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 #undef DET_REPORTERROR
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71 #define DET_REPORTERROR(_x,_y,_z,_q)
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75 // Helper to get the Can Controller refered to by a CanIf Channel
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76 #define ARC_GET_CHANNEL_CONTROLLER(_channel) \
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77 CanIf_ConfigPtr->Arc_ChannelToControllerMap[channel]
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79 /* Global configure */
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80 static const CanIf_ConfigType *CanIf_ConfigPtr;
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82 // Struct of controller private data.
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85 CanIf_ControllerModeType ControllerMode;
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86 CanIf_ChannelGetModeType PduMode;
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87 } CanIf_ChannelPrivateType;
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92 CanIf_ChannelPrivateType channelData[CANIF_CHANNEL_CNT];
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95 void CanIf_PreInit_InitController(uint8 Controller, uint8 ConfigurationIndex);
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97 static CanIf_Arc_ChannelIdType CanIf_Arc_FindHrhChannel( Can_Arc_HRHType hrh )
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99 const CanIf_InitHohConfigType *hohConfig;
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100 const CanIf_HrhConfigType *hrhConfig;
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102 // foreach(hoh){ foreach(hrh in hoh) {} }
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103 hohConfig = CanIf_ConfigPtr->InitConfig->CanIfHohConfigPtr;
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109 hrhConfig = hohConfig->CanIfHrhConfig;
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114 if (hrhConfig->CanIfHrhIdSymRef == hrh)
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115 return hrhConfig->CanIfCanControllerHrhIdRef;
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116 } while(!hrhConfig->CanIf_Arc_EOL);
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117 } while(!hohConfig->CanIf_Arc_EOL);
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119 DET_REPORTERROR(MODULE_ID_CANIF, 0, CANIF_RXINDICATION_ID, CANIF_E_PARAM_HRH);
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125 CanIf_GlobalType CanIf_Global;
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127 void CanIf_Init(const CanIf_ConfigType *ConfigPtr)
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129 VALIDATE_NO_RV(ConfigPtr != 0, CANIF_INIT_ID, CANIF_E_PARAM_POINTER); // Only PostBuild case supported
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131 CanIf_ConfigPtr = ConfigPtr;
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133 for (uint8 i = 0; i < CANIF_CHANNEL_CNT; i++)
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135 CanIf_Global.channelData[i].ControllerMode = CANIF_CS_STOPPED;
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136 CanIf_Global.channelData[i].PduMode = CANIF_GET_OFFLINE;
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137 CanIf_PreInit_InitController(i, CanIf_ConfigPtr->Arc_ChannelDefaultConfIndex[i]);
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141 CanIf_Global.initRun = TRUE;
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147 //-------------------------------------------------------------------
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149 * Controller :: CanIf_Arc_ChannelIdType (CanIf-specific id to abstract from Can driver/controllers)
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150 * 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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156 CanIf_ControllerModeType mode;
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158 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_INIT_CONTROLLER_ID, CANIF_E_UNINIT );
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159 VALIDATE_NO_RV(channel < CANIF_CHANNEL_CNT, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
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160 VALIDATE_NO_RV(ConfigurationIndex < CANIF_CHANNEL_CONFIGURATION_CNT, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_POINTER);
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162 if (CanIf_GetControllerMode(channel, &mode) == E_OK)
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164 if (mode == CANIF_CS_STARTED)
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166 CanIf_SetControllerMode(channel, CANIF_CS_STOPPED); // CANIF092
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168 else if (mode != CANIF_CS_STOPPED)
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170 VALIDATE_NO_RV(FALSE, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER_MODE); // CANIF092
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175 VALIDATE_NO_RV(FALSE, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER_MODE);
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178 // CANIF293: ..Subsequently the CAN Interface calls the corresponding
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179 // CAN Driver initialization services.
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181 // CANIF066: The CAN Interface has access to the CAN Driver configuration data. All
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182 // public CAN Driver configuration data are described in [8] Specification of CAN Driver.
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184 // Grab the configuration from the Can Controller
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185 const Can_ControllerConfigType *canConfig;
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186 const CanControllerIdType canControllerId = ARC_GET_CHANNEL_CONTROLLER(channel);
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188 // Validate that the configuration at the index match the right channel
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189 VALIDATE_NO_RV(CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfControllerIdRef == channel, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
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191 canConfig = CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfInitControllerRef;
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193 // Validate that the CanIfControllerConfig points to configuration for the right Can Controller
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194 VALIDATE_NO_RV(canConfig->CanControllerId == canControllerId, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
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196 Can_InitController(canControllerId, canConfig);
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198 // Set mode to stopped
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199 CanIf_SetControllerMode(channel, CANIF_CS_STOPPED);
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202 void CanIf_PreInit_InitController(uint8 Controller, uint8 ConfigurationIndex){
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203 // We call this a CanIf channel. Hopefully makes it easier to follow.
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204 CanIf_Arc_ChannelIdType channel = Controller;
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206 VALIDATE_NO_RV(channel < CANIF_CHANNEL_CNT, CANIF_INIT_ID, CANIF_E_PARAM_CONTROLLER);
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207 VALIDATE_NO_RV(ConfigurationIndex < CANIF_CHANNEL_CONFIGURATION_CNT, CANIF_INIT_ID, CANIF_E_PARAM_POINTER);
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210 const CanControllerIdType canControllerId = ARC_GET_CHANNEL_CONTROLLER(channel);
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211 // Validate that the configuration at the index match the right channel
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212 VALIDATE_NO_RV(CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfControllerIdRef == channel, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
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213 const Can_ControllerConfigType *canConfig = CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfInitControllerRef;
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214 // Validate that the CanIfControllerConfig points to configuration for the right Can Controller
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215 VALIDATE_NO_RV(canConfig->CanControllerId == canControllerId, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
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217 Can_InitController(canControllerId, canConfig);
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220 //-------------------------------------------------------------------
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222 Std_ReturnType CanIf_SetControllerMode(uint8 Controller,
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223 CanIf_ControllerModeType ControllerMode)
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225 // We call this a CanIf channel. Hopefully makes it easier to follow.
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226 CanIf_Arc_ChannelIdType channel = Controller;
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229 CanIf_ControllerModeType oldMode;
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231 VALIDATE( CanIf_Global.initRun, CANIF_SET_CONTROLLER_MODE_ID, CANIF_E_UNINIT );
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232 VALIDATE( channel < CANIF_CHANNEL_CNT, CANIF_SET_CONTROLLER_MODE_ID, CANIF_E_PARAM_CONTROLLER );
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234 oldMode = CanIf_Global.channelData[channel].ControllerMode;
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236 if (oldMode == CANIF_CS_UNINIT)
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238 VALIDATE(FALSE, CANIF_SET_CONTROLLER_MODE_ID, CANIF_E_UNINIT); // See figure 32, 33
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241 CanControllerIdType canControllerId = ARC_GET_CHANNEL_CONTROLLER(Controller);
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242 switch (ControllerMode)
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244 case CANIF_CS_STARTED: // Figure 32
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248 case CANIF_CS_SLEEP:
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249 if (Can_SetControllerMode(canControllerId, CAN_T_STOP) == CAN_NOT_OK)
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251 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STOPPED;
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254 // Just fall through
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258 CanIf_SetPduMode(channel, CANIF_SET_ONLINE);
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259 if (Can_SetControllerMode(canControllerId, CAN_T_START) == CAN_NOT_OK)
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261 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STARTED;
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265 case CANIF_CS_SLEEP: // Figure 33
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268 case CANIF_CS_STARTED:
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269 if (Can_SetControllerMode(canControllerId, CAN_T_STOP) == CAN_NOT_OK)
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271 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STOPPED;
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274 // Just fall through for other cases
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278 if (Can_SetControllerMode(canControllerId, CAN_T_SLEEP) == CAN_NOT_OK)
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280 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_SLEEP;
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283 case CANIF_CS_STOPPED:
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287 case CANIF_CS_SLEEP:
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288 if (Can_SetControllerMode(canControllerId, CAN_T_WAKEUP) == CAN_NOT_OK)
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292 // Just fall through for other cases
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296 CanIf_SetPduMode(channel, CANIF_SET_OFFLINE);
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297 if (Can_SetControllerMode(canControllerId, CAN_T_STOP) == CAN_NOT_OK)
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299 CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STOPPED;
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302 case CANIF_CS_UNINIT:
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303 // Just fall through
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309 //-------------------------------------------------------------------
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311 Std_ReturnType CanIf_GetControllerMode(uint8 Controller,
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312 CanIf_ControllerModeType *ControllerModePtr)
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314 // We call this a CanIf channel. Hopefully makes it easier to follow.
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315 CanIf_Arc_ChannelIdType channel = Controller;
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317 VALIDATE(CanIf_Global.initRun, CANIF_GET_CONTROLLER_MODE_ID, CANIF_E_UNINIT );
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318 VALIDATE(channel < CANIF_CHANNEL_CNT, CANIF_GET_CONTROLLER_MODE_ID, CANIF_E_PARAM_CONTROLLER );
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319 VALIDATE(ControllerModePtr != NULL, CANIF_GET_CONTROLLER_MODE_ID, CANIF_E_PARAM_POINTER );
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321 *ControllerModePtr = CanIf_Global.channelData[channel].ControllerMode;
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326 //-------------------------------------------------------------------
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328 * Matches a Tx PDU id agaist the ones that are in the database.
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330 * @returns Ptr a TxPdu
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332 static const CanIf_TxPduConfigType * CanIf_FindTxPduEntry(PduIdType id)
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334 if (id >= CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanTXPduIds) {
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337 return &CanIf_ConfigPtr->InitConfig->CanIfTxPduConfigPtr[id];
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340 for (uint16 i = 0; i < CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanTXPduIds; i++)
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342 if (entry->CanIfTxPduId == id)
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353 //-------------------------------------------------------------------
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355 Std_ReturnType CanIf_Transmit(PduIdType CanTxPduId,
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356 const PduInfoType *PduInfoPtr)
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358 Can_PduType canPdu;
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359 const CanIf_TxPduConfigType *txEntry;
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360 CanIf_ControllerModeType csMode;
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361 CanIf_ChannelGetModeType pduMode;
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363 VALIDATE(CanIf_Global.initRun, CANIF_TRANSMIT_ID, CANIF_E_UNINIT );
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364 VALIDATE((PduInfoPtr != 0), CANIF_TRANSMIT_ID, CANIF_E_PARAM_POINTER );
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366 // Get the controller from L-PDU handle
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367 txEntry = CanIf_FindTxPduEntry(CanTxPduId);
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371 VALIDATE(FALSE, CANIF_TRANSMIT_ID, CANIF_E_INVALID_TXPDUID);
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375 CanIf_Arc_ChannelIdType channel = txEntry->CanIfCanTxPduHthRef->CanIfCanControllerIdRef;
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377 // Get and verify the controller mode
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378 if (CanIf_GetControllerMode(channel, &csMode) == E_NOT_OK)
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381 if (csMode != CANIF_CS_STARTED) // CANIF_161
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384 // Get and verify the PDU channel mode control
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385 if (CanIf_GetPduMode(channel, &pduMode) == E_NOT_OK)
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388 if ((pduMode != CANIF_GET_TX_ONLINE) && (pduMode != CANIF_GET_ONLINE))
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391 canPdu.id = txEntry->CanIfCanTxPduIdCanId;
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393 canPdu.length = PduInfoPtr->SduLength;
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394 canPdu.sdu = PduInfoPtr->SduDataPtr;
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395 canPdu.swPduHandle = CanTxPduId;
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397 Can_ReturnType rVal = Can_Write(txEntry->CanIfCanTxPduHthRef->CanIfHthIdSymRef, &canPdu);
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399 if (rVal == CAN_NOT_OK)
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402 if (rVal == CAN_BUSY) // CANIF 082, CANIF 161
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404 // Tx buffering not supported so just return.
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411 //-------------------------------------------------------------------
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413 #if ( CANIF_READRXPDU_DATA_API == STD_ON )
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414 Std_ReturnType CanIf_ReadRxPduData(PduIdType CanRxPduId,
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415 PduInfoType *PduInfoPtr)
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417 VALIDATE(FALSE, CANIF_READTXPDUDATA_ID, CANIF_E_NOK_NOSUPPORT);
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418 VALIDATE(CanIf_Global.initRun == STD_ON, CANIF_READTXPDUDATA_ID, CANIF_E_UNINIT );
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419 VALIDATE(PduInfoPtr != 0, CANIF_READTXPDUDATA_ID, CANIF_E_PARAM_POINTER );
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421 // This function is not supported
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427 //-------------------------------------------------------------------
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429 #if ( CANIF_READTXPDU_NOTIFY_STATUS_API == STD_ON )
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430 CanIf_NotifStatusType CanIf_ReadTxNotifStatus(PduIdType CanTxPduId)
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432 const CanIf_TxPduConfigType *txEntry;
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433 VALIDATE(FALSE, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_NOK_NOSUPPORT);
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434 VALIDATE(CanIf_Global.initRun, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_UNINIT );
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436 // Get the controller from L-PDU handle
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437 txEntry = CanIf_FindTxPduEntry(CanTxPduId);
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441 VALIDATE(FALSE, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_INVALID_TXPDUID);
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442 return CANIF_NO_NOTIFICATION;
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445 if (txEntry->CanIfReadTxPduNotifyStatus == FALSE)
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447 VALIDATE(FALSE, CANIF_READTXNOTIFSTATUS_ID, CANIF_E_INVALID_TXPDUID);
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448 return CANIF_NO_NOTIFICATION;
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451 // This function is not supported
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453 return CANIF_NO_NOTIFICATION;
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457 //-------------------------------------------------------------------
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459 #if ( CANIF_READRXPDU_NOTIFY_STATUS_API == STD_ON )
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460 CanIf_NotifStatusType CanIf_ReadRxNotifStatus(PduIdType CanRxPduId)
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462 VALIDATE(FALSE, CANIF_READRXNOTIFSTATUS_ID, CANIF_E_NOK_NOSUPPORT);
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463 VALIDATE(CanIf_Global.initRun, CANIF_READRXNOTIFSTATUS_ID, CANIF_E_UNINIT );
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465 return CANIF_NO_NOTIFICATION;
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469 //-------------------------------------------------------------------
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471 Std_ReturnType CanIf_SetPduMode(uint8 Controller,
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472 CanIf_ChannelSetModeType PduModeRequest)
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474 // We call this a CanIf channel. Hopefully makes it easier to follow.
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475 CanIf_Arc_ChannelIdType channel = Controller;
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477 VALIDATE( CanIf_Global.initRun, CANIF_SETPDUMODE_ID, CANIF_E_UNINIT );
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478 VALIDATE( channel < CANIF_CHANNEL_CNT, CANIF_SETPDUMODE_ID, CANIF_E_PARAM_CONTROLLER );
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480 CanIf_ChannelGetModeType oldMode = CanIf_Global.channelData[channel].PduMode;
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482 switch(PduModeRequest)
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484 case CANIF_SET_OFFLINE:
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485 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
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487 case CANIF_SET_RX_OFFLINE:
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488 if (oldMode == CANIF_GET_RX_ONLINE)
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489 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
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490 else if (oldMode == CANIF_GET_ONLINE)
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491 CanIf_Global.channelData[channel].PduMode = CANIF_GET_TX_ONLINE;
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492 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE)
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493 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE;
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495 // Other oldmodes don't care
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497 case CANIF_SET_RX_ONLINE:
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498 if (oldMode == CANIF_GET_OFFLINE)
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499 CanIf_Global.channelData[channel].PduMode = CANIF_GET_RX_ONLINE;
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500 else if (oldMode == CANIF_GET_TX_ONLINE)
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501 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
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502 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE)
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503 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE;
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505 // Other oldmodes don't care
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507 case CANIF_SET_TX_OFFLINE:
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508 if (oldMode == CANIF_GET_TX_ONLINE)
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509 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
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510 else if (oldMode == CANIF_GET_ONLINE)
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511 CanIf_Global.channelData[channel].PduMode = CANIF_GET_RX_ONLINE;
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512 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE)
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513 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE;
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514 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE)
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515 CanIf_Global.channelData[channel].PduMode = CANIF_GET_RX_ONLINE;
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517 // Other oldmodes don't care
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519 case CANIF_SET_TX_ONLINE:
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520 if (oldMode == CANIF_GET_OFFLINE)
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521 CanIf_Global.channelData[channel].PduMode = CANIF_GET_TX_ONLINE;
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522 else if (oldMode == CANIF_GET_RX_ONLINE)
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523 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
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524 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE)
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525 CanIf_Global.channelData[channel].PduMode = CANIF_GET_TX_ONLINE;
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526 else if (oldMode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE)
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527 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
\r
529 // Other oldmodes don't care
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531 case CANIF_SET_ONLINE:
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532 CanIf_Global.channelData[channel].PduMode = CANIF_GET_ONLINE;
\r
535 case CANIF_SET_TX_OFFLINE_ACTIVE:
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536 if (oldMode == CANIF_GET_OFFLINE)
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537 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE;
\r
538 else if (oldMode == CANIF_GET_RX_ONLINE)
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539 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE;
\r
540 else if (oldMode == CANIF_GET_TX_ONLINE)
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541 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE;
\r
542 else if (oldMode == CANIF_GET_ONLINE)
\r
543 CanIf_Global.channelData[channel].PduMode = CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE;
\r
545 // Other oldmodes don't care
\r
552 //-------------------------------------------------------------------
\r
554 Std_ReturnType CanIf_GetPduMode(uint8 Controller,
\r
555 CanIf_ChannelGetModeType *PduModePtr)
\r
557 // We call this a CanIf channel. Hopefully makes it easier to follow.
\r
558 CanIf_Arc_ChannelIdType channel = Controller;
\r
560 VALIDATE( CanIf_Global.initRun, CANIF_GETPDUMODE_ID, CANIF_E_UNINIT );
\r
561 VALIDATE( channel < CANIF_CHANNEL_CNT, CANIF_GETPDUMODE_ID, CANIF_E_PARAM_CONTROLLER );
\r
563 *PduModePtr = CanIf_Global.channelData[channel].PduMode;
\r
568 #if ( CANIF_SETDYNAMICTXID_API == STD_ON )
\r
569 void CanIf_SetDynamicTxId(PduIdType CanTxPduId, Can_IdType CanId)
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571 const CanIf_TxPduConfigType *txEntry;
\r
572 VALIDATE(FALSE, CANIF_SETDYNAMICTX_ID, CANIF_E_NOK_NOSUPPORT);
\r
573 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_SETDYNAMICTX_ID, CANIF_E_UNINIT );
\r
575 // Get the controller from L-PDU handle
\r
576 txEntry = CanIf_FindTxPduEntry(CanTxPduId);
\r
580 VALIDATE_NO_RV(FALSE, CANIF_SETDYNAMICTX_ID, CANIF_E_INVALID_TXPDUID);
\r
584 // Check that this is a dymanic PDU
\r
585 if (txEntry->CanIfCanTxPduType != ARC_PDU_TYPE_DYNAMIC)
\r
587 VALIDATE_NO_RV(FALSE, CANIF_SETDYNAMICTX_ID, CANIF_E_INVALID_TXPDUID);
\r
591 // Check that this is an extended or standard id
\r
592 if (((CanId & 0x80000000) && (txEntry->CanIfTxPduIdCanIdType == ARC_CAN_ID_TYPE_29)) ||
\r
593 (((CanId & 0x80000000) == 0) && (txEntry->CanIfTxPduIdCanIdType == ARC_CAN_ID_TYPE_11)))
\r
595 // Update the CanID
\r
596 //txEntry->CanIfCanTxPduIdCanId = CanId; // TODO How do we fix this from a const pointer
\r
602 // Inavlid Canid to configuration
\r
603 VALIDATE_NO_RV(FALSE, CANIF_SETDYNAMICTX_ID, CANIF_E_PARAM_CANID);
\r
608 #if ( CANIF_TRANSCEIVER_API == STD_ON )
\r
609 Std_ReturnType CanIf_SetTransceiverMode(uint8 Transceiver,
\r
610 CanIf_TransceiverModeType TransceiverMode)
\r
612 VALIDATE(FALSE, CANIF_SET_TRANSCEIVERMODE_ID, CANIF_E_NOK_NOSUPPORT);
\r
618 Std_ReturnType CanIf_GetTransceiverMode(uint8 Transceiver,
\r
619 CanIf_TransceiverModeType *TransceiverModePtr)
\r
621 VALIDATE(FALSE, CANIF_GET_TRANSCEIVERMODE_ID, CANIF_E_NOK_NOSUPPORT);
\r
627 Std_ReturnType CanIf_GetTrcvWakeupReason(uint8 Transceiver,
\r
628 CanIf_TrcvWakeupReasonType *TrcvWuReasonPtr)
\r
630 VALIDATE(FALSE, CANIF_GET_TRCVMODEREASON_ID, CANIF_E_NOK_NOSUPPORT);
\r
636 Std_ReturnType CanIf_SetTransceiverWakeupMode(uint8 Transceiver,
\r
637 CanIf_TrcvWakeupModeType *TrcvWakeupMode)
\r
639 VALIDATE(FALSE, CANIF_SET_TRANSCEIVERWAKEMODE_ID, CANIF_E_NOK_NOSUPPORT);
\r
646 #if ( CANIF_WAKEUP_EVENT_API == STD_ON )
\r
647 Std_ReturnType CanIf_CheckWakeup(EcuM_WakeupSourceType WakeupSource)
\r
649 VALIDATE(FALSE, CANIF_CHECKWAKEUP_ID, CANIF_E_NOK_NOSUPPORT);
\r
655 Std_ReturnType CanIf_CheckValidation(EcuM_WakeupSourceType WakeupSource)
\r
657 VALIDATE(FALSE, CANIF_CHECKVALIDATION_ID, CANIF_E_NOK_NOSUPPORT);
\r
665 * Callback interface from driver
\r
667 void CanIf_TxConfirmation(PduIdType canTxPduId)
\r
669 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_TXCONFIRMATION_ID, CANIF_E_UNINIT)
\r
670 VALIDATE_NO_RV(canTxPduId < CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanTXPduIds, CANIF_TXCONFIRMATION_ID, CANIF_E_PARAM_LPDU);
\r
672 const CanIf_TxPduConfigType* entry =
\r
673 &CanIf_ConfigPtr->InitConfig->CanIfTxPduConfigPtr[canTxPduId];
\r
675 /* Find the CAN id in the TxPduList */
\r
677 for (uint16 i = 0; i < CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanTXPduIds; i++)
\r
679 if (entry->CanIfTxPduId == canTxPduId)
\r
682 if (entry->CanIfUserTxConfirmation != NULL)
\r
684 CanIf_ChannelGetModeType mode;
\r
685 CanIf_GetPduMode(entry->CanIfCanTxPduHthRef->CanIfCanControllerIdRef, &mode);
\r
686 if ((mode == CANIF_GET_TX_ONLINE) || (mode == CANIF_GET_ONLINE)
\r
687 || (mode == CANIF_GET_OFFLINE_ACTIVE) || (mode == CANIF_GET_OFFLINE_ACTIVE_RX_ONLINE) )
\r
689 entry->CanIfUserTxConfirmation(entry->CanIfTxPduId); /* CANIF053 */
\r
699 // Did not find the PDU, something is wrong
\r
703 void CanIf_RxIndication(uint8 Hrh, Can_IdType CanId, uint8 CanDlc,
\r
704 const uint8 *CanSduPtr)
\r
706 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_RXINDICATION_ID, CANIF_E_UNINIT);
\r
707 VALIDATE_NO_RV(CanSduPtr != NULL, CANIF_RXINDICATION_ID, CANIF_E_PARAM_POINTER);
\r
709 /* Check PDU mode before continue processing */
\r
710 CanIf_ChannelGetModeType mode;
\r
711 CanIf_Arc_ChannelIdType channel = CanIf_Arc_FindHrhChannel(Hrh);
\r
712 if (channel == -1) // Invalid HRH
\r
717 if (CanIf_GetPduMode(channel, &mode) == E_OK)
\r
719 if (mode == CANIF_GET_OFFLINE || mode == CANIF_GET_TX_ONLINE ||
\r
720 mode == CANIF_GET_OFFLINE_ACTIVE)
\r
722 // Receiver path is disabled so just drop it
\r
728 return; // No mode so just return
\r
731 const CanIf_RxPduConfigType *entry = CanIf_ConfigPtr->InitConfig->CanIfRxPduConfigPtr;
\r
733 /* Find the CAN id in the RxPduList */
\r
734 for (uint16 i = 0; i < CanIf_ConfigPtr->InitConfig->CanIfNumberOfCanRxPduIds; i++)
\r
736 if (entry->CanIfCanRxPduHrhRef->CanIfHrhIdSymRef == Hrh)
\r
738 // Software filtering
\r
739 if (entry->CanIfCanRxPduHrhRef->CanIfHrhType == CAN_ARC_HANDLE_TYPE_BASIC)
\r
741 if (entry->CanIfCanRxPduHrhRef->CanIfSoftwareFilterHrh)
\r
743 if (entry->CanIfSoftwareFilterType == CANIF_SOFTFILTER_TYPE_MASK)
\r
745 if ((CanId & entry->CanIfCanRxPduCanIdMask ) ==
\r
746 ( entry->CanIfCanRxPduCanId & entry->CanIfCanRxPduCanIdMask))
\r
748 // We found a pdu so call higher layers
\r
753 continue; // Not a supported filter type, so just drop the frame
\r
758 DET_REPORTERROR(MODULE_ID_CAN, 0, CANIF_RXINDICATION_ID, CANIF_E_PARAM_HRH);
\r
759 continue; // Not a supported filter type, so just drop the frame
\r
764 #if (CANIF_DLC_CHECK == STD_ON)
\r
765 if (CanDlc < entry->CanIfCanRxPduDlc)
\r
767 VALIDATE_NO_RV(FALSE, CANIF_RXINDICATION_ID, CANIF_E_PARAM_DLC);
\r
772 switch (entry->CanIfRxUserType)
\r
774 case CANIF_USER_TYPE_CAN_SPECIAL:
\r
776 ((CanIf_FuncTypeCanSpecial) (entry->CanIfUserRxIndication))(entry->CanIfCanRxPduId,
\r
777 CanSduPtr, CanDlc, CanId);
\r
782 case CANIF_USER_TYPE_CAN_NM:
\r
783 #if defined(USE_CANNM)
\r
784 CanNm_RxIndication(entry->CanIfCanRxPduId,CanSduPtr);
\r
789 case CANIF_USER_TYPE_CAN_PDUR:
\r
790 // Send Can frame to PDU router
\r
791 #if defined(USE_PDUR)
\r
792 PduR_CanIfRxIndication(entry->CanIfCanRxPduId,CanSduPtr);
\r
797 case CANIF_USER_TYPE_CAN_TP:
\r
798 // Send Can frame to CAN TP
\r
799 #if defined(USE_CANTP)
\r
801 PduInfoType CanTpRxPdu;
\r
802 CanTpRxPdu.SduLength = CanDlc;
\r
803 CanTpRxPdu.SduDataPtr = (uint8 *)CanSduPtr;
\r
804 CanTp_RxIndication(entry->CanIfCanRxPduId, &CanTpRxPdu);
\r
815 // Did not find the PDU, something is wrong
\r
816 VALIDATE_NO_RV(FALSE, CANIF_RXINDICATION_ID, CANIF_E_PARAM_LPDU);
\r
819 #if ( CANIF_TRANSMIT_CANCELLATION == STD_ON )
\r
820 void CanIf_CancelTxConfirmation(const Can_PduType *PduInfoPtr)
\r
822 VALIDATE(FALSE, CANIF_CANCELTXCONFIRMATION_ID, CANIF_E_NOK_NOSUPPORT);
\r
823 VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_CANCELTXCONFIRMATION_ID, CANIF_E_UNINIT);
\r
824 VALIDATE_NO_RV(PduInfoPtr != NULL, CANIF_RXINDICATION_ID, CANIF_E_PARAM_POINTER);
\r
826 const CanIf_TxPduConfigType *entry =
\r
827 CanIf_ConfigPtr->InitConfig->CanIfTxPduConfigPtr;
\r
831 // Did not find the PDU, something is wrong
\r
832 VALIDATE_NO_RV(FALSE, CANIF_TXCONFIRMATION_ID, CANIF_E_PARAM_LPDU);
\r
836 void CanIf_ControllerBusOff(uint8 Controller)
\r
838 // We call this a CanIf channel. Hopefully makes it easier to follow.
\r
839 CanIf_Arc_ChannelIdType channel = Controller;
\r
841 VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_CONTROLLER_BUSOFF_ID, CANIF_E_UNINIT );
\r
842 VALIDATE_NO_RV( Controller < CANIF_CHANNEL_CNT, CANIF_CONTROLLER_BUSOFF_ID, CANIF_E_PARAM_CONTROLLER );
\r
844 // According to figure 35 in canif spec this should be done in
\r
845 // Can driver but it is better to do it here
\r
846 CanIf_SetControllerMode(channel, CANIF_CS_STOPPED);
\r
848 if (CanIf_ConfigPtr->DispatchConfig->CanIfBusOffNotification != NULL)
\r
850 CanIf_ConfigPtr->DispatchConfig->CanIfBusOffNotification(channel);
\r
854 void CanIf_SetWakeupEvent(uint8 Controller)
\r
856 #if ( CANIF_DEV_ERROR_DETECT == STD_ON )
\r
857 // We call this a CanIf channel. Hopefully makes it easier to follow.
\r
858 CanIf_Arc_ChannelIdType channel = Controller;
\r
861 VALIDATE_NO_RV(FALSE, CANIF_SETWAKEUPEVENT_ID, CANIF_E_NOK_NOSUPPORT);
\r
862 VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_SETWAKEUPEVENT_ID, CANIF_E_UNINIT );
\r
863 VALIDATE_NO_RV( channel < CANIF_CHANNEL_CNT, CANIF_SETWAKEUPEVENT_ID, CANIF_E_PARAM_CONTROLLER );
\r
868 void CanIf_Arc_Error(uint8 Controller, Can_Arc_ErrorType Error)
\r
870 #if ( CANIF_DEV_ERROR_DETECT == STD_ON )
\r
871 // We call this a CanIf channel. Hopefully makes it easier to follow.
\r
872 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