Driver for the CAN module. More...

#include "can.h"
#include "HL_het.h"
#include "bender_iso165c.h"
#include "database.h"
#include "diag.h"
#include "io.h"
#include "mcu.h"

Include dependency graph for can.c:

Go to the source code of this file.

Functions
static void	CAN_TxInterrupt (canBASE_t *pNode, uint32 messageBox)
	Called in case of CAN TX interrupt. More...

static void	CAN_RxInterrupt (canBASE_t *pNode, uint32 messageBox)
	Called in case of CAN RX interrupt. More...

static STD_RETURN_TYPE_e	CAN_PeriodicTransmit (void)
	Handles the processing of messages that are meant to be transmitted. This function looks for the repetition times and the repetition phase of messages that are intended to be sent periodically. If a comparison with an internal counter (i.e., the counter how often this function has been called) states that a transmit is pending, the message is composed by call of CANS_ComposeMessage and transferred to the buffer of the CAN module. If a callback function is declared in configuration, this callback is called after successful transmission. More...

static bool	CAN_CheckCanTiming (void)
	Checks if the CAN messages come in the specified time window If the (current time stamp) - (previous time stamp) > 96ms and < 104ms, the check is true, false otherwise. More...

static void	CAN_SetCurrentSensorPresent (bool command, uint8_t stringNumber)
	Sets flag to indicate current sensor is present. More...

static void	CAN_SetCurrentSensorCcPresent (bool command, uint8_t stringNumber)
	Sets flag to indicate current sensor sends C-C values. More...

static void	CAN_SetCurrentSensorEcPresent (bool command, uint8_t stringNumber)
	Sets flag to indicate current sensor sends C-C values. More...

static void	CAN_InitializeTransceiver (void)

void	CAN_Initialize (void)
	Enables the CAN transceiver.. This function sets th pins to enable the CAN transceiver. It must be called before using the CAN interface. More...

STD_RETURN_TYPE_e	CAN_DataSend (canBASE_t pNode, uint32_t id, uint8 pData)
	Sends over CAN the data passed in parameters. This function goes over the messageboxes and marks the ones that should be sent. More...

void	CAN_MainFunction (void)
	Calls the functions to drive the CAN interface. Makes the CAN timing checks and sends the periodic messages. More...

void	CAN_ReadRxBuffer (void)
	Checks the data received per CAN. A receive buffer is used because CAN frames are received in an interrupt routine. The TMS570LC4357 does not allow nested interrupts, so interrupts are deactivated during receive. Calls to the database do not work when interrupts are disabled. Receive callbacks are made within this function: as it is not called during an interrupt routine, calls to the database can be made. More...

void	CAN_EnablePeriodic (bool command)
	enable/disable the periodic transmit/receive. More...

bool	CAN_IsCurrentSensorPresent (uint8_t stringNumber)
	set flag for presence of current sensor. More...

bool	CAN_IsCurrentSensorCcPresent (uint8_t stringNumber)
	get flag if CC message from current sensor is received. More...

bool	CAN_IsCurrentSensorEcPresent (uint8_t stringNumber)
	get flag if EC message from current sensor is received More...

void UNIT_TEST_WEAK_IMPL	canMessageNotification (canBASE_t *node, uint32 messageBox)

Variables
static CAN_STATE_s	can_state

static CAN_BUFFERELEMENT_s	can_rxBufferData [CAN0_RX_BUFFER_LENGTH]

static CAN_RX_BUFFER_s	can_rxBuffer

Detailed Description

Driver for the CAN module.

Copyright: © 2010 - 2021, Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V. All rights reserved.

SPDX-License-Identifier: BSD-3-Clause

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Author: foxBMS Team

Date: 2019-12-04 (date of creation)

Updated: 2021-03-29 (date of last update)

Prefix: CAN

Implementation of the CAN Interrupts, initialization, buffers, receive and transmit interfaces.

Definition in file can.c.

Function Documentation

◆ CAN_CheckCanTiming()

static bool CAN_CheckCanTiming ( void )

static

Checks if the CAN messages come in the specified time window If the (current time stamp) - (previous time stamp) > 96ms and < 104ms, the check is true, false otherwise.

Returns: true if timing is in tolerance range, false otherwise

Definition at line 243 of file can.c.

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◆ CAN_DataSend()

STD_RETURN_TYPE_e CAN_DataSend	(	canBASE_t *	pNode,
		uint32_t	id,
		uint8 *	pData
	)

Sends over CAN the data passed in parameters. This function goes over the messageboxes and marks the ones that should be sent.

Parameters

[in,out]	pNode	CAN interface to use
[in]	id	ID of message to send
[out]	pData	data to send (8 bytes)

Returns: STD_OK if a message box was free to send, STD_NOT_OK otherwise

Definition at line 192 of file can.c.

◆ CAN_EnablePeriodic()

void CAN_EnablePeriodic ( bool command )

enable/disable the periodic transmit/receive.

Enables periodic sending per CAN. This is used to prevent sending uninitialized data per CAN (e.g., before the first LTC measurement cycle was completed).

Definition at line 347 of file can.c.

◆ CAN_Initialize()

void CAN_Initialize ( void )

Enables the CAN transceiver.. This function sets th pins to enable the CAN transceiver. It must be called before using the CAN interface.

Definition at line 188 of file can.c.

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◆ CAN_InitializeTransceiver()

static void CAN_InitializeTransceiver ( void )

static

initialize the SPI interface to the CAN transceiver

Definition at line 164 of file can.c.

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◆ CAN_IsCurrentSensorCcPresent()

bool CAN_IsCurrentSensorCcPresent ( uint8_t stringNumber )

get flag if CC message from current sensor is received.

Parameters

stringNumber addressed string

Returns: true if CC message is being received, false otherwise

Definition at line 398 of file can.c.

◆ CAN_IsCurrentSensorEcPresent()

bool CAN_IsCurrentSensorEcPresent ( uint8_t stringNumber )

get flag if EC message from current sensor is received

Parameters

stringNumber addressed string

Returns: true if EC message is being received, false otherwise

Definition at line 403 of file can.c.

◆ CAN_IsCurrentSensorPresent()

bool CAN_IsCurrentSensorPresent ( uint8_t stringNumber )

set flag for presence of current sensor.

Returns: retval true if a current sensor is present, false otherwise

Definition at line 393 of file can.c.

◆ CAN_MainFunction()

void CAN_MainFunction ( void )

Calls the functions to drive the CAN interface. Makes the CAN timing checks and sends the periodic messages.

Definition at line 210 of file can.c.

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◆ CAN_PeriodicTransmit()

static STD_RETURN_TYPE_e CAN_PeriodicTransmit ( void )

static

Handles the processing of messages that are meant to be transmitted. This function looks for the repetition times and the repetition phase of messages that are intended to be sent periodically. If a comparison with an internal counter (i.e., the counter how often this function has been called) states that a transmit is pending, the message is composed by call of CANS_ComposeMessage and transferred to the buffer of the CAN module. If a callback function is declared in configuration, this callback is called after successful transmission.

Returns: STD_OK if a CAN transfer was made, STD_NOT_OK otherwise

Definition at line 217 of file can.c.

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◆ CAN_ReadRxBuffer()

void CAN_ReadRxBuffer ( void )

Checks the data received per CAN. A receive buffer is used because CAN frames are received in an interrupt routine. The TMS570LC4357 does not allow nested interrupts, so interrupts are deactivated during receive. Calls to the database do not work when interrupts are disabled. Receive callbacks are made within this function: as it is not called during an interrupt routine, calls to the database can be made.

Definition at line 323 of file can.c.

◆ CAN_RxInterrupt()

static void CAN_RxInterrupt	(	canBASE_t *	pNode,
		uint32	messageBox
	)

static

Called in case of CAN RX interrupt.

Parameters

pNode	CAN interface on which message was received
messageBox	message box on which message was received

Definition at line 411 of file can.c.

◆ CAN_SetCurrentSensorCcPresent()

static void CAN_SetCurrentSensorCcPresent	(	bool	command,
		uint8_t	stringNumber
	)

static

Sets flag to indicate current sensor sends C-C values.

Parameters

command	true if coulomb counting message detected, otherwise false
stringNumber	string addressed

Returns: none

Definition at line 368 of file can.c.

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◆ CAN_SetCurrentSensorEcPresent()

static void CAN_SetCurrentSensorEcPresent	(	bool	command,
		uint8_t	stringNumber
	)

static

Sets flag to indicate current sensor sends C-C values.

Parameters

command	true if energy counting message detected, otherwise false
stringNumber	string addressed

Returns: none

Definition at line 380 of file can.c.

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◆ CAN_SetCurrentSensorPresent()

static void CAN_SetCurrentSensorPresent	(	bool	command,
		uint8_t	stringNumber
	)

static

Sets flag to indicate current sensor is present.

Parameters

command	true if current sensor present, otherwise false
stringNumber	string addressed

Returns: none

Definition at line 356 of file can.c.

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◆ CAN_TxInterrupt()

static void CAN_TxInterrupt	(	canBASE_t *	pNode,
		uint32	messageBox
	)

static

Called in case of CAN TX interrupt.

Parameters

pNode	CAN interface on which message was sent
messageBox	message box on which message was sent

Definition at line 408 of file can.c.

◆ canMessageNotification()

void UNIT_TEST_WEAK_IMPL canMessageNotification	(	canBASE_t *	node,
		uint32	messageBox
	)

called in case of CAN interrupt, defined as weak in HAL

Definition at line 440 of file can.c.

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Variable Documentation

◆ can_rxBuffer

CAN_RX_BUFFER_s can_rxBuffer

static

Initial value:

= {
    .pRead  = &can_rxBufferData[0],
    .pWrite = &can_rxBufferData[0],
    .length = CAN0_RX_BUFFER_LENGTH,
}

interface object for can_rxBufferData

Definition at line 83 of file can.c.

◆ can_rxBufferData

CAN_BUFFERELEMENT_s can_rxBufferData[CAN0_RX_BUFFER_LENGTH]

static

local buffer for receiving data from CAN

Definition at line 80 of file can.c.

◆ can_state

CAN_STATE_s can_state

static

Initial value:

= {
    .periodicEnable         = false,
    .currentSensorPresent   = false,
    .currentSensorCCPresent = false,
    .currentSensorECPresent = false,
}

tracks the local state of the can module

Definition at line 72 of file can.c.

Functions

Variables

Detailed Description

Function Documentation

◆ CAN_CheckCanTiming()

◆ CAN_DataSend()

◆ CAN_EnablePeriodic()

◆ CAN_Initialize()

◆ CAN_InitializeTransceiver()

◆ CAN_IsCurrentSensorCcPresent()

◆ CAN_IsCurrentSensorEcPresent()

◆ CAN_IsCurrentSensorPresent()

◆ CAN_MainFunction()

◆ CAN_PeriodicTransmit()

◆ CAN_ReadRxBuffer()

◆ CAN_RxInterrupt()

◆ CAN_SetCurrentSensorCcPresent()

◆ CAN_SetCurrentSensorEcPresent()

◆ CAN_SetCurrentSensorPresent()

◆ CAN_TxInterrupt()

◆ canMessageNotification()

Variable Documentation

◆ can_rxBuffer

◆ can_rxBufferData

◆ can_state