DaVinCi配置CAN模块的技术手册_CANdb与DaVinci

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技术手册《DaVinCi配置CAN模块的技术手册》是针对基于RH850芯片的DaVinCi诊断模块所设计的。该手册包含了对CAN功能模块的介绍、API接口等内容。尽管文档中提到了RH850芯片，但其内部内容是标准化、通用化的。文档中所涉及到的函数接口和服务都是通用的，适用于各种不同的系统和芯片。 MICROSAR CAN Driver Technical Reference Renesas Rh850 Rscan Version 4.01.00是由Torsten Kercher和Carsten Gauglitz编写，由Vector Informatik GmbH于2019年发布的技术参考文档。该文档提供了MICROSAR CAN Driver的详细信息和使用指南。作者在历史版本中逐步完善了文档的内容，使得支持的系统版本得到了更新，同时也加入了对新特性和派生芯片的支持。对于需要配置CAN模块的技术人员来说，这些文档提供了宝贵的参考和指导。CAN模块是现代汽车和工业控制系统中常用的通信模块，因此对其进行正确的配置和使用至关重要。通过这些技术手册，用户可以快速了解CAN功能模块的工作原理，学习如何使用API接口进行开发，以及掌握如何在特定的芯片或系统上进行配置。 DaVinCi配置CAN模块的技术手册为用户提供了对CAN功能模块进行配置的详细说明和指导。文档内部包含了如何初始化CAN模块、设置通信速率、进行消息传输等操作的具体步骤和方法。此外，手册还介绍了如何通过API接口与CAN模块进行交互，以及如何利用CAN模块进行数据传输和接收。 MICROSAR CAN Driver Technical Reference Renesas Rh850 Rscan Version 4.01.00则更加专注于对MICROSAR CAN Driver的详细介绍。文档中提供了该驱动程序的版本历史、作者信息以及对不同版本的支持情况。此外，文档还解释了该驱动程序的各种功能和特性，为用户提供了详细的技术参考资料。在使用这些技术手册时，用户可以根据自己的实际情况选择合适的版本和内容进行参考。对于初学者来说，可以从DaVinCi配置CAN模块的技术手册开始，逐步学习如何配置和使用CAN功能模块。而对于有一定经验的用户来说，MICROSAR CAN Driver Technical Reference则提供了更加专业和深入的技术内容，帮助他们更好地理解和应用CAN驱动程序。总的来说，这些技术手册为用户提供了丰富的技术资料和指导，有助于他们更加深入地了解和应用CAN功能模块以及相关的驱动程序。这对于汽车电子、工程控制等领域的技术人员来说都具有重要的参考价值，是一份不可多得的技术文献。

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Technical Reference MICROSAR CAN Driver

4.3.1 Mailbox Layout

The RSCAN provides n

*16 receive buffers, 8 receive FIFO buffers, n

*3 transmit FIFO

buffers and n

transmit buffers. There is a fixed assignment of 3 transmit FIFO buffers

and n

transmit buffers per channel, while the available receive buffers and receive FIFO

buffers can be used arbitrarily by the individual channels. The generation tool supports a

flexible distribution of the communication objects to the available hardware resources. The

possible mailbox object layout is shown in Figure 4-1 and Table 4-2.

is the number of supported physical channels of the used RSCAN(FD) unit n

is the number of transmit buffers per channel (this is derivative specific either 16 or 32,

refer to the corresponding hardware manual and the end of this section)

Figure 4-1 Hardware Object Layout

Technical Reference MICROSAR CAN Driver

Hw object

Mailbox

type

Number of

objects

Comment

shared by all

controllers:

Receive

buffer

*16 - 1)

Receive

FullCAN

*16

These objects are used to receive specific CAN

messages. The user defines statically (generation

tool) that a CAN message should be received in a

FullCAN message object.

Up to n

*16 receive FullCAN objects can be used

per controller, but the sum of all receive FullCAN

objects on all controllers must not exceed n

*16.

The receive FullCAN objects for all controllers are

allocated continuously, sorted ascending by the

physical channel index the corresponding logical

controllers are mapped to. Within one controller the

objects are sorted descending by the CAN identifier

priority of the individual messages.

*16

Depending on the configuration of receive FullCAN

objects there may be remaining receive buffers that

are not used. These objects are not configured /

disabled so they don’t consume hardware resources.

shared by all

controllers:

Receive FIFO

buffer

Receive

BasicCAN

All other CAN messages are received by the

BasicCAN objects. Each object consists of one

receive FIFO buffer with individually configurable size

and number of assigned acceptance filters.

In general, there is one BasicCAN object per

controller, but by using the Multiple BasicCAN feature

the number of used BasicCAN objects can be

configured. Up to 8 receive BasicCAN objects can be

used per controller, but the sum of all receive

BasicCAN objects on all controllers must not exceed

The receive BasicCAN objects for all controllers are

allocated continuously, sorted ascending by the

physical channel index the corresponding logical

controllers are mapped to.

Depending on the configuration of receive BasicCAN

objects there may be remaining receive FIFO buffers

that are not used. These objects are not configured /

disabled so they don’t consume hardware resources.

Technical Reference MICROSAR CAN Driver

Hw object

Mailbox

type

Number of

objects

Comment

Individually for

each used

physical

channel m:

Tx/Rx FIFO

buffer

(m*3)

(m*3) + 3 -1

Transmit

BasicCAN

(with

HW FIFO)

These objects are used to send several messages on

the controller that is mapped to physical channel m.

In general there is one BasicCAN per controller, but

by using the Multiple Tx BasicCAN feature the

amount of used BasicCANs can be configured. If

these objects are busy the transmit request is stored

in a CAN Interface queue (if activated).

Depending on the configuration of transmit objects

there may be remaining transmit FIFO buffers on the

physical channel that are not used. These objects are

not configured / disabled so they don’t consume

hardware resources.

Individually for

each used

physical

channel m:

Transmit

buffer

(m*n

)

(m*n

) + n

-1

Transmit

BasicCAN

(without

HW FIFO)

These objects are used to send several messages on

the controller that is mapped to physical channel m.

In general there is one BasicCAN per controller, but

by using the Multiple Tx BasicCAN feature the

amount of used BasicCANs can be configured.

Depending on the Multiplexed Transmission feature a

BasicCAN consists of either 1 or 3 transmit buffers. If

these objects are busy the transmit request is stored

in a CAN Interface queue (if activated).

Transmit

FullCAN

These objects are used to send a certain message on

the controller that is mapped to physical channel m.

The user defines statically (Generation Tool) which

CAN messages are located in such transmit FullCAN

objects.

Depending on the configuration of transmit objects

there may be remaining transmit buffers on the

physical channel that are not used. Please note that

for each used transmit FIFO buffer on this channel,

there is one reserved transmit buffer that cannot be

utilized.

Table 4-2 Mailbox Layout

Note

As the RSCAN has restrictions regarding the receive buffers (e.g. no interrupt

processing, no overrun detection, limited message size for CAN-FD Mode2 on some

derivatives) also consider configurations without Rx FullCAN objects. The large FIFO

sizes and number of filters that can be assigned to the BasicCAN objects give similar

advantages as the usage of FullCAN objects in many configurations.

Technical Reference MICROSAR CAN Driver

The “CanObjectId” (ECUc parameter) numbering is done in following order: FullCAN Tx,

BasicCAN Tx, FullCAN Rx, BasicCAN Rx. The “CanObjectIds” for the individual controllers

are allocated in succession.

Please note

There are additional restrictions regarding the usage of communication objects that

depend on the CAN-FD configuration (see also section 4.9) and used derivative

(available channels and incorporated CAN interface – shown by config parameters

Can/CanGeneral/CanNumberOfChannels and Can/CanGeneral/CanCanInterface).

These restrictions are checked by the generation tool.

RSCAN or RSCAN_FD interface and CAN-FD is not used in the configuration:

The sum of the shared buffers used to allocate the receive objects over all controllers

must not exceed n

*64. This includes the Rx FullCAN objects (1 buffer per configured

object), the Rx BasicCAN objects (individually configurable number of buffers) and the

Tx BasicCAN objects with hardware FIFO (individually configurable number of buffers)

on all channels. n

is always 16.

RSCAN_FD interface and CAN-FD is used on at least one channel:

The sum of the shared RAM used to allocate the receive buffers and all FIFO buffers

over all controllers must not exceed n

*1792 byte. n

is 16, but if CAN-FD Mode2 is

enabled there are 4 transmit buffers on each physical channel that cannot be utilized,

so the above-mentioned number of available transmit objects decreases. Only

messages with up to 20 bytes of data can be configured to be handled by a receive or

transmit FullCAN object.

RSCAN_FD_V3 interface:

The sum of the shared RAM used to allocate the receive buffers and all FIFO buffers

over all controllers must not exceed n

*3584 byte. n

is always 32.

4.3.2 Mailbox Processing Order

The hardware objects will be processed in the following order:

Object Type

Order / priority to send or receive

Tx FullCAN

CAN ID Low to High

Tx BasicCAN

CAN ID Low to High or FIFO

Rx FullCAN

CAN ID Low to High

Rx BasicCAN

FIFO

Receive FullCAN objects are processed before receive BasicCANs. The order between Rx

and Tx mailboxes depends on the call order of the polling tasks or the interrupt context

and cannot be guaranteed. The Rx Queue is a FIFO buffer filled in the above-mentioned

order.

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