5.5. CAN

5.5.1. Types

Base type	Type Name	Brief
enum	Can_ProcessingType	Can Tx/Rx Processing.
enum	Can_ReturnType	Values that can be returned by CAN Driver APIs.
enum	Can_HandleType	Can Handle Type FULL/BASIC.
enum	Can_ControllerInstance	Can Controller Instance ID.
enum	Can_MailboxDirectionType	Can Mailbox direction enum.
enum	Can_Icom_signal_operation_type	Icom signal operation type.
enum	Can_DrvState	Can Driver state.
enum	Can_ControllerOperationMode	Enum to represent the MCAN mode of operation.
enum	Can_ClockStopAckMode	Enum to represent the MCAN mode of operation.
enum	Can_MailboxElemSizeType	Enum to represent FIFO/Buffer element Size.
enum	Can_MemType	Enum to represent the CAN Message RAM type.
enum	Can_RxFifoNumType	Enum to represent the MCAN Rx FIFO number.

5.5.1.1. enum Can_ProcessingType

Enumerator	Value	Description
INTERRUPT	0x0U	Interrupt.
MIXED	0x1U	Mixed
POLLING	0x2U	Polling.

Brief: Can Tx/Rx Processing.

5.5.1.2. enum Can_ReturnType

Enumerator	Value	Description
CAN_BUSY	2U	Transmit request could not be processed because no transmit object was available.

Brief: Values that can be returned by CAN Driver APIs.

5.5.1.3. enum Can_HandleType

Enumerator	Value	Description
FULL	0x0U	Full
BASIC		Basic

Brief: Can Handle Type FULL/BASIC.

5.5.1.4. enum Can_ControllerInstance

Enumerator	Value	Description
CAN_CONTROLLER_INSTANCE_MCAN1	0x0U	MCANA Controller Instance.
CAN_CONTROLLER_INSTANCE_MCAN2	0x1U	MCANB Controller Instance.
CAN_CONTROLLER_INSTANCE_MCAN3	0x2U	MCANC Controller Instance.
CAN_CONTROLLER_INSTANCE_MCAN4	0x3U	MCAND Controller Instance.
CAN_CONTROLLER_INSTANCE_MCAN5	0x4U	MCANE Controller Instance.
CAN_CONTROLLER_INSTANCE_MCAN6	0x5U	MCANF Controller Instance.

Brief: Can Controller Instance ID.

5.5.1.5. enum Can_MailboxDirectionType

Enumerator	Value	Description
RECEIVE	0x0U	Mailbox is for receive.
TRANSMIT		Mailbox is for transmit.

Brief: Can Mailbox direction enum.

5.5.1.6. enum Can_Icom_signal_operation_type

Enumerator	Value	Description
AND	0U	AND.
EQUAL	1U	EQUAL.
GREATER	2U	GREATER.
SMALLER	3U	SMALLER.
XOR	4U	XOR.

Brief: Icom signal operation type.

5.5.1.7. enum Can_DrvState

Enumerator	Value	Description
CAN_UNINIT	0U	Can module state when reset/power-up.
CAN_READY	1U	Can module state after initialization.

Brief: Can Driver state.

5.5.1.8. enum Can_ControllerOperationMode

Enumerator	Value	Description
CAN_CONTROLLER_OPERATION_MODE_NORMAL	0U	CAN normal mode.
CAN_CONTROLLER_OPERATION_MODE_SW_INIT	1U	CAN SW initialization mode.

Brief: Enum to represent the MCAN mode of operation.

5.5.1.9. enum Can_ClockStopAckMode

Enumerator	Value	Description
CAN_CLOCK_STOP_NO_ACK	0U	No clock stop acknowledged.
CAN_CLOCK_STOP_ACK	1U	MCAN may be set in power down

Brief: Enum to represent the MCAN mode of operation.

5.5.1.10. enum Can_MailboxElemSizeType

Enumerator	Value	Description
CAN_ELEM_SIZE_8BYTES	0U	8 byte data field
CAN_ELEM_SIZE_12BYTES	1U	12 byte data field
CAN_ELEM_SIZE_16BYTES	2U	16 byte data field
CAN_ELEM_SIZE_20BYTES	3U	20 byte data field
CAN_ELEM_SIZE_24BYTES	4U	24 byte data field
CAN_ELEM_SIZE_32BYTES	5U	32 byte data field
CAN_ELEM_SIZE_48BYTES	6U	48 byte data field
CAN_ELEM_SIZE_64BYTES	7U	64 byte data field

Brief: Enum to represent FIFO/Buffer element Size.

5.5.1.11. enum Can_MemType

Enumerator	Value	Description
CAN_MEM_TYPE_BUF	0U	MCAN Msg RAM buffersss.
CAN_MEM_TYPE_FIFO	1U	MCAN Msg RAM FIFO/Queue.

Brief: Enum to represent the CAN Message RAM type.

5.5.1.12. enum Can_RxFifoNumType

Enumerator	Value	Description
CAN_RX_FIFO_NUM_0	0U	MCAN Rx FIFO 0.
CAN_RX_FIFO_NUM_1	1U	MCAN Rx FIFO 1.

Brief: Enum to represent the MCAN Rx FIFO number.

5.5.2. Structures

Name	Brief
Can_MainFunctionRWPeriodRefType	Can Main Function RW Period Ref Type Identifier.
Can_MaskType	Structure defining the filter mask to be used.
Can_CanConfigType	MCan Controller Specific Configuration.
Can_FdBaudConfigType	Structure defining the CAN FD data phase baud rate configuration.
Can_BaudConfigType	Can Controller Baud Rate Configuration definition.
Can_ControllerType	Can Controller Configuration definition.
Can_MailboxType	Can mailbox configuration definition.
Can_IcomSignalConfigType	Icom signal config data structure.
Can_IcomRxMessageType	Icom Rx message data structure.
Can_IcomConfigType	Icom data structure containing the overall ICOM configuration data.
Can_ConfigType	External data structure containing the overall initialization data for the CAN driver and SFR settings affecting all controllers.
Can_CanIfIndicationType	Can State Transition indication done to CanIf module.
Can_MsgRAMConfigParams	Structure for MCAN Message RAM Configuration Parameters Message RAM can contain following sections: Standard ID filters, Extended ID filters, TX FIFO(or TX Q), TX Buffers, TX EventFIFO, RX FIFO0, RX FIFO1, RX Buffer. Note: If particular section in the RAM is not used then it’s size should be initialized to ‘0’ (Number of buffers in case of Tx/Rx buffer).
Can_StdMsgIDFilterElement	Structure for MCAN Standard Message ID Filter Element.
Can_ExtMsgIDFilterElement	Structure for MCAN Extended Message ID Filter Element.
Can_FdMsgRAMConfigObjType	Can FD controller Message RAM Configuration object structure.
Can_ControllerObjType	Can controller object structure.
Can_MailboxObjType	Can Mailbox type strucuture.
Can_DriverObjType	Can Driver object type structure.
Can_TxBufElementType	Structure for CAN Tx Buffer element.
Can_RxBufElementType	Structure for CAN Rx Buffer element.
Can_RxFIFOStatusType	Structure for CAN Rx FIFO Status.
Can_RxNewDataStatusType	Structure for Can new data flag for Rx buffer.

5.5.3. Defines

Name	Brief
CAN_SW_MAJOR_VERSION	Defines for CAN Driver version used for compatibility checks.
CAN_SW_MINOR_VERSION	Driver Implementation Minor Version.
CAN_SW_PATCH_VERSION	Driver Implementation Patch Version.
CAN_AR_RELEASE_MAJOR_VERSION	Defines for CAN Driver AUTOSAR version used for compatibility checks.
CAN_AR_RELEASE_MINOR_VERSION	AUTOSAR Minor version specification implemented by CAN Driver.
CAN_AR_RELEASE_REVISION_VERSION	AUTOSAR Patch version specification implemented by CAN Driver.
CAN_VENDOR_ID	CAN Driver ID Info.
CAN_MODULE_ID	CAN Driver Module ID.
CAN_INSTANCE_ID	CAN Instance ID.
CAN_SID_INIT	The Service Id is one of the argument to Det_ReportError function and is used to identify the source of the error.
CAN_SID_MAINFUNC_WRITE	Service ID - Can_MainFunction_Write().
CAN_SID_SETCTR	Service ID - Can_SetControllerMode().
CAN_SID_DIINT	Service ID - Can_DisableControllerInterrupts().
CAN_SID_ENINT	Service ID - Can_EnableControllerInterrupts().
CAN_SID_WRITE	Service ID - Can_Write().
CAN_SID_GET_VERSION_INFO	Service ID - Can_GetVersionInfo().
CAN_SID_MAINFUNC_READ	Service ID - Can_MainFunction_Read().
CAN_SID_MAINFUNC_BO	Service ID - Can_MainFunction_BusOff().
CAN_SID_MAINFUNC_WU	Service ID - Can_MainFunction_Wakeup().
CAN_SID_CKWAKEUP	Service ID - Can_CheckWakeup().
CAN_SID_MAINFUNC_MODE	Service ID - Can_MainFunction_Mode().
CAN_SID_CHNGBAUDRATE	Service ID - Can_ChangeBaudrate().
CAN_SID_CHKBAUDRATE	Service ID - Can_CheckBaudrate().
CAN_SID_SETBAUDRATE	Service ID - Can_SetBaudRate().
CAN_SID_DEINIT	Service ID - Can_DeInit().
CAN_SID_GETCNTRERRSTATE	Service ID - Can_GetControllerErrorState().
CAN_SID_GETCNTRMODE	Service ID - Can_GetControllerMode().
CAN_SID_PROCESSISR	Service ID - Can_ProcessISR().
CAN_SID_ICOMCONFIG	Service ID - Can_SetIcomConfiguration().
CAN_E_PARAM_POINTER	Error codes returned by Can functions - Development Errors.
CAN_E_PARAM_HANDLE	Invalid Controller Handle.
CAN_E_PARAM_DATA_LENGTH	Invalid length of msg.
CAN_E_PARAM_CONTROLLER	Invalid controller id.
CAN_E_UNINIT	Error due to API invoked without performing Can_Init().
CAN_E_TRANSITION	Error during Controller state transition.
CAN_E_PARAM_BAUDRATE	Invalid Baudrate configuration.
CAN_E_ICOM_CONFIG_INVALID	Invalid ICOM configuration Id.
CAN_E_DATALOST	Error codes returned by Can functions - Run Time Errors.
ICOM_CONFIG_DISABLE	Icom config disable.
EXTENDED_ID	Extended id.
STANDARD_ID	Standard id.
MIXED_ID	Mixed id.
CAN_CLASSIC_PAYLOAD_MAX_BYTES	Can classic payload max bytes.
CAN_FD_PAYLOAD_MAX_BYTES	Can FD payload max bytes.
CAN_MAX_CONTROLLER_SUPPORTED	Can max controller supported.
CAN_TDCR_TDCF_MAX	Can TDCR and TDCF max
CAN_TDCR_TDCO_MAX	Can TDCR and TDCO max
CAN_ID_STD	Can id STD
CAN_ID_XTD	Can id XTD
CAN_ID_MIXED	Can id MIXED
CAN_XTD_MSGID_MASK	Can XID MSGID mask
CAN_STD_MSGID_MASK	Can STD MSGID mask
CAN_STD_MSGID_SHIFT	Can STD MSGID shift
CAN_ID_CAN_CONTROLLER_TYPE_MASK	Can id can controller type mask
CAN_MSG_TYPE_MASK	Can msg type mask
CAN_MSG_ID_TYPE_EXT	Can msg type mask
CAN_MSG_TYPE_CLASSIC_CAN	Can msg type classic can
CAN_MSG_TYPE_CAN_FD	Can msg type can id
MCAN_MSG_RAM_STD_ELEM_SIZE	Standard ID Filter Element Size.
MCAN_MSG_RAM_EXT_ELEM_SIZE	Extended ID Filter Element Size.
MCAN_MSG_RAM_TX_RX_ELEM_SIZE	Tx/Rx Mailbox Size.
MCAN_TX_BUFFER_MAX_NUM	MCAN IP TX buffer max number.
MCAN_RX_BUFFER_MAX_NUM	MCAN IP RX buffer max number.
MCAN_RX_FIFO_0_MAX_NUM	MCAN rx FIFO_0 max number.
MCAN_RX_FIFO_1_MAX_NUM	MCAN rx FIFO_1 max number.
MCAN_TX_MB_MAX_NUM	MCAN TX_MB max number.
MCAN_RX_MB_MAX_NUM	MCAN RX_MB max number.
CAN_INTR_MASK_ALL	Macro defines mask for all the interrupts status for MCAN.
MCAN_INT_LINE_0	MCAN Interrupt line 0.
MCAN_INT_LINE_1	MCAN Interrupt line 0.
CAN_REG_MF_READ32 (regAddr, REG_FIELD)	This macro calls read field API for 32 bit register. It also frames the mask and shift from register field macro.
CAN_REG_MF_WRITE32 (regAddr, REG_FIELD, fieldVal)	This macro calls read-modify-write API for 32 bit register. It also frames the mask and shift from register field macro.
CAN_REG_READ32 (regAddr)	This macro reads a 32-bit value from a hardware register and returns the value.
CAN_REG_WRITE32 (regAddr, value)	This macro writes a 32-bit value to a hardware register.
CAN_FIELD_SET32 (regVal, REG_FIELD, fieldVal)	Macro to write a specific field value. This macro first clears the specified field value and then performs “OR” of the field value which is shifted and masked. This will set the field value at its desired position.
CAN_FIELD_GET (regVal, REG_FIELD)	Macro to extract a field value. This macro extracts the field value from a 32-bit variable (which contains the register value). This macro does not read from actual register address, and only extracts the field from a variable.

5.5.4. Functions

Return type	Function Name	Brief
void	Can_GetVersionInfo(Std_VersionInfoType * versioninfo)	Function returns the version information of this module.
void	Can_Init(const Can_ConfigType * ConfigPtr)	This function initializes the configuration.
void	Can_DeInit(void )	This function deinitializes the module.
Std_ReturnType	Can_SetBaudrate(uint8 Controller, const uint16 BaudRateConfigID)	This service shall set the baud rate configuration of the CAN Controller.
Std_ReturnType	Can_SetControllerMode(uint8 Controller, Can_ControllerStateType Transition)	This service performs software triggered state transitions of the CAN controller State machine.
void	Can_DisableControllerInterrupts(uint8 Controller)	This service disables all interrupts.
void	Can_EnableControllerInterrupts(uint8 Controller)	This service enables all allowed interrupts.
Std_ReturnType	Can_CheckWakeup(uint8 Controller)	This service checks if a wakeup has occurred for the given controller.
Std_ReturnType	Can_GetControllerErrorState(uint8 Controller, Can_ErrorStateType * ErrorStatePtr)	This service obtains the error state of the CAN controller.
Std_ReturnType	Can_GetControllerMode(uint8 Controller, Can_ControllerStateType * ControllerModePtr)	This service reports about the current status of the requested CAN controller.
Std_ReturnType	Can_Write(uint8 Hth, const Can_PduType * PduInfo)	This service is called by CanIf to pass a CAN message to CanDrv for transmission.
void	Can_MainFunction_Write(uint16 RWFuncID)	This service performs the polling of TX confirmation when CAN_TX_PROCESSING is set to POLLING.
void	Can_MainFunction_Read(uint16 RWFuncID)	This service performs the polling of RX indications when CAN_RX_PROCESSING is set to POLLING.
void	Can_MainFunction_BusOff(void )	This service performs the polling of bus-off events that are configured statically as ‘to be polled’.
void	Can_MainFunction_Wakeup(void )	This function performs the polling of wake-up events that are configured statically as ‘to be polled’.
void	Can_MainFunction_Mode(void )	This function performs the polling of CAN controller mode transitions.
Std_ReturnType	Can_SetIcomConfiguration(uint8 Controller, IcomConfigIdType ConfigurationId)	This service shall change the Icom Configuration of a CAN controller to the requested one.
void	Can_ResetDrvObjPriv(Can_DriverObjType * drvObj)	This function will reset default Config structure.
void	Can_InitDrvObjPriv(Can_DriverObjType * drvObj, const Can_ConfigType * ConfigPtr)	This function will initialize Driver Config structure.
void	Can_HwUnitConfigPriv(Can_ControllerObjType * canController, const Can_MailboxObjType * canMailbox, uint8 maxMbCnt, uint8 * canHtrhMbMap)	This function will initialize Can HW Unit.
Std_ReturnType	Can_HWSetBaudRatePriv(uint32 baseAddr, const Can_BaudConfigType * baudConfig)	This API will configure a bit timings for MCAN module.
void	Can_DisableInterruptsPriv(const Can_ControllerType * configParam)	This function will disable MCAN interrupts as per config.
void	Can_EnableInterruptsPriv(const Can_ControllerType * configParam)	This function will enable MCAN interrupts as per config.
void	Can_HwDeInitPriv(const Can_ControllerType * configParam)	This function will de-initialize Can HW Unit.
Can_ErrorStateType	Can_GetProtocolStatusPriv(const Can_ControllerObjType * canController)	This function will fetch Protocol Errors detected by CAN HW Unit.
Std_ReturnType	Can_HWCheckWakeupPriv(const Can_ControllerType * configParam)	This function will fetch Wakeup Status for CAN HW Unit.
Std_ReturnType	Can_HwUnitStartPriv(Can_ControllerObjType * controllerObj, Can_CanIfIndicationType * canIfIndication)	This function will start Can HW Unit.
void	Can_HwUnitStopPriv(Can_ControllerObjType * controllerObj, Can_CanIfIndicationType * canIfIndication)	This function will stop Can HW Unit.
Std_ReturnType	Can_HwUnitSleepPriv(Can_ControllerObjType * controllerObj, Can_CanIfIndicationType * canIfIndication)	This function will sleep Can HW Unit.
Std_ReturnType	Can_HwUnitWakeupPriv(Can_ControllerObjType * controllerObj, Can_CanIfIndicationType * canIfIndication)	This function will wakeup Can HW Unit.
Std_ReturnType	Can_GetFreeTxMsgObjPriv(const Can_MailboxType * mailboxCfg, const Can_ControllerObjType * canController, Can_HwHandleType * msgObj, uint8 htrh)	This function will check if desired Tx mailbox is free.
void	Can_WriteTxMailboxPriv(const Can_MailboxType * mailboxCfg, Can_ControllerObjType * controllerObj, uint8 hth, uint32 messageBox, const Can_PduType * pduInfo)	This function will write into the Transmit Mailbox.
void	Can_HwUnitTxDonePollingPriv(Can_ControllerObjType * canController, const Can_MailboxObjType * canMailbox, uint8 htrh)	This function will poll for Tx confirmation.
void	Can_ReadRxMailboxPriv(Can_ControllerObjType * controllerObj, const Can_MailboxObjType * canMailbox, uint8 maxMbCnt)	This function will read Rx messages from Mailbox.
void	Can_BusOffProcessPriv(Can_ControllerObjType * controllerObj)	This function will inform CanIf if bus off is detected.
void	Can_WakeupProcessPriv(Can_ControllerObjType * controllerObj)	This function will inform EcuM if Wakeup is detected.
void	Can_ModeProcessPriv(Can_ControllerObjType * controllerObj, Can_CanIfIndicationType * indication)	This function will inform CanIf if any mode changes are detected.
void	Can_ProcessISR(Can_ControllerInstance canInstance, uint32 lineSelect)
uint32	Can_RegMFReadRaw32(uint32 addr, uint32 mask, uint32 shift)	This function reads a 32 bit register, masks specific set of bits and the left shifted value.
void	Can_RegMFWriteRaw32(uint32 addr, uint32 mask, uint32 shift, uint32 value)	This function writes a 32 bit register masking specific set of bits and the left shifted value.
uint32	Can_RegReadRaw32(uint32 addr)	This function reads a 32 bit register.
void	Can_RegWriteRaw32(uint32 addr, uint32 value)	This function writes a 32 bit register.

5.5.4.1. function Can_GetVersionInfo

void Can_GetVersionInfo(
    Std_VersionInfoType * versioninfo
)

Brief: Function returns the version information of this module.

This service writes the version information of this module into the data structure referenced by the parameter. If this parameter references NULL_PTR, a development error is reported.

Parameters:

• versioninfo Pointer to where to store the version information of this module.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.2. function Can_Init

void Can_Init(
    const Can_ConfigType * ConfigPtr
)

Brief: This function initializes the configuration.

This function initializes the message RAM, which also clears all the message objects, and places the CAN controller in an init state. Write access to the configuration registers is available as a result, allowing the bit timing and message objects to be setup.

Parameters:

• ConfigPtr Pointer to post-build configuration data.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.3. function Can_DeInit

void Can_DeInit(
    void 
)

Brief: This function deinitializes the module.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.4. function Can_SetBaudrate

Std_ReturnType Can_SetBaudrate(
    uint8 Controller,
    const uint16 BaudRateConfigID
)

Brief: This service shall set the baud rate configuration of the CAN Controller.

This function sets the baud rate configuration of the CAN controller. Depending on necessary baud rate modifications the controller might have to reset.

Parameters:

• Controller CAN controller, whose baud rate shall be set.

• BaudRateConfigID references a baud rate configuration by ID.

Returns:

• E_OK - Service request accepted, setting of (new) baud rate started.
  

• E_NOT_OK - Service request not accepted.
  

Return: Setting the Baudrate successful or failure.

Precondition: None

Postcondition: None

5.5.4.5. function Can_SetControllerMode

Std_ReturnType Can_SetControllerMode(
    uint8 Controller,
    Can_ControllerStateType Transition
)

Brief: This service performs software triggered state transitions of the CAN controller State machine.

The function perfroms the transition of the CAN controller state machine which is software triggered.

Parameters:

• Controller CAN controller for which the status shall be changed.

• Transition Transition value to request new CAN controller state.

Returns:

• E_OK Request accepted.
  

• E_NOT_OK Request not accepted i.e. an error occured while requesting an incorrect from one state to other or an incorrect transition.
  

Return: Setting the controller mode successful/failure.

Precondition: None

Postcondition: None

5.5.4.6. function Can_DisableControllerInterrupts

void Can_DisableControllerInterrupts(
    uint8 Controller
)

Brief: This service disables all interrupts.

This function checks if there is a DET Error and then disables all the interrupts for the controller.

Parameters:

• Controller CAN controller for which interrupts shall be re-enabled.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.7. function Can_EnableControllerInterrupts

void Can_EnableControllerInterrupts(
    uint8 Controller
)

Brief: This service enables all allowed interrupts.

This function checks the total number of interrupts and enables all the interrupts allowed for the controller.

Parameters:

• Controller CAN controller for which interrupts shall be re-enabled.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.8. function Can_CheckWakeup

Std_ReturnType Can_CheckWakeup(
    uint8 Controller
)

Brief: This service checks if a wakeup has occurred for the given controller.

This function checks if the Init is done and checks if wakeup has occured and returns value accordingly for the given controller.

Parameters:

• Controller to be checked for a wakeup.

Returns:

• E_OK API call has been accepted.
  

• E_NOT_OK API call has not been accepted.
  

Return: Wakeup occurred or not for a controller

Precondition: None

Postcondition: None

5.5.4.9. function Can_GetControllerErrorState

Std_ReturnType Can_GetControllerErrorState(
    uint8 Controller,
    Can_ErrorStateType * ErrorStatePtr
)

Brief: This service obtains the error state of the CAN controller.

This function gets the error state of the CAN controller.

Parameters:

• Controller CAN controller, which is requested for ErrorState.

• ErrorStatePtr Pointer to a memory location, where the error state of the CAN controller will be stored.

Returns:

• E_OK - Error state request has been accepted.
  

• E_NOT_OK - Error state request has not been accepted..
  

Return: Error state obtained successfully/failed to obtain error state.

Precondition: None

Postcondition: None

5.5.4.10. function Can_GetControllerMode

Std_ReturnType Can_GetControllerMode(
    uint8 Controller,
    Can_ControllerStateType * ControllerModePtr
)

Brief: This service reports about the current status of the requested CAN controller.

This function gets the current status of the CAN controller.

Parameters:

• Controller CAN controller, which is requested for ErrorState.

• ControllerModePtr Pointer to a memory location, where the current mode of the CAN controller will be stored.

Returns:

• E_OK - Controller mode request has been accepted.
  

• E_NOT_OK - Controller mode request has not been accepted.
  

Return: Able/unable to fetch current status of the controller.

Precondition: None

Postcondition: None

5.5.4.11. function Can_Write

Std_ReturnType Can_Write(
    uint8 Hth,
    const Can_PduType * PduInfo
)

Brief: This service is called by CanIf to pass a CAN message to CanDrv for transmission.

The function Can_Write first checks if the hardware transmit object is identified and is free. It passes the CAN message to CanDrv for transmission.

Parameters:

• Hth information which HW-transmit handle shall be used for transmit. Implicitly this is also the information about the controller to use because the Hth numbers are unique inside one hardware unit.

• PduInfo Pointer to SDU user memory, DLC and Identifier.

Returns:

• E_OK Write command has been accepted.
  

• E_NOT_OK Development error occurred.
  

• CAN_BUSY No TX hardware buffer available or pre-emptive call of Can_Write that can’t be implemented re-entrant
  

Return: Can write command is accepted (or) resulted in an error (or) Controller is busy

Precondition: None

Postcondition: None

5.5.4.12. function Can_MainFunction_Write

void Can_MainFunction_Write(
    uint16 RWFuncID
)

Brief: This service performs the polling of TX confirmation when CAN_TX_PROCESSING is set to POLLING.

This function checks if Can Initialisation is done to check for error if DET error detect is enabled. For a TX Mailbox if the controller is active polling of TX confirmation is done.

Parameters:

• RWFuncID Read/Write period ID

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.13. function Can_MainFunction_Read

void Can_MainFunction_Read(
    uint16 RWFuncID
)

Brief: This service performs the polling of RX indications when CAN_RX_PROCESSING is set to POLLING.

This function checks if Can Initialisation is done to check for error if DET error detect is enabled. For a Rx Mailbox if the controller is active polling of Rx indications is done.

Parameters:

• RWFuncID Read/Write period ID

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.14. function Can_MainFunction_BusOff

void Can_MainFunction_BusOff(
    void 
)

Brief: This service performs the polling of bus-off events that are configured statically as ‘to be polled’.

This function checks if Can Initialisation is done to check for error if DET error detect is enabled. If the controller is active the polling of bus-off events that are configured statically as ‘to be polled’.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.15. function Can_MainFunction_Wakeup

void Can_MainFunction_Wakeup(
    void 
)

Brief: This function performs the polling of wake-up events that are configured statically as ‘to be polled’.

This function checks if Can Initialisation is done to check for error if DET error detect is enabled. The polling of wake-up events is done.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.16. function Can_MainFunction_Mode

void Can_MainFunction_Mode(
    void 
)

Brief: This function performs the polling of CAN controller mode transitions.

This function checks if Can Initialisation is done to check for error if DET error detect is enabled. The polling of CAN controller mode transitions is done.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.17. function Can_SetIcomConfiguration

Std_ReturnType Can_SetIcomConfiguration(
    uint8 Controller,
    IcomConfigIdType ConfigurationId
)

Brief: This service shall change the Icom Configuration of a CAN controller to the requested one.

Parameters:

• Controller CAN controller for which the status shall be changed

• ConfigurationId Requested Configuration

Returns:

• E_OK CAN driver succeeded in setting a configuration with a valid Configuration id.
  

• E_NOT_OK CAN driver failed to set a configuration with a valid Configuration id.
  

Return: Std_ReturnType

Precondition: None

Postcondition: None

5.5.4.18. function Can_ResetDrvObjPriv

void Can_ResetDrvObjPriv(
    Can_DriverObjType * drvObj
)

Brief: This function will reset default Config structure.

Parameters:

• drvObj Pointer to post-build configuration data.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.19. function Can_InitDrvObjPriv

void Can_InitDrvObjPriv(
    Can_DriverObjType * drvObj,
    const Can_ConfigType * ConfigPtr
)

Brief: This function will initialize Driver Config structure.

Parameters:

• drvObj Pointer to post-build configuration data.

• ConfigPtr Pointer to Can controllers Config structure.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.20. function Can_HwUnitConfigPriv

void Can_HwUnitConfigPriv(
    Can_ControllerObjType * canController,
    const Can_MailboxObjType * canMailbox,
    uint8 maxMbCnt,
    uint8 * canHtrhMbMap
)

Brief: This function will initialize Can HW Unit.

Parameters:

• canController Pointer to Can controller Config structure.

• canMailbox Pointer to Mailbox structure.

• maxMbCnt Maximum number of mailbox configured.

• canHtrhMbMap Pointer to Htrh to mailbox mapping.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.21. function Can_HWSetBaudRatePriv

Std_ReturnType Can_HWSetBaudRatePriv(
    uint32 baseAddr,
    const Can_BaudConfigType * baudConfig
)

Brief: This API will configure a bit timings for MCAN module.

Parameters:

• baseAddr Base Address of the MCAN Registers.

• baudConfig Configuration parameters for MCAN bit timing.

Returns:

• E_OK - If baud rate config is successful.
  

• E_NOT_OK - If baud rate config is unsuccessful.
  

Return: The status of whether the Baud Rate configuration is successful

Precondition: None

Postcondition: None

5.5.4.22. function Can_DisableInterruptsPriv

void Can_DisableInterruptsPriv(
    const Can_ControllerType * configParam
)

Brief: This function will disable MCAN interrupts as per config.

Parameters:

• configParam Pointer to CAN Controller config parameters.

Returns:

• None
  

Return: None

Precondition: Can module must be initialized

Postcondition: None

5.5.4.23. function Can_EnableInterruptsPriv

void Can_EnableInterruptsPriv(
    const Can_ControllerType * configParam
)

Brief: This function will enable MCAN interrupts as per config.

Parameters:

• configParam Pointer to CAN Controller config parameters.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.24. function Can_HwDeInitPriv

void Can_HwDeInitPriv(
    const Can_ControllerType * configParam
)

Brief: This function will de-initialize Can HW Unit.

Parameters:

• configParam Pointer to CAN Controller config parameters.

Returns:

• None
  

Return: None

Precondition: Can module must be initialized

Postcondition: None

5.5.4.25. function Can_GetProtocolStatusPriv

Can_ErrorStateType Can_GetProtocolStatusPriv(
    const Can_ControllerObjType * canController
)

Brief: This function will fetch Protocol Errors detected by CAN HW Unit.

Parameters:

• canController Pointer to Can controller Config structure.

Returns:

• CAN_ERRORSTATE_ACTIVE - If no protocol errors are present.
  

• CAN_ERRORSTATE_PASSIVE - If CAN controller is in passive state due to protocol errors.
  

• CAN_ERRORSTATE_BUSOFF - If bus off error is detected.
  

Return: The Can error state when controller is ACTIVE/PASSIVE/BUS-OFF

Precondition: None

Postcondition: None

5.5.4.26. function Can_HWCheckWakeupPriv

Std_ReturnType Can_HWCheckWakeupPriv(
    const Can_ControllerType * configParam
)

Brief: This function will fetch Wakeup Status for CAN HW Unit.

Parameters:

• configParam Pointer to CAN Controller config parameters.

Returns:

• TRUE - If CAN HW Unit is in Wakeup.
  

• FALSE - If CAN HW Unit is still sleeping.
  

Return: The status of whether CAN HW Unit is Wakeup/Sleeping

Precondition: Can module must be initialized

Postcondition: None

5.5.4.27. function Can_HwUnitStartPriv

Std_ReturnType Can_HwUnitStartPriv(
    Can_ControllerObjType * controllerObj,
    Can_CanIfIndicationType * canIfIndication
)

Brief: This function will start Can HW Unit.

Parameters:

• controllerObj Pointer to Can controller Config structure.

• canIfIndication Pointer to a struct containing Start/Stop/Sleep/Wakeup controller status to update, CanIf module indication done information

• canIfIndication Updates, Start successful status to the pointer

Returns:

• E_OK - If startup is successful.
  

• E_NOT_OK - If startup is unsuccessful.
  

Return: The status of whether starting of Can HW Unit is successful

Precondition: Can module must be initialized

Postcondition: None

5.5.4.28. function Can_HwUnitStopPriv

void Can_HwUnitStopPriv(
    Can_ControllerObjType * controllerObj,
    Can_CanIfIndicationType * canIfIndication
)

Brief: This function will stop Can HW Unit.

Parameters:

• controllerObj Pointer to Can controller Config structure.

• canIfIndication Pointer to a struct containing Start/Stop/Sleep/Wakeup controller status to update, CanIf module indication done information

• canIfIndication Updates, Stop successful status to the pointer

Returns:

• None
  

Return: The status of whether stopping of Can HW Unit is successful

Precondition: Can module must be initialized

Postcondition: None

5.5.4.29. function Can_HwUnitSleepPriv

Std_ReturnType Can_HwUnitSleepPriv(
    Can_ControllerObjType * controllerObj,
    Can_CanIfIndicationType * canIfIndication
)

Brief: This function will sleep Can HW Unit.

Parameters:

• controllerObj Pointer to Can controller Config structure.

• canIfIndication Pointer to a struct containing Start/Stop/Sleep/Wakeup controller status to update, CanIf module indication done information

• canIfIndication Updates, Sleep successful status to the pointer

Returns:

• E_OK - If sleep is successful.
  

• E_NOT_OK - If sleep is unsuccessful.
  

Return: The status of whether sleep of Can HW Unit is successful

Precondition: Can module must be initialized

Postcondition: None

5.5.4.30. function Can_HwUnitWakeupPriv

Std_ReturnType Can_HwUnitWakeupPriv(
    Can_ControllerObjType * controllerObj,
    Can_CanIfIndicationType * canIfIndication
)

Brief: This function will wakeup Can HW Unit.

Parameters:

• controllerObj Pointer to Can controller Config structure.

• canIfIndication Pointer to a struct containing Start/Stop/Sleep/Wakeup controller status to update, CanIf module indication done information

• canIfIndication Updates, Wakeup successful status to the pointer

Returns:

• E_OK - If wakeup is successful.
  

• E_NOT_OK - If wakeup is unsuccessful.
  

Return: The status of whether wakeup of Can HW Unit is successful

Precondition: Can module must be initialized

Postcondition: None

5.5.4.31. function Can_GetFreeTxMsgObjPriv

Std_ReturnType Can_GetFreeTxMsgObjPriv(
    const Can_MailboxType * mailboxCfg,
    const Can_ControllerObjType * canController,
    Can_HwHandleType * msgObj,
    uint8 htrh
)

Brief: This function will check if desired Tx mailbox is free.

Parameters:

• mailboxCfg Pointer to Mailbox structure.

• canController Pointer to Can controller Config structure.

• msgObj HW object in the controller.

• htrh HW object in the configuration.

Returns:

• E_OK - If free message object is found.
  

• E_NOT_OK - If free message object is not found.
  

• CAN_BUSY - If message is already pending.
  

Return: The status of Tx mailbox free/busy/not-found

Precondition: Can module must be initialized

Postcondition: None

5.5.4.32. function Can_WriteTxMailboxPriv

void Can_WriteTxMailboxPriv(
    const Can_MailboxType * mailboxCfg,
    Can_ControllerObjType * controllerObj,
    uint8 hth,
    uint32 messageBox,
    const Can_PduType * pduInfo
)

Brief: This function will write into the Transmit Mailbox.

Parameters:

• mailboxCfg Pointer to Mailbox structure.

• controllerObj Pointer to Can controller Config structure.

• hth HW object in the configuration.

• messageBox HW object in the controller.

• pduInfo Pointer to SDU user memory, DLC and Identifier.

Returns:

• None
  

Return: None

Precondition: Can module must be initialized

Postcondition: None

5.5.4.33. function Can_HwUnitTxDonePollingPriv

void Can_HwUnitTxDonePollingPriv(
    Can_ControllerObjType * canController,
    const Can_MailboxObjType * canMailbox,
    uint8 htrh
)

Brief: This function will poll for Tx confirmation.

Parameters:

• canController Pointer to Can controller Config structure.

• mailboxCfg Pointer to Mailbox structure.

• htrh HW object in the configuration.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.34. function Can_ReadRxMailboxPriv

void Can_ReadRxMailboxPriv(
    Can_ControllerObjType * controllerObj,
    const Can_MailboxObjType * canMailbox,
    uint8 maxMbCnt
)

Brief: This function will read Rx messages from Mailbox.

Parameters:

• controllerObj Pointer to Can controller Config structure.

• canMailbox Pointer to Mailbox structure.

• maxMbCnt Maximum number of mailbox configured.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.35. function Can_BusOffProcessPriv

void Can_BusOffProcessPriv(
    Can_ControllerObjType * controllerObj
)

Brief: This function will inform CanIf if bus off is detected.

Parameters:

• controllerObj Pointer to Can controller Config structure.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.36. function Can_WakeupProcessPriv

void Can_WakeupProcessPriv(
    Can_ControllerObjType * controllerObj
)

Brief: This function will inform EcuM if Wakeup is detected.

Parameters:

• controllerObj Pointer to Can controller Config structure.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.37. function Can_ModeProcessPriv

void Can_ModeProcessPriv(
    Can_ControllerObjType * controllerObj,
    Can_CanIfIndicationType * indication
)

Brief: This function will inform CanIf if any mode changes are detected.

Parameters:

• controllerObj Pointer to Can controller Config structure.

• indication Pointer to a struct containing Start/Stop/Sleep/Wakeup controller status indication done to CanIf module

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.38. function Can_ProcessISR

void Can_ProcessISR(
    Can_ControllerInstance canInstance,
    uint32 lineSelect
)

5.5.4.39. function Can_RegMFReadRaw32

static inline uint32 Can_RegMFReadRaw32(
    uint32 addr,
    uint32 mask,
    uint32 shift
)

Brief: This function reads a 32 bit register, masks specific set of bits and the left shifted value.

Parameters:

• addr Address of the memory mapped hardware register.

• mask Mask for the bit field.

• shift Bit field shift from LSB.

Returns:

• Value of the type uint32.
  

Return: Bit-field value (absolute value - shifted to LSB position).

Precondition: None

Postcondition: None

5.5.4.40. function Can_RegMFWriteRaw32

static inline void Can_RegMFWriteRaw32(
    uint32 addr,
    uint32 mask,
    uint32 shift,
    uint32 value
)

Brief: This function writes a 32 bit register masking specific set of bits and the left shifted value.

Parameters:

• addr Address of the memory mapped hardware register.

• mask Mask for the bit field.

• shift Bit field shift from LSB.

• value Value to write in the memory mapped hardware register.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

5.5.4.41. function Can_RegReadRaw32

static inline uint32 Can_RegReadRaw32(
    uint32 addr
)

Brief: This function reads a 32 bit register.

Parameters:

• addr Address of the memory mapped hardware register.

Returns:

• Value of the type uint32.
  

Return: Bit-field value (absolute value - shifted to LSB position).

Precondition: None

Postcondition: None

5.5.4.42. function Can_RegWriteRaw32

static inline void Can_RegWriteRaw32(
    uint32 addr,
    uint32 value
)

Brief: This function writes a 32 bit register.

Parameters:

• addr Address of the memory mapped hardware register.

• value Value to write in the 32-bit register.

Returns:

• None
  

Return: None

Precondition: None

Postcondition: None

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