp_Cbk.h"
49 #if ( CANIF_DEV_ERROR_DETECT == STD_ON )
50 #define VALIDATE(_exp,_api,_err ) \
52 Det_ReportError(MODULE_ID_CANIF, 0, _api, _err); \
56 #define VALIDATE_NO_RV(_exp,_api,_err ) \
58 Det_ReportError(MODULE_ID_CANIF, 0, _api, _err); \
61 #undef DET_REPORTERROR
62 #define DET_REPORTERROR(_x,_y,_z,_q) Det_ReportError(_x, _y, _z, _q)
65 #define VALIDATE(_exp,_api,_err )
66 #define VALIDATE_NO_RV(_exp,_api,_err )
67 #define DET_REPORTERROR(_x,_y,_z,_q)
71 // Helper to get the Can Controller refered to by a CanIf Channel
72 #define ARC_GET_CHANNEL_CONTROLLER(_channel) \
73 CanIf_ConfigPtr->Arc_ChannelToControllerMap[channel]
75 /* Global configure */
76 static const CanIf_ConfigType *CanIf_ConfigPtr;
78 // Struct of controller private data.
81 CanIf_ControllerModeType ControllerMode;
82 CanIf_ChannelGetModeType PduMode;
83 } CanIf_ChannelPrivateType;
88 CanIf_ChannelPrivateType channelData[CANIF_CHANNEL_CNT];
91 void CanIf_PreInit_InitController(uint8 Controller, uint8 ConfigurationIndex);
93 static CanIf_Arc_ChannelIdType CanIf_Arc_FindHrhChannel( Can_Arc_HRHType hrh )
95 const CanIf_HrhConfigType *hrhConfig;
97 hrhConfig = CanIf_ConfigPtr->InitConfig->CanIfHohConfigPtr->CanIfHrhConfig;
103 if (hrhConfig->CanIfHrhIdSymRef == hrh)
104 return hrhConfig->CanIfCanControllerHrhIdRef;
105 } while(!hrhConfig->CanIf_Arc_EOL);
107 DET_REPORTERROR(MODULE_ID_CANIF, 0, CANIF_RXINDICATION_ID, CANIF_E_PARAM_HRH);
113 CanIf_GlobalType CanIf_Global;
115 void CanIf_Init(const CanIf_ConfigType *ConfigPtr)
117 VALIDATE_NO_RV(ConfigPtr != 0, CANIF_INIT_ID, CANIF_E_PARAM_POINTER); // Only PostBuild case supported
119 CanIf_ConfigPtr = ConfigPtr;
121 for (uint8 i = 0; i < CANIF_CHANNEL_CNT; i++)
123 CanIf_Global.channelData[i].ControllerMode = CANIF_CS_STOPPED;
124 CanIf_Global.channelData[i].PduMode = CANIF_GET_OFFLINE;
125 CanIf_PreInit_InitController(i, CanIf_ConfigPtr->Arc_ChannelDefaultConfIndex[i]);
129 CanIf_Global.initRun = TRUE;
135 //-------------------------------------------------------------------
137 * Controller :: CanIf_Arc_ChannelIdType (CanIf-specific id to abstract from Can driver/controllers)
138 * ConfigurationIndex :: CanIf_Arc_ConfigurationIndexType
141 void CanIf_InitController(uint8 Controller, uint8 ConfigurationIndex)
143 // We call this a CanIf channel. Hopefully makes it easier to follow.
144 CanIf_Arc_ChannelIdType channel = Controller;
146 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_INIT_CONTROLLER_ID, CANIF_E_UNINIT );
147 VALIDATE_NO_RV(channel < CANIF_CHANNEL_CNT, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
148 VALIDATE_NO_RV(ConfigurationIndex < CANIF_CHANNEL_CONFIGURATION_CNT, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_POINTER);
150 #if (CANIF_DEV_ERROR_DETECT == STD_ON)
151 CanIf_ControllerModeType mode;
153 if (CanIf_GetControllerMode(channel, &mode) == E_OK)
155 VALIDATE_NO_RV((mode != CANIF_CS_UNINIT), CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER_MODE );
159 VALIDATE_NO_RV(FALSE, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER_MODE);
163 if (CanIf_GetControllerMode(channel, &mode) == E_OK)
165 if (mode == CANIF_CS_STARTED)
167 CanIf_SetControllerMode(channel, CANIF_CS_STOPPED); // CANIF092
169 else if (mode != CANIF_CS_STOPPED)
171 VALIDATE_NO_RV(FALSE, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER_MODE); // CANIF092
175 // CANIF293: ..Subsequently the CAN Interface calls the corresponding
176 // CAN Driver initialization services.
178 // CANIF066: The CAN Interface has access to the CAN Driver configuration data. All
179 // public CAN Driver configuration data are described in [8] Specification of CAN Driver.
181 // Grab the configuration from the Can Controller
182 const Can_ControllerConfigType *canConfig;
183 const CanControllerIdType canControllerId = ARC_GET_CHANNEL_CONTROLLER(channel);
185 // Validate that the configuration at the index match the right channel
186 VALIDATE_NO_RV(CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfControllerIdRef == channel, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
188 canConfig = CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfInitControllerRef;
190 // Validate that the CanIfControllerConfig points to configuration for the right Can Controller
191 VALIDATE_NO_RV(canConfig->CanControllerId == canControllerId, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
193 Can_InitController(canControllerId, canConfig);
195 // Set mode to stopped
196 CanIf_SetControllerMode(channel, CANIF_CS_STOPPED);
199 void CanIf_PreInit_InitController(uint8 Controller, uint8 ConfigurationIndex){
200 // We call this a CanIf channel. Hopefully makes it easier to follow.
201 CanIf_Arc_ChannelIdType channel = Controller;
202 const CanControllerIdType canControllerId = ARC_GET_CHANNEL_CONTROLLER(channel);
203 // Validate that the configuration at the index match the right channel
204 VALIDATE_NO_RV(CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfControllerIdRef == channel, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
205 const Can_ControllerConfigType *canConfig = CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfInitControllerRef;
206 // Validate that the CanIfControllerConfig points to configuration for the right Can Controller
207 VALIDATE_NO_RV(canConfig->CanControllerId == canControllerId, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
209 Can_InitController(canControllerId, canConfig);
212 //-------------------------------------------------------------------
214 Std_ReturnType CanIf_SetControllerMode(uint8 Controller,
215 CanIf_ControllerModeType ControllerMode)
217 // We call this a CanIf channel. Hopefully makes it easier to follow.
218 CanIf_Arc_ChannelIdType channel = Controller;
221 CanIf_ControllerModeType oldMode;
223 VALIDATE( CanIf_Global.initRun, CANIF_SET_CONTROLLER_MODE_ID, CANIF_E_UNINIT );
224 VALIDATE( channel < CANIF_CHANNEL_CNT, CANIF_SET_CONTROLLER_MODE_ID, CANIF_E_PARAM_CONTROLLER );
226 oldMode = CanIf_Global.channelData[channel].ControllerMode;
228 if (oldMode == CANIF_CS_UNINIT)
230 VALIDATE(FALSE, CANIF_SET_CONTROLLER_MODE_ID, CANIF_E_UNINIT); // See figure 32, 33
233 CanControllerIdType canControllerId = ARC_GET_CHANNEL_CONTROLLER(Controller);
234 switch (ControllerMode)
236 case CANIF_CS_STARTED: // Figure 32
241 if (Can_SetControllerMode(canControllerId, CAN_T_STOP) == CAN_NOT_OK)
243 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STOPPED;
250 CanIf_SetPduMode(channel, CANIF_SET_ONLINE);
251 if (Can_SetControllerMode(canControllerId, CAN_T_START) == CAN_NOT_OK)
253 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STARTED;
257 case CANIF_CS_SLEEP: // Figure 33
260 case CANIF_CS_STARTED:
261 if (Can_SetControllerMode(canControllerId, CAN_T_STOP) == CAN_NOT_OK)
263 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STOPPED;
266 // Just fall through for other cases
270 if (Can_SetControllerMode(canControllerId, CAN_T_SLEEP) == CAN_NOT_OK)
272 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_SLEEP;
275 case CANIF_CS_STOPPED:
280 if (Can_SetControllerMode(canControllerId, CAN_T_WAKEUP) == CAN_NOT_OK)
284 // Just fall through for other cases
288 CanIf_SetPduMode(channel, CANIF_SET_OFFLINE);
289 if (Can_SetControllerMode(canControllerId, CAN_T_STOP) == CAN_NOT_OK)
291 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STOPPED;
294 case CANIF_CS_UNINIT:
301 //-------------------------------------------------------------------
303 Std_ReturnType CanIf_GetControllerMode(uint8 Controller,
304 CanIf_ControllerModeType *ControllerModePtr)
306 // We call this a CanIf channel. Hopefully makes it easier to follow.
307 CanIf_Arc_ChannelIdType channel = Controller;
309 VALIDATE(CanIf_Global.initRun, CANIF_GET_CONTROLLER_MODE_ID, CANIF_E_UNINIT );
310 VALIDATE(channel < CANIF_CHANNEL_CNT, CANIF_GET_CONTROLLER_MODE_ID, CANIF_E_PARAM_CONTROLLER );
311 VALIDATE(ControllerModePtr != NULL, CANIF_GET_CONTROLLER_MODE_ID, CANIF_E_PARAM_POINTER );
313 *ControllerModePtr = CanIf_Global.channelData[channel].ControllerMode;
318 //-------------------------------------------------------------------
320 * Matches a Tx PDU id agaist the ones that are in the database.
322 * @returns Ptr a TxPdu
324 static const CanIf_TxPduConfigType * CanIf_FindTxPduEntry(PduIdType id)
326 if (id >= CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanTXPduIds) {
329 return &CanIf_ConfigPtr->InitConfig->CanIfTxPduConfigPtr[id];
332 for (uint16 i = 0; i < CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanTXPduIds; i++)
334 if (entry->CanIfTxPduId == id)
345 //-------------------------------------------------------------------
347 Std_ReturnType CanIf_Transmit(PduIdType CanTxPduId,
348 const PduInfoType *PduInfoPtr)
351 const CanIf_TxPduConfigType *txEntry;
352 CanIf_ControllerModeType csMode;
353 CanIf_ChannelGetModeType pduMode;
355 VALIDATE(CanIf_Global.initRun, CANIF_TRANSMIT_ID, CANIF_E_UNINIT );
356 VALIDATE((PduInfoPtr != 0), CANIF_TRANSMIT_ID, CANIF_E_PARAM_POINTER );
358 // Get the controller from L-PDU handle
359 txEntry = CanIf_FindTxPduEntry(CanTxPduId);
363 VALIDATE(FALSE, CANIF_TRANSMIT_ID, CANIF_E_INVALID_TXPDUID);
367 CanIf_Arc_ChannelIdType channel = txEntry->CanIfCanTxPduHthRef->CanIfCanControllerIdRef;
369 // Get and verify the controller mode
370 if (CanIf_GetControllerMode(channel, &csMode) == E_NOT_OK)
373 if (csMode != CANIF_CS_STARTED) // CANIF_161
376 // Get and verify the PDU channel mode control
377 if (CanIf_GetPduMode(channel, &pduMode) == E_NOT_OK)
380 if ((pduMode != CANIF_GET_TX_ONLINE) && (pduMode != CANIF_GET_ONLINE))
383 canPdu.id = txEntry->CanIfCanTxPduIdCanId;
385 canPdu.length = PduInfoPtr->SduLength;
386 canPdu.sdu = PduInfoPtr->SduDataPtr;
387 canPdu.swPduHandle = CanTxPduId;
389 Can_ReturnType rVal = Can_Write(txEntry->CanIfCanTxPduHthRef->CanIfHthIdSymRef, &canPdu);
391 if (rVal == CAN_NOT_OK)
394 if (rVal == CAN_BUSY) // CANIF 082, CANIF 161
396 // Tx buffering not supported so just return.
403 //-------------------------------------------------------------------
405 #if ( CANIF_READRXPDU_DATA_API == STD_ON )
406 Std_ReturnType CanIf_ReadRxPduData(PduIdType CanRxPduId,
407 PduInfoType *PduInfoPtr)
409 VALIDATE(FALSE, CANIF_READTXPDUDATA_ID, CANIF_E_NOK_NOSUPPORT);
410 VALIDATE(CanIf_Global.initRun == STD_ON, CANIF_READTXPDUDATA_ID, CANIF_E_UNINIT );
411 VALIDATE(PduInfoPtr != 0, CANIF_READTXPDUDATA_ID, CANIF_E_PARAM_POINTER );
413 // This function is not supported
419 //-------------------------------------------------------------------
421 #if ( CANIF_READTXPDU_NOTIFY_STATUS_API == STD_ON )
422 CanIf_NotifStatusType CanIf_ReadTxNotifStatus(PduIdType CanTxPduId)
424 const CanIf_TxPduConfigType *txEntry;
425 VALIDATE(FALSE, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_NOK_NOSUPPORT);
426 VALIDATE(CanIf_Global.initRun, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_UNINIT );
428 // Get the controller from L-PDU handle
429 txEntry = CanIf_FindTxPduEntry(CanTxPduId);
433 VALIDATE(FALSE, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_INVALID_TXPDUID);
434 return CANIF_NO_NOTIFICATION;
437 if (txEntry->CanIfReadTxPduNotifyStatus == FALSE)
439 VALIDATE(FALSE, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_INVALID_TXPDUID);
440 return CANIF_NO_NOTIFICATION;
443 // This function is not supported
445 return CANIF_NO_NOTIFICATION;
449 //-------------------------------------------------------------------
451 #if ( CANIF_READRXPDU_NOTIFY_STATUS_API == STD_ON )
452 CanIf_NotifStatusType CanIf_ReadRxNotifStatus(PduIdType CanRxPduId)
454 VALIDATE(FALSE, CANIF_READRXNOTIFSTATUS_ID, CANIF_E_NOK_NOSUPPORT);
455 VALIDATE(CanIf_Global.initRun, CANIF_READRXNOTIFSTATUS_ID, CANIF_E_UNINIT );
457 return CANIF_NO_NOTIFICATION;
461 //-------------------------------------------------------------------
463 Std_ReturnType CanIf_SetPduMode(uint8 Controller,
464 CanIf_ChannelSetModeType PduModeRequest)
466 // We call this a CanIf channel. Hopefully makes it easier to follow.
467 CanIf_Arc_ChannelIdType channel = Controller;
469 VALIDATE( CanIf_Global.initRun, CANIF_SETPDUMODE_ID, CANIF_E_UNINIT );
470 VALIDATE( channel < CANIF_CHANNEL_CNT, CANIF_SETPDUMODE_ID, CANIF_E_PARAM_CONTROLLER );
472 CanIf_ChannelGetModeType oldMode = CanIf_Global.channelData[channel].PduMode;
474 switch(PduModeRequest)
476 case CANIF_SET_OFFLINE:
477 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
479 case CANIF_SET_RX_OFFLINE:
480 if (oldMode == CANIF_GET_RX_ONLINE)
481 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
482 else if (oldMode == CANIF_GET_ONLINE)
483 CanIf_Global.channelData[channel].PduMode = CANIF_GET_TX_ONLINE;
484 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE)
485 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE;
487 // Other oldmodes don't care
489 case CANIF_SET_RX_ONLINE:
490 if (oldMode == CANIF_GET_OFFLINE)
491 CanIf_Global.channelData[channel].PduMode = CANIF_GET_RX_ONLINE;
492 else if (oldMode == CANIF_GET_TX_ONLINE)
493 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
494 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE)
495 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE;
497 // Other oldmodes don't care
499 case CANIF_SET_TX_OFFLINE:
500 if (oldMode == CANIF_GET_TX_ONLINE)
501 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
502 else if (oldMode == CANIF_GET_ONLINE)
503 CanIf_Global.channelData[channel].PduMode = CANIF_GET_RX_ONLINE;
504 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE)
505 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
506 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE)
507 CanIf_Global.channelData[channel].PduMode = CANIF_GET_RX_ONLINE;
509 // Other oldmodes don't care
511 case CANIF_SET_TX_ONLINE:
512 if (oldMode == CANIF_GET_OFFLINE)
513 CanIf_Global.channelData[channel].PduMode = CANIF_GET_TX_ONLINE;
514 else if (oldMode == CANIF_GET_RX_ONLINE)
515 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
516 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE)
517 CanIf_Global.channelData[channel].PduMode = CANIF_GET_TX_ONLINE;
518 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE)
519 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
521 // Other oldmodes don't care
523 case CANIF_SET_ONLINE:
524 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
527 case CANIF_SET_TX_OFFLINE_ACTIVE:
528 if (oldMode == CANIF_GET_OFFLINE)
529 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE;
530 else if (oldMode == CANIF_GET_RX_ONLINE)
531 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE;
532 else if (oldMode == CANIF_GET_TX_ONLINE)
533 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE;
534 else if (oldMode == CANIF_GET_ONLINE)
535 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE;
537 // Other oldmodes don't care
544 //-------------------------------------------------------------------
546 Std_ReturnType CanIf_GetPduMode(uint8 Controller,
547 CanIf_ChannelGetModeType *PduModePtr)
549 // We call this a CanIf channel. Hopefully makes it easier to follow.
550 CanIf_Arc_ChannelIdType channel = Controller;
552 VALIDATE( CanIf_Global.initRun, CANIF_GETPDUMODE_ID, CANIF_E_UNINIT );
553 VALIDATE( channel < CANIF_CHANNEL_CNT, CANIF_GETPDUMODE_ID, CANIF_E_PARAM_CONTROLLER );
555 *PduModePtr = CanIf_Global.channelData[channel].PduMode;
560 #if ( CANIF_SETDYNAMICTXID_API == STD_ON )
561 void CanIf_SetDynamicTxId(PduIdType CanTxPduId, Can_IdType CanId)
563 const CanIf_TxPduConfigType *txEntry;
564 VALIDATE(FALSE, CANIF_SETDYNAMICTX_ID, CANIF_E_NOK_NOSUPPORT);
565 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_SETDYNAMICTX_ID, CANIF_E_UNINIT );
567 // Get the controller from L-PDU handle
568 txEntry = CanIf_FindTxPduEntry(CanTxPduId);
572 VALIDATE_NO_RV(FALSE, CANIF_SETDYNAMICTX_ID, CANIF_E_INVALID_TXPDUID);
576 // Check that this is a dymanic PDU
577 if (txEntry->CanIfCanTxPduType != ARC_PDU_TYPE_DYNAMIC)
579 VALIDATE_NO_RV(FALSE, CANIF_SETDYNAMICTX_ID, CANIF_E_INVALID_TXPDUID);
583 // Check that this is an extended or standard id
584 if (((CanId & 0x80000000) && (txEntry->CanIfTxPduIdCanIdType == ARC_CAN_ID_TYPE_29)) ||
585 (((CanId & 0x80000000) == 0) && (txEntry->CanIfTxPduIdCanIdType == ARC_CAN_ID_TYPE_11)))
588 //txEntry->CanIfCanTxPduIdCanId = CanId; // TODO How do we fix this from a const pointer
594 // Inavlid Canid to configuration
595 VALIDATE_NO_RV(FALSE, CANIF_SETDYNAMICTX_ID, CANIF_E_PARAM_CANID);
600 #if ( CANIF_TRANSCEIVER_API == STD_ON )
601 Std_ReturnType CanIf_SetTransceiverMode(uint8 Transceiver,
602 CanIf_TransceiverModeType TransceiverMode)
604 VALIDATE(FALSE, CANIF_SET_TRANSCEIVERMODE_ID, CANIF_E_NOK_NOSUPPORT);
610 Std_ReturnType CanIf_GetTransceiverMode(uint8 Transceiver,
611 CanIf_TransceiverModeType *TransceiverModePtr)
613 VALIDATE(FALSE, CANIF_GET_TRANSCEIVERMODE_ID, CANIF_E_NOK_NOSUPPORT);
619 Std_ReturnType CanIf_GetTrcvWakeupReason(uint8 Transceiver,
620 CanIf_TrcvWakeupReasonType *TrcvWuReasonPtr)
622 VALIDATE(FALSE, CANIF_GET_TRCVMODEREASON_ID, CANIF_E_NOK_NOSUPPORT);
628 Std_ReturnType CanIf_SetTransceiverWakeupMode(uint8 Transceiver,
629 CanIf_TrcvWakeupModeType *TrcvWakeupMode)
631 VALIDATE(FALSE, CANIF_SET_TRANSCEIVERWAKEMODE_ID, CANIF_E_NOK_NOSUPPORT);
638 #if ( CANIF_WAKEUP_EVENT_API == STD_ON )
639 Std_ReturnType CanIf_CheckWakeup(EcuM_WakeupSourceType WakeupSource)
641 VALIDATE(FALSE, CANIF_CHECKWAKEUP_ID, CANIF_E_NOK_NOSUPPORT);
647 Std_ReturnType CanIf_CheckValidation(EcuM_WakeupSourceType WakeupSource)
649 VALIDATE(FALSE, CANIF_CHECKVALIDATION_ID, CANIF_E_NOK_NOSUPPORT);
657 * Callback interface from driver
659 void CanIf_TxConfirmation(PduIdType canTxPduId)
661 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_TXCONFIRMATION_ID, CANIF_E_UNINIT)
662 VALIDATE_NO_RV(canTxPduId < CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanTXPduIds, CANIF_TXCONFIRMATION_ID, CANIF_E_PARAM_LPDU);
664 const CanIf_TxPduConfigType* entry =
665 &CanIf_ConfigPtr->InitConfig->CanIfTxPduConfigPtr[canTxPduId];
667 /* Find the CAN id in the TxPduList */
669 for (uint16 i = 0; i < CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanTXPduIds; i++)
671 if (entry->CanIfTxPduId == canTxPduId)
674 if (entry->CanIfUserTxConfirmation != NULL)
676 CanIf_ChannelGetModeType mode;
677 CanIf_GetPduMode(entry->CanIfCanTxPduHthRef->CanIfCanControllerIdRef, &mode);
678 if ((mode == CANIF_GET_TX_ONLINE) || (mode == CANIF_GET_ONLINE)
679 || (mode == CANIF_GET_OFFLINE_ACTIVE) || (mode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE) )
681 entry->CanIfUserTxConfirmation(entry->CanIfTxPduId); /* CANIF053 */
691 // Did not find the PDU, something is wrong
695 void CanIf_RxIndication(uint8 Hrh, Can_IdType CanId, uint8 CanDlc,
696 const uint8 *CanSduPtr)
698 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_RXINDICATION_ID, CANIF_E_UNINIT);
699 VALIDATE_NO_RV(CanSduPtr != NULL, CANIF_RXINDICATION_ID, CANIF_E_PARAM_POINTER);
701 /* Check PDU mode before continue processing */
702 CanIf_ChannelGetModeType mode;
703 CanIf_Arc_ChannelIdType channel = CanIf_Arc_FindHrhChannel(Hrh);
704 if (channel == -1) // Invalid HRH
709 if (CanIf_GetPduMode(channel, &mode) == E_OK)
711 if (mode == CANIF_GET_OFFLINE || mode == CANIF_GET_TX_ONLINE ||
712 mode == CANIF_GET_OFFLINE_ACTIVE)
714 // Receiver path is disabled so just drop it
720 return; // No mode so just return
723 const CanIf_RxPduConfigType *entry = CanIf_ConfigPtr->InitConfig->CanIfRxPduConfigPtr;
725 /* Find the CAN id in the RxPduList */
726 for (uint16 i = 0; i < CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanRxPduIds; i++)
728 if (entry->CanIfCanRxPduHrhRef->CanIfHrhIdSymRef == Hrh)
730 // Software filtering
731 if (entry->CanIfCanRxPduHrhRef->CanIfHrhType == CAN_ARC_HANDLE_TYPE_BASIC)
733 if (entry->CanIfCanRxPduHrhRef->CanIfSoftwareFilterHrh)
735 if (entry->CanIfSoftwareFilterType == CANIF_SOFTFILTER_TYPE_MASK)
737 if ((CanId & entry->CanIfCanRxPduCanIdMask ) ==
738 ( entry->CanIfCanRxPduCanId & entry->CanIfCanRxPduCanIdMask))
740 // We found a pdu so call higher layers
745 continue; // Not a supported filter type, so just drop the frame
750 DET_REPORTERROR(MODULE_ID_CAN, 0, CANIF_RXINDICATION_ID, CANIF_E_PARAM_HRH);
751 continue; // Not a supported filter type, so just drop the frame
756 #if (CANIF_DLC_CHECK == STD_ON)
757 if (CanDlc < entry->CanIfCanRxPduDlc)
759 VALIDATE_NO_RV(FALSE, CANIF_RXINDICATION_ID, CANIF_E_PARAM_DLC);
764 switch (entry->CanIfRxUserType)
766 case CANIF_USER_TYPE_CAN_SPECIAL:
768 ((CanIf_FuncTypeCanSpecial) (entry->CanIfUserRxIndication))(entry->CanIfCanRxPduId,
769 CanSduPtr, CanDlc, CanId);
774 case CANIF_USER_TYPE_CAN_NM:
775 case CANIF_USER_TYPE_CAN_PDUR:
776 // Send Can frame to PDU router
777 PduR_CanIfRxIndication(entry->CanIfCanRxPduId,CanSduPtr);
781 case CANIF_USER_TYPE_CAN_TP:
782 // Send Can frame to CAN TP
783 #if defined(USE_CANTP)
785 PduInfoType CanTpRxPdu;
786 CanTpRxPdu.SduLength = CanDlc;
787 CanTpRxPdu.SduDataPtr = (uint8 *)CanSduPtr;
788 CanTp_RxIndication(entry->CanIfCanRxPduId, &CanTpRxPdu);
799 // Did not find the PDU, something is wrong
800 VALIDATE_NO_RV(FALSE, CANIF_RXINDICATION_ID, CANIF_E_PARAM_LPDU);
803 #if ( CANIF_TRANSMIT_CANCELLATION == STD_ON )
804 void CanIf_CancelTxConfirmation(const Can_PduType *PduInfoPtr)
806 VALIDATE(FALSE, CANIF_CANCELTXCONFIRMATION_ID, CANIF_E_NOK_NOSUPPORT);
807 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_CANCELTXCONFIRMATION_ID, CANIF_E_UNINIT);
808 VALIDATE_NO_RV(PduInfoPtr != NULL, CANIF_RXINDICATION_ID, CANIF_E_PARAM_POINTER);
810 const CanIf_TxPduConfigType *entry =
811 CanIf_ConfigPtr->InitConfig->CanIfTxPduConfigPtr;
815 // Did not find the PDU, something is wrong
816 VALIDATE_NO_RV(FALSE, CANIF_TXCONFIRMATION_ID, CANIF_E_PARAM_LPDU);
820 void CanIf_ControllerBusOff(uint8 Controller)
822 // We call this a CanIf channel. Hopefully makes it easier to follow.
823 CanIf_Arc_ChannelIdType channel = Controller;
825 VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_CONTROLLER_BUSOFF_ID, CANIF_E_UNINIT );
826 VALIDATE_NO_RV( Controller < CANIF_CHANNEL_CNT, CANIF_CONTROLLER_BUSOFF_ID, CANIF_E_PARAM_CONTROLLER );
828 // According to figure 35 in canif spec this should be done in
829 // Can driver but it is better to do it here
830 CanIf_SetControllerMode(channel, CANIF_CS_STOPPED);
832 if (CanIf_ConfigPtr->DispatchConfig->CanIfBusOffNotification != NULL)
834 CanIf_ConfigPtr->DispatchConfig->CanIfBusOffNotification(channel);
838 void CanIf_SetWakeupEvent(uint8 Controller)
840 // We call this a CanIf channel. Hopefully makes it easier to follow.
841 CanIf_Arc_ChannelIdType channel = Controller;
843 VALIDATE_NO_RV(FALSE, CANIF_SETWAKEUPEVENT_ID, CANIF_E_NOK_NOSUPPORT);
844 VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_SETWAKEUPEVENT_ID, CANIF_E_UNINIT );
845 VALIDATE_NO_RV( channel < CANIF_CHANNEL_CNT, CANIF_SETWAKEUPEVENT_ID, CANIF_E_PARAM_CONTROLLER );
850 void CanIf_Arc_Error(uint8 Controller, Can_Arc_ErrorType Error)
852 // We call this a CanIf channel. Hopefully makes it easier to follow.
853 CanIf_Arc_ChannelIdType channel = Controller;
855 VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_ARCERROR_ID, CANIF_E_UNINIT );
856 VALIDATE_NO_RV( channel < CANIF_CHANNEL_CNT, CANIF_ARCERROR_ID, CANIF_E_PARAM_CONTROLLER );
858 if (CanIf_ConfigPtr->DispatchConfig->CanIfErrorNotificaton != NULL)
860 CanIf_ConfigPtr->DispatchConfig->CanIfErrorNotificaton(Controller, Error);