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 #undef DET_REPORTERROR
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65 #define DET_REPORTERROR(_x,_y,_z,_q) Det_ReportError(_x, _y, _z, _q)
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68 #define VALIDATE(_exp,_api,_err )
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69 #define VALIDATE_NO_RV(_exp,_api,_err )
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70 #define DET_REPORTERROR(_x,_y,_z,_q)
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74 // Helper to get the Can Controller refered to by a CanIf Channel
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75 #define ARC_GET_CHANNEL_CONTROLLER(_channel) \
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76 CanIf_ConfigPtr->Arc_ChannelToControllerMap[channel]
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78 /* Global configure */
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79 static const CanIf_ConfigType *CanIf_ConfigPtr;
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81 // Struct of controller private data.
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84 CanIf_ControllerModeType ControllerMode;
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85 CanIf_ChannelGetModeType PduMode;
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86 } CanIf_ChannelPrivateType;
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91 CanIf_ChannelPrivateType channelData[CANIF_CHANNEL_CNT];
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94 void CanIf_PreInit_InitController(uint8 Controller, uint8 ConfigurationIndex);
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96 static CanIf_Arc_ChannelIdType CanIf_Arc_FindHrhChannel( Can_Arc_HRHType hrh )
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98 const CanIf_InitHohConfigType *hohConfig;
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99 const CanIf_HrhConfigType *hrhConfig;
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101 // foreach(hoh){ foreach(hrh in hoh) {} }
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102 hohConfig = CanIf_ConfigPtr->InitConfig->CanIfHohConfigPtr;
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108 hrhConfig = hohConfig->CanIfHrhConfig;
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113 if (hrhConfig->CanIfHrhIdSymRef == hrh)
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114 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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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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152 void CanIf_InitController(uint8 Controller, uint8 ConfigurationIndex)
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154 // We call this a CanIf channel. Hopefully makes it easier to follow.
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155 CanIf_Arc_ChannelIdType channel = Controller;
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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_DEV_ERROR_DETECT == STD_ON)
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162 CanIf_ControllerModeType mode;
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164 if (CanIf_GetControllerMode(channel, &mode) == E_OK)
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166 VALIDATE_NO_RV((mode != CANIF_CS_UNINIT), CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER_MODE );
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170 VALIDATE_NO_RV(FALSE, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER_MODE);
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174 if (CanIf_GetControllerMode(channel, &mode) == E_OK)
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176 if (mode == CANIF_CS_STARTED)
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178 CanIf_SetControllerMode(channel, CANIF_CS_STOPPED); // CANIF092
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180 else if (mode != CANIF_CS_STOPPED)
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182 VALIDATE_NO_RV(FALSE, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER_MODE); // CANIF092
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186 // CANIF293: ..Subsequently the CAN Interface calls the corresponding
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187 // CAN Driver initialization services.
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189 // CANIF066: The CAN Interface has access to the CAN Driver configuration data. All
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190 // public CAN Driver configuration data are described in [8] Specification of CAN Driver.
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192 // Grab the configuration from the Can Controller
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193 const Can_ControllerConfigType *canConfig;
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194 const CanControllerIdType canControllerId = ARC_GET_CHANNEL_CONTROLLER(channel);
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196 // Validate that the configuration at the index match the right channel
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197 VALIDATE_NO_RV(CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfControllerIdRef == channel, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
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199 canConfig = CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfInitControllerRef;
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201 // Validate that the CanIfControllerConfig points to configuration for the right Can Controller
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202 VALIDATE_NO_RV(canConfig->CanControllerId == canControllerId, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
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204 Can_InitController(canControllerId, canConfig);
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206 // Set mode to stopped
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207 CanIf_SetControllerMode(channel, CANIF_CS_STOPPED);
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210 void CanIf_PreInit_InitController(uint8 Controller, uint8 ConfigurationIndex){
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211 // We call this a CanIf channel. Hopefully makes it easier to follow.
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212 CanIf_Arc_ChannelIdType channel = Controller;
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214 VALIDATE_NO_RV(channel < CANIF_CHANNEL_CNT, CANIF_INIT_ID, CANIF_E_PARAM_CONTROLLER);
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215 VALIDATE_NO_RV(ConfigurationIndex < CANIF_CHANNEL_CONFIGURATION_CNT, CANIF_INIT_ID, CANIF_E_PARAM_POINTER);
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218 const CanControllerIdType canControllerId = ARC_GET_CHANNEL_CONTROLLER(channel);
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219 // Validate that the configuration at the index match the right channel
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220 VALIDATE_NO_RV(CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfControllerIdRef == channel, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
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221 const Can_ControllerConfigType *canConfig = CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfInitControllerRef;
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222 // Validate that the CanIfControllerConfig points to configuration for the right Can Controller
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223 VALIDATE_NO_RV(canConfig->CanControllerId == canControllerId, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
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225 Can_InitController(canControllerId, canConfig);
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228 //-------------------------------------------------------------------
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230 Std_ReturnType CanIf_SetControllerMode(uint8 Controller,
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231 CanIf_ControllerModeType ControllerMode)
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233 // We call this a CanIf channel. Hopefully makes it easier to follow.
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234 CanIf_Arc_ChannelIdType channel = Controller;
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237 CanIf_ControllerModeType oldMode;
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239 VALIDATE( CanIf_Global.initRun, CANIF_SET_CONTROLLER_MODE_ID, CANIF_E_UNINIT );
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240 VALIDATE( channel < CANIF_CHANNEL_CNT, CANIF_SET_CONTROLLER_MODE_ID, CANIF_E_PARAM_CONTROLLER );
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242 oldMode = CanIf_Global.channelData[channel].ControllerMode;
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244 if (oldMode == CANIF_CS_UNINIT)
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246 VALIDATE(FALSE, CANIF_SET_CONTROLLER_MODE_ID, CANIF_E_UNINIT); // See figure 32, 33
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249 CanControllerIdType canControllerId = ARC_GET_CHANNEL_CONTROLLER(Controller);
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250 switch (ControllerMode)
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252 case CANIF_CS_STARTED: // Figure 32
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256 case CANIF_CS_SLEEP:
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257 if (Can_SetControllerMode(canControllerId, CAN_T_STOP) == CAN_NOT_OK)
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259 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STOPPED;
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262 // Just fall through
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266 CanIf_SetPduMode(channel, CANIF_SET_ONLINE);
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267 if (Can_SetControllerMode(canControllerId, CAN_T_START) == CAN_NOT_OK)
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269 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STARTED;
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273 case CANIF_CS_SLEEP: // Figure 33
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276 case CANIF_CS_STARTED:
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277 if (Can_SetControllerMode(canControllerId, CAN_T_STOP) == CAN_NOT_OK)
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279 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STOPPED;
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282 // Just fall through for other cases
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286 if (Can_SetControllerMode(canControllerId, CAN_T_SLEEP) == CAN_NOT_OK)
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288 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_SLEEP;
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291 case CANIF_CS_STOPPED:
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295 case CANIF_CS_SLEEP:
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296 if (Can_SetControllerMode(canControllerId, CAN_T_WAKEUP) == CAN_NOT_OK)
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300 // Just fall through for other cases
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304 CanIf_SetPduMode(channel, CANIF_SET_OFFLINE);
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305 if (Can_SetControllerMode(canControllerId, CAN_T_STOP) == CAN_NOT_OK)
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307 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STOPPED;
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310 case CANIF_CS_UNINIT:
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311 // Just fall through
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317 //-------------------------------------------------------------------
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319 Std_ReturnType CanIf_GetControllerMode(uint8 Controller,
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320 CanIf_ControllerModeType *ControllerModePtr)
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322 // We call this a CanIf channel. Hopefully makes it easier to follow.
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323 CanIf_Arc_ChannelIdType channel = Controller;
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325 VALIDATE(CanIf_Global.initRun, CANIF_GET_CONTROLLER_MODE_ID, CANIF_E_UNINIT );
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326 VALIDATE(channel < CANIF_CHANNEL_CNT, CANIF_GET_CONTROLLER_MODE_ID, CANIF_E_PARAM_CONTROLLER );
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327 VALIDATE(ControllerModePtr != NULL, CANIF_GET_CONTROLLER_MODE_ID, CANIF_E_PARAM_POINTER );
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329 *ControllerModePtr = CanIf_Global.channelData[channel].ControllerMode;
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334 //-------------------------------------------------------------------
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336 * Matches a Tx PDU id agaist the ones that are in the database.
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338 * @returns Ptr a TxPdu
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340 static const CanIf_TxPduConfigType * CanIf_FindTxPduEntry(PduIdType id)
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342 if (id >= CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanTXPduIds) {
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345 return &CanIf_ConfigPtr->InitConfig->CanIfTxPduConfigPtr[id];
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348 for (uint16 i = 0; i < CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanTXPduIds; i++)
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350 if (entry->CanIfTxPduId == id)
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361 //-------------------------------------------------------------------
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363 Std_ReturnType CanIf_Transmit(PduIdType CanTxPduId,
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364 const PduInfoType *PduInfoPtr)
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366 Can_PduType canPdu;
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367 const CanIf_TxPduConfigType *txEntry;
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368 CanIf_ControllerModeType csMode;
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369 CanIf_ChannelGetModeType pduMode;
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371 VALIDATE(CanIf_Global.initRun, CANIF_TRANSMIT_ID, CANIF_E_UNINIT );
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372 VALIDATE((PduInfoPtr != 0), CANIF_TRANSMIT_ID, CANIF_E_PARAM_POINTER );
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374 // Get the controller from L-PDU handle
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375 txEntry = CanIf_FindTxPduEntry(CanTxPduId);
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379 VALIDATE(FALSE, CANIF_TRANSMIT_ID, CANIF_E_INVALID_TXPDUID);
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383 CanIf_Arc_ChannelIdType channel = txEntry->CanIfCanTxPduHthRef->CanIfCanControllerIdRef;
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385 // Get and verify the controller mode
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386 if (CanIf_GetControllerMode(channel, &csMode) == E_NOT_OK)
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389 if (csMode != CANIF_CS_STARTED) // CANIF_161
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392 // Get and verify the PDU channel mode control
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393 if (CanIf_GetPduMode(channel, &pduMode) == E_NOT_OK)
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396 if ((pduMode != CANIF_GET_TX_ONLINE) && (pduMode != CANIF_GET_ONLINE))
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399 canPdu.id = txEntry->CanIfCanTxPduIdCanId;
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401 canPdu.length = PduInfoPtr->SduLength;
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402 canPdu.sdu = PduInfoPtr->SduDataPtr;
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403 canPdu.swPduHandle = CanTxPduId;
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405 Can_ReturnType rVal = Can_Write(txEntry->CanIfCanTxPduHthRef->CanIfHthIdSymRef, &canPdu);
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407 if (rVal == CAN_NOT_OK)
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410 if (rVal == CAN_BUSY) // CANIF 082, CANIF 161
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412 // Tx buffering not supported so just return.
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419 //-------------------------------------------------------------------
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421 #if ( CANIF_READRXPDU_DATA_API == STD_ON )
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422 Std_ReturnType CanIf_ReadRxPduData(PduIdType CanRxPduId,
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423 PduInfoType *PduInfoPtr)
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425 VALIDATE(FALSE, CANIF_READTXPDUDATA_ID, CANIF_E_NOK_NOSUPPORT);
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426 VALIDATE(CanIf_Global.initRun == STD_ON, CANIF_READTXPDUDATA_ID, CANIF_E_UNINIT );
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427 VALIDATE(PduInfoPtr != 0, CANIF_READTXPDUDATA_ID, CANIF_E_PARAM_POINTER );
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429 // This function is not supported
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435 //-------------------------------------------------------------------
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437 #if ( CANIF_READTXPDU_NOTIFY_STATUS_API == STD_ON )
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438 CanIf_NotifStatusType CanIf_ReadTxNotifStatus(PduIdType CanTxPduId)
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440 const CanIf_TxPduConfigType *txEntry;
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441 VALIDATE(FALSE, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_NOK_NOSUPPORT);
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442 VALIDATE(CanIf_Global.initRun, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_UNINIT );
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444 // Get the controller from L-PDU handle
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445 txEntry = CanIf_FindTxPduEntry(CanTxPduId);
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449 VALIDATE(FALSE, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_INVALID_TXPDUID);
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450 return CANIF_NO_NOTIFICATION;
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453 if (txEntry->CanIfReadTxPduNotifyStatus == FALSE)
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455 VALIDATE(FALSE, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_INVALID_TXPDUID);
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456 return CANIF_NO_NOTIFICATION;
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459 // This function is not supported
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461 return CANIF_NO_NOTIFICATION;
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465 //-------------------------------------------------------------------
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467 #if ( CANIF_READRXPDU_NOTIFY_STATUS_API == STD_ON )
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468 CanIf_NotifStatusType CanIf_ReadRxNotifStatus(PduIdType CanRxPduId)
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470 VALIDATE(FALSE, CANIF_READRXNOTIFSTATUS_ID, CANIF_E_NOK_NOSUPPORT);
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471 VALIDATE(CanIf_Global.initRun, CANIF_READRXNOTIFSTATUS_ID, CANIF_E_UNINIT );
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473 return CANIF_NO_NOTIFICATION;
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477 //-------------------------------------------------------------------
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479 Std_ReturnType CanIf_SetPduMode(uint8 Controller,
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480 CanIf_ChannelSetModeType PduModeRequest)
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482 // We call this a CanIf channel. Hopefully makes it easier to follow.
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483 CanIf_Arc_ChannelIdType channel = Controller;
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485 VALIDATE( CanIf_Global.initRun, CANIF_SETPDUMODE_ID, CANIF_E_UNINIT );
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486 VALIDATE( channel < CANIF_CHANNEL_CNT, CANIF_SETPDUMODE_ID, CANIF_E_PARAM_CONTROLLER );
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488 CanIf_ChannelGetModeType oldMode = CanIf_Global.channelData[channel].PduMode;
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490 switch(PduModeRequest)
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492 case CANIF_SET_OFFLINE:
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493 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
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495 case CANIF_SET_RX_OFFLINE:
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496 if (oldMode == CANIF_GET_RX_ONLINE)
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497 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
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498 else if (oldMode == CANIF_GET_ONLINE)
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499 CanIf_Global.channelData[channel].PduMode = CANIF_GET_TX_ONLINE;
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500 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE)
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501 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE;
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503 // Other oldmodes don't care
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505 case CANIF_SET_RX_ONLINE:
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506 if (oldMode == CANIF_GET_OFFLINE)
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507 CanIf_Global.channelData[channel].PduMode = CANIF_GET_RX_ONLINE;
\r
508 else if (oldMode == CANIF_GET_TX_ONLINE)
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509 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
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510 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE)
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511 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE;
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513 // Other oldmodes don't care
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515 case CANIF_SET_TX_OFFLINE:
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516 if (oldMode == CANIF_GET_TX_ONLINE)
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517 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
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518 else if (oldMode == CANIF_GET_ONLINE)
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519 CanIf_Global.channelData[channel].PduMode = CANIF_GET_RX_ONLINE;
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520 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE)
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521 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
\r
522 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE)
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523 CanIf_Global.channelData[channel].PduMode = CANIF_GET_RX_ONLINE;
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525 // Other oldmodes don't care
\r
527 case CANIF_SET_TX_ONLINE:
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528 if (oldMode == CANIF_GET_OFFLINE)
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529 CanIf_Global.channelData[channel].PduMode = CANIF_GET_TX_ONLINE;
\r
530 else if (oldMode == CANIF_GET_RX_ONLINE)
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531 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
\r
532 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE)
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533 CanIf_Global.channelData[channel].PduMode = CANIF_GET_TX_ONLINE;
\r
534 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE)
\r
535 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
\r
537 // Other oldmodes don't care
\r
539 case CANIF_SET_ONLINE:
\r
540 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
\r
543 case CANIF_SET_TX_OFFLINE_ACTIVE:
\r
544 if (oldMode == CANIF_GET_OFFLINE)
\r
545 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE;
\r
546 else if (oldMode == CANIF_GET_RX_ONLINE)
\r
547 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE;
\r
548 else if (oldMode == CANIF_GET_TX_ONLINE)
\r
549 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE;
\r
550 else if (oldMode == CANIF_GET_ONLINE)
\r
551 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE;
\r
553 // Other oldmodes don't care
\r
560 //-------------------------------------------------------------------
\r
562 Std_ReturnType CanIf_GetPduMode(uint8 Controller,
\r
563 CanIf_ChannelGetModeType *PduModePtr)
\r
565 // We call this a CanIf channel. Hopefully makes it easier to follow.
\r
566 CanIf_Arc_ChannelIdType channel = Controller;
\r
568 VALIDATE( CanIf_Global.initRun, CANIF_GETPDUMODE_ID, CANIF_E_UNINIT );
\r
569 VALIDATE( channel < CANIF_CHANNEL_CNT, CANIF_GETPDUMODE_ID, CANIF_E_PARAM_CONTROLLER );
\r
571 *PduModePtr = CanIf_Global.channelData[channel].PduMode;
\r
576 #if ( CANIF_SETDYNAMICTXID_API == STD_ON )
\r
577 void CanIf_SetDynamicTxId(PduIdType CanTxPduId, Can_IdType CanId)
\r
579 const CanIf_TxPduConfigType *txEntry;
\r
580 VALIDATE(FALSE, CANIF_SETDYNAMICTX_ID, CANIF_E_NOK_NOSUPPORT);
\r
581 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_SETDYNAMICTX_ID, CANIF_E_UNINIT );
\r
583 // Get the controller from L-PDU handle
\r
584 txEntry = CanIf_FindTxPduEntry(CanTxPduId);
\r
588 VALIDATE_NO_RV(FALSE, CANIF_SETDYNAMICTX_ID, CANIF_E_INVALID_TXPDUID);
\r
592 // Check that this is a dymanic PDU
\r
593 if (txEntry->CanIfCanTxPduType != ARC_PDU_TYPE_DYNAMIC)
\r
595 VALIDATE_NO_RV(FALSE, CANIF_SETDYNAMICTX_ID, CANIF_E_INVALID_TXPDUID);
\r
599 // Check that this is an extended or standard id
\r
600 if (((CanId & 0x80000000) && (txEntry->CanIfTxPduIdCanIdType == ARC_CAN_ID_TYPE_29)) ||
\r
601 (((CanId & 0x80000000) == 0) && (txEntry->CanIfTxPduIdCanIdType == ARC_CAN_ID_TYPE_11)))
\r
603 // Update the CanID
\r
604 //txEntry->CanIfCanTxPduIdCanId = CanId; // TODO How do we fix this from a const pointer
\r
610 // Inavlid Canid to configuration
\r
611 VALIDATE_NO_RV(FALSE, CANIF_SETDYNAMICTX_ID, CANIF_E_PARAM_CANID);
\r
616 #if ( CANIF_TRANSCEIVER_API == STD_ON )
\r
617 Std_ReturnType CanIf_SetTransceiverMode(uint8 Transceiver,
\r
618 CanIf_TransceiverModeType TransceiverMode)
\r
620 VALIDATE(FALSE, CANIF_SET_TRANSCEIVERMODE_ID, CANIF_E_NOK_NOSUPPORT);
\r
626 Std_ReturnType CanIf_GetTransceiverMode(uint8 Transceiver,
\r
627 CanIf_TransceiverModeType *TransceiverModePtr)
\r
629 VALIDATE(FALSE, CANIF_GET_TRANSCEIVERMODE_ID, CANIF_E_NOK_NOSUPPORT);
\r
635 Std_ReturnType CanIf_GetTrcvWakeupReason(uint8 Transceiver,
\r
636 CanIf_TrcvWakeupReasonType *TrcvWuReasonPtr)
\r
638 VALIDATE(FALSE, CANIF_GET_TRCVMODEREASON_ID, CANIF_E_NOK_NOSUPPORT);
\r
644 Std_ReturnType CanIf_SetTransceiverWakeupMode(uint8 Transceiver,
\r
645 CanIf_TrcvWakeupModeType *TrcvWakeupMode)
\r
647 VALIDATE(FALSE, CANIF_SET_TRANSCEIVERWAKEMODE_ID, CANIF_E_NOK_NOSUPPORT);
\r
654 #if ( CANIF_WAKEUP_EVENT_API == STD_ON )
\r
655 Std_ReturnType CanIf_CheckWakeup(EcuM_WakeupSourceType WakeupSource)
\r
657 VALIDATE(FALSE, CANIF_CHECKWAKEUP_ID, CANIF_E_NOK_NOSUPPORT);
\r
663 Std_ReturnType CanIf_CheckValidation(EcuM_WakeupSourceType WakeupSource)
\r
665 VALIDATE(FALSE, CANIF_CHECKVALIDATION_ID, CANIF_E_NOK_NOSUPPORT);
\r
673 * Callback interface from driver
\r
675 void CanIf_TxConfirmation(PduIdType canTxPduId)
\r
677 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_TXCONFIRMATION_ID, CANIF_E_UNINIT)
\r
678 VALIDATE_NO_RV(canTxPduId < CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanTXPduIds, CANIF_TXCONFIRMATION_ID, CANIF_E_PARAM_LPDU);
\r
680 const CanIf_TxPduConfigType* entry =
\r
681 &CanIf_ConfigPtr->InitConfig->CanIfTxPduConfigPtr[canTxPduId];
\r
683 /* Find the CAN id in the TxPduList */
\r
685 for (uint16 i = 0; i < CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanTXPduIds; i++)
\r
687 if (entry->CanIfTxPduId == canTxPduId)
\r
690 if (entry->CanIfUserTxConfirmation != NULL)
\r
692 CanIf_ChannelGetModeType mode;
\r
693 CanIf_GetPduMode(entry->CanIfCanTxPduHthRef->CanIfCanControllerIdRef, &mode);
\r
694 if ((mode == CANIF_GET_TX_ONLINE) || (mode == CANIF_GET_ONLINE)
\r
695 || (mode == CANIF_GET_OFFLINE_ACTIVE) || (mode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE) )
\r
697 entry->CanIfUserTxConfirmation(entry->CanIfTxPduId); /* CANIF053 */
\r
707 // Did not find the PDU, something is wrong
\r
711 void CanIf_RxIndication(uint8 Hrh, Can_IdType CanId, uint8 CanDlc,
\r
712 const uint8 *CanSduPtr)
\r
714 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_RXINDICATION_ID, CANIF_E_UNINIT);
\r
715 VALIDATE_NO_RV(CanSduPtr != NULL, CANIF_RXINDICATION_ID, CANIF_E_PARAM_POINTER);
\r
717 /* Check PDU mode before continue processing */
\r
718 CanIf_ChannelGetModeType mode;
\r
719 CanIf_Arc_ChannelIdType channel = CanIf_Arc_FindHrhChannel(Hrh);
\r
720 if (channel == -1) // Invalid HRH
\r
725 if (CanIf_GetPduMode(channel, &mode) == E_OK)
\r
727 if (mode == CANIF_GET_OFFLINE || mode == CANIF_GET_TX_ONLINE ||
\r
728 mode == CANIF_GET_OFFLINE_ACTIVE)
\r
730 // Receiver path is disabled so just drop it
\r
736 return; // No mode so just return
\r
739 const CanIf_RxPduConfigType *entry = CanIf_ConfigPtr->InitConfig->CanIfRxPduConfigPtr;
\r
741 /* Find the CAN id in the RxPduList */
\r
742 for (uint16 i = 0; i < CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanRxPduIds; i++)
\r
744 if (entry->CanIfCanRxPduHrhRef->CanIfHrhIdSymRef == Hrh)
\r
746 // Software filtering
\r
747 if (entry->CanIfCanRxPduHrhRef->CanIfHrhType == CAN_ARC_HANDLE_TYPE_BASIC)
\r
749 if (entry->CanIfCanRxPduHrhRef->CanIfSoftwareFilterHrh)
\r
751 if (entry->CanIfSoftwareFilterType == CANIF_SOFTFILTER_TYPE_MASK)
\r
753 if ((CanId & entry->CanIfCanRxPduCanIdMask ) ==
\r
754 ( entry->CanIfCanRxPduCanId & entry->CanIfCanRxPduCanIdMask))
\r
756 // We found a pdu so call higher layers
\r
761 continue; // Not a supported filter type, so just drop the frame
\r
766 DET_REPORTERROR(MODULE_ID_CAN, 0, CANIF_RXINDICATION_ID, CANIF_E_PARAM_HRH);
\r
767 continue; // Not a supported filter type, so just drop the frame
\r
772 #if (CANIF_DLC_CHECK == STD_ON)
\r
773 if (CanDlc < entry->CanIfCanRxPduDlc)
\r
775 VALIDATE_NO_RV(FALSE, CANIF_RXINDICATION_ID, CANIF_E_PARAM_DLC);
\r
780 switch (entry->CanIfRxUserType)
\r
782 case CANIF_USER_TYPE_CAN_SPECIAL:
\r
784 ((CanIf_FuncTypeCanSpecial) (entry->CanIfUserRxIndication))(entry->CanIfCanRxPduId,
\r
785 CanSduPtr, CanDlc, CanId);
\r
790 case CANIF_USER_TYPE_CAN_NM:
\r
791 CanNm_RxIndication(entry->CanIfCanRxPduId,CanSduPtr);
\r
795 case CANIF_USER_TYPE_CAN_PDUR:
\r
796 // Send Can frame to PDU router
\r
797 PduR_CanIfRxIndication(entry->CanIfCanRxPduId,CanSduPtr);
\r
801 case CANIF_USER_TYPE_CAN_TP:
\r
802 // Send Can frame to CAN TP
\r
803 #if defined(USE_CANTP)
\r
805 PduInfoType CanTpRxPdu;
\r
806 CanTpRxPdu.SduLength = CanDlc;
\r
807 CanTpRxPdu.SduDataPtr = (uint8 *)CanSduPtr;
\r
808 CanTp_RxIndication(entry->CanIfCanRxPduId, &CanTpRxPdu);
\r
819 // Did not find the PDU, something is wrong
\r
820 VALIDATE_NO_RV(FALSE, CANIF_RXINDICATION_ID, CANIF_E_PARAM_LPDU);
\r
823 #if ( CANIF_TRANSMIT_CANCELLATION == STD_ON )
\r
824 void CanIf_CancelTxConfirmation(const Can_PduType *PduInfoPtr)
\r
826 VALIDATE(FALSE, CANIF_CANCELTXCONFIRMATION_ID, CANIF_E_NOK_NOSUPPORT);
\r
827 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_CANCELTXCONFIRMATION_ID, CANIF_E_UNINIT);
\r
828 VALIDATE_NO_RV(PduInfoPtr != NULL, CANIF_RXINDICATION_ID, CANIF_E_PARAM_POINTER);
\r
830 const CanIf_TxPduConfigType *entry =
\r
831 CanIf_ConfigPtr->InitConfig->CanIfTxPduConfigPtr;
\r
835 // Did not find the PDU, something is wrong
\r
836 VALIDATE_NO_RV(FALSE, CANIF_TXCONFIRMATION_ID, CANIF_E_PARAM_LPDU);
\r
840 void CanIf_ControllerBusOff(uint8 Controller)
\r
842 // We call this a CanIf channel. Hopefully makes it easier to follow.
\r
843 CanIf_Arc_ChannelIdType channel = Controller;
\r
845 VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_CONTROLLER_BUSOFF_ID, CANIF_E_UNINIT );
\r
846 VALIDATE_NO_RV( Controller < CANIF_CHANNEL_CNT, CANIF_CONTROLLER_BUSOFF_ID, CANIF_E_PARAM_CONTROLLER );
\r
848 // According to figure 35 in canif spec this should be done in
\r
849 // Can driver but it is better to do it here
\r
850 CanIf_SetControllerMode(channel, CANIF_CS_STOPPED);
\r
852 if (CanIf_ConfigPtr->DispatchConfig->CanIfBusOffNotification != NULL)
\r
854 CanIf_ConfigPtr->DispatchConfig->CanIfBusOffNotification(channel);
\r
858 void CanIf_SetWakeupEvent(uint8 Controller)
\r
860 // We call this a CanIf channel. Hopefully makes it easier to follow.
\r
861 CanIf_Arc_ChannelIdType channel = Controller;
\r
863 VALIDATE_NO_RV(FALSE, CANIF_SETWAKEUPEVENT_ID, CANIF_E_NOK_NOSUPPORT);
\r
864 VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_SETWAKEUPEVENT_ID, CANIF_E_UNINIT );
\r
865 VALIDATE_NO_RV( channel < CANIF_CHANNEL_CNT, CANIF_SETWAKEUPEVENT_ID, CANIF_E_PARAM_CONTROLLER );
\r
870 void CanIf_Arc_Error(uint8 Controller, Can_Arc_ErrorType Error)
\r
872 // We call this a CanIf channel. Hopefully makes it easier to follow.
\r
873 CanIf_Arc_ChannelIdType channel = Controller;
\r
875 VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_ARCERROR_ID, CANIF_E_UNINIT );
\r
876 VALIDATE_NO_RV( channel < CANIF_CHANNEL_CNT, CANIF_ARCERROR_ID, CANIF_E_PARAM_CONTROLLER );
\r
878 if (CanIf_ConfigPtr->DispatchConfig->CanIfErrorNotificaton != NULL)
\r
880 CanIf_ConfigPtr->DispatchConfig->CanIfErrorNotificaton(Controller, Error);
\r