5.1. CAN

5.1.1. 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_EventPin	Enum for the event pin.
enum	Can_StandardFilterType	Enum for the Can standard filter selection.

5.1.1.1. enum Can_ProcessingType

Enumerator	Value	Description
CAN_INTERRUPT	0x0U	Interrupt.
CAN_MIXED	0x1U	Mixed
CAN_POLLING	0x2U	Polling.

Brief: Can Tx/Rx Processing.

5.1.1.2. 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.

5.1.1.3. enum Can_HandleType

Enumerator	Value	Description
CAN_FULL	0x0U	Full
CAN_BASIC		Basic

Brief: Can Handle Type FULL/BASIC.

5.1.1.4. 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.

5.1.1.5. enum Can_MailboxDirectionType

Enumerator	Value	Description
CAN_RECEIVE	0x0U	Mailbox is for receive.
CAN_TRANSMIT		Mailbox is for transmit.

Brief: Can Mailbox direction enum.

5.1.1.6. 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.

5.1.1.7. 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.

5.1.1.8. enum Can_EventPin

Enumerator	Value	Description
CAN_EVENT_PIN_0	0x0U	EVENT PIN0.
CAN_EVENT_PIN_1	0x1U	EVENT PIN1.
CAN_EVENT_PIN_NONE	0x2U	EVENT NONE.

Brief: Enum for the event pin.

5.1.1.9. enum Can_StandardFilterType

Enumerator	Value	Description
CAN_RANGE_FILTER	0x0U	Range filter from SFID1 to SFID2 (SFID2 ≥ SFID1)
CAN_DUAL_ID_FILTER	0x1U	Dual ID filter for SFID1 or SFID2.
CAN_CLASSIC_FILTER	0x2U	Classic filter: SFID1 = filter; SFID2 = mask.
CAN_FILTER_DISABLED	0x03	Filter element disabled.

Brief: Enum for the Can standard filter selection.

5.1.2. 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_HwFilterType	Structure defining the HW filter to be used.
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_PeriodicReadBackDataType	Can periodic readback register definition.

5.1.3. Defines

Name	Brief
CAN_SW_MAJOR_VERSION	Driver Implementation Major Version.
CAN_SW_MINOR_VERSION	Driver Implementation Minor Version.
CAN_SW_PATCH_VERSION	Driver Implementation Patch Version.
CAN_AR_RELEASE_MAJOR_VERSION	AUTOSAR Major version specification implemented by CAN Driver.
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_SID_READBACK	Service ID - Can_PeriodicReadback().
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.
CAN_ICOM_CONFIG_DISABLE	Icom config disable.
CAN_EXTENDED_ID	Extended id.
CAN_STANDARD_ID	Standard id.
CAN_MIXED_ID	Mixed id.

5.1.4. 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 * Config_Ptr)	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(Can_HwHandleType 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_PeriodicReadback(uint8 Controller, Can_PeriodicReadBackDataType * ReadBackRegisterdata)	This service shall read all the statically configured registers.

5.1.4.1. 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

5.1.4.2. function Can_Init

void Can_Init(
    const Can_ConfigType * Config_Ptr
)

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:

Config_Ptr Pointer to post-build configuration data.

Returns:

None

Return: None

Precondition: None

Postcondition: None

5.1.4.3. function Can_DeInit

void Can_DeInit(
    void 
)

Brief: This function deinitializes the module.

Returns:

None

Return: None

Precondition: None

Postcondition: None

5.1.4.4. 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

5.1.4.5. 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

5.1.4.6. 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

5.1.4.7. 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

5.1.4.8. 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

5.1.4.9. 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

5.1.4.10. 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

5.1.4.11. function Can_Write

Std_ReturnType Can_Write(
    Can_HwHandleType 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

5.1.4.12. 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

5.1.4.13. 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

5.1.4.14. 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

5.1.4.15. 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

5.1.4.16. 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

5.1.4.17. 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

5.1.4.18. function Can_PeriodicReadback

void Can_PeriodicReadback(
    uint8 Controller,
    Can_PeriodicReadBackDataType * ReadBackRegisterdata
)

Brief: This service shall read all the statically configured registers.

Parameters:

Controller CAN controller for which the configured registers shall be read
ReadBackRegisterdata pointer for the read back registers

Returns:

None

Return: None

Precondition: None

Postcondition: None