DaVinCi RH850芯片CanIf模块配置技术手册：6.13.00版本详解

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Technical Reference CAN Interface

Feature Naming

Supported

Short Description

Controller Modes

Internal wake up



Internal wake up by calling CanIf_SetControllerMode()

Stop mode



Support stop mode

BusOff detection



Handling of bus off notifications

Error Reporting

DET



Support Development Error Detection (error notification)

Mailbox objects

Tx BasicCAN



Standard mailbox to send CAN frames (Used by CAN

Interface data queue)

Tx FullCAN



Separate mailbox for special Tx message used

Rx BasicCAN



Standard mailbox to receive CAN frames (depending on

hardware, FIFO or shadow buffer supported)

Rx FullCAN



Separate mailbox for special Rx message used

Miscellaneous

Transceiver handling



API for upper layers to set and read transceiver states;

Interface to the Transceiver Driver

Version API



API to read out component version

Supported ID types

- Standard Identifiers

- Extended Identifiers

- Mixed Identifiers



Support of CAN Standard (11 bits) identifiers

Support of CAN Extended (29 bits) identifiers

Support standard as well as extended identifiers

Multiple CAN networks



Each CAN network has to be connected to exactly one

controller

Multiple CAN driver



Supports multiple CAN driver

Partial Networking



Handling of partial networking transceiver

Tx-PDU filter during wake-up

Tx Confirmation Polling Support



This service provides the information on whether any Tx

confirmation has occurred for a CAN channel since the

last start of that CAN channel at all.

Post-build loadable



Post-build loadable allows the re-configuration of an

ECU at Post-build time

Post-build selectable



MICROSAR identity manager using Post-build

selectable

Extended RAM-check



This service provides the ability in order to request an

underlying CAN-channel to execute a check of

CAN-controller-HW-registers. The usage of this feature

requires a corresponding license.

Table 3-1 List of supported features

3.3 Initialization

Several functions are available to initialize the CAN Interface. The following code example

shows which functions have to be called to initialize the CAN Interface and to allow

transmission and reception.

CanIf_InitMemory();

/* Mandatory call which reinitializes global variables to

set the CAN Interface back to uninitialized

state. */

Technical Reference CAN Interface

3.4 Transmission

The transmission of PDUs is only possible after the CAN Interface and CAN Driver are

initialized and the CAN Interface resides in the CANIF_CS_STARTED /

CANIF_GET_ONLINE or CANIF_CS_STARTED / CANIF_GET_TX_ONLINE mode. In all

other states the Tx requests are rejected by the CAN Interface.

The Tx request has to be initiated by a call to the function:

CanIf_Transmit(<TxPduId>, <PduInfoPtr>);

The CAN Interface uses the PDU ID (<TxPduId>) to acquire more information from the

generated data to be able to transmit the message. This data is used to call the function

Can_Write of the CAN Driver which needs information about the PDU like the

CAN identifier, length of data, data by itself and the hardware transmit handle which

represents the mailbox used for transmission of the PDU.

After a successful transmission of the message on the bus a confirmation function is called

by the CAN Driver either from interrupt context or in case of Tx polling from task context.

This confirmation is dispatched in the CAN Interface to notify the corresponding higher layer

about the transmission of the PDU. For this purpose for each PDU a call back function has

to be specified at configuration time.

The transmission request is rejected by returning E_NOT_OK in the following cases:

- The CAN Interface is not in the controller state CANIF_CS_STARTED

- The CAN Interface is not in the PDU mode CANIF_GET_ONLINE or

CANIF_GET_TX_ONLINE

- The transmit buffer is not active and the corresponding mailbox used for transmission

is occupied (BasicCAN Tx messages only).

- An error occurred during transmission (DET will be informed)

3.4.1 Dynamic transmission

The feature is activated by the parameter “Dynamic Tx Objects”.

The adjustments for the dynamic objects are the same as for the static with the exception

that the CAN ID and the attribute whether extended or standard CAN ID can be selected

manually.

By default the dynamic object has the CAN ID parameterized during configuration time until

it is changed by the call of the API CanIf_SetDynamicTxId(). In order to set an extended

CAN ID the most significant bit of its value passed to the API shall be set.

The PDU IDs of the dynamic objects are represented as symbolic handles in the file

CanIf_Cfg.h.

3.4.2 Transmit-buffer

The CAN Interface provides a mechanism to buffer Tx-PDUs (including data) which are

mapped to a Tx-buffer. This means if the Tx-hardware-object of such Tx-PDU is occupied

the Tx-PDU-instance is stored within the CAN Interface until the Tx-hardware-object

becomes free.

Technical Reference CAN Interface

Two handling types of a transmit-buffer are supported:

1. FIFO

2. Prioritization by CAN-identifier

The handling type defines in which manner the Tx-PDUs stored within the Tx-buffer are

transmitted in case of the underlying Tx-hardware-object becomes free.

FIFO: The stored Tx-PDUs are transmitted in manner First-In-First-Out. Each

Tx-PDU-instance is stored. If the FIFO is full then NO Tx-PDUs are stored until the FIFO

becomes free.

Caution

In case of transmit-buffer of handling type FIFO only one instance of a Tx-PDU (the last

one stored within the FIFO) can be and is cancelled from the FIFO via usage of API

CanIf_CancelTransmit! (Feature: “Cancellation of Tx-PDUs”, see chapter

6.1.19).

Prioritization by CAN-identifier: The stored Tx-PDUs are transmitted in manner: Tx-PDU

with high priority is sent before those one with lower priority. The priority is given by the

CAN-identifier of the Tx-PDU. A Tx-PDU with a low CAN-identifier has higher priority than a

one with greater CAN-identifier. The priority of a Tx-PDU is static and is determined from

values of parameters CanIfTxPduCanId and CanIfTxPduCanIdType. Please consider

this aspect in case of configuration of Tx-PDUs with dynamic CAN-identifier. Only one

instance of each Tx-PDU is stored within such Tx-buffer: If a Tx-PDU is requested to be

transmitted and the Tx-buffer of this Tx-PDU is already in use the already stored data of this

Tx-PDU is overwritten in order to ensure the transmission of most newest data.

This handling type can be used to avoid inner priority inversion. This means if the

CAN Interface passes a transmit request to the CAN Driver while all Tx-hardware-objects

are occupied and at least one hardware object is occupied by a CAN message with lower

priority than the message used for the current transmit request the CAN Driver initiates the

cancellation of the message with the lowest priority. The cancelled CAN-message is stored

in the Tx-buffer of the CAN Interface if the corresponding Tx-buffer is free. Otherwise it is

discarded to ensure the transmission of most newest data. By this way a Tx-hardware

message object becomes free and allows the CAN Interface to pass the CAN-message with

the highest priority to the CAN Driver.

Caution

The described: “inner priority inversion” is only supported if at most only one Tx-buffer

of handling type: Prioritization by CAN-identifier is configured per CAN-channel!

At all the Tx-PDUs stored within a Tx-buffer are processed either in context of the

Tx-confirmation interrupt or in context of CAN Driver’s Tx-main-function in case of polling

mode.

The configuration of multiple transmit-buffers is described in chapter 3.4.3.

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