Driver for the CAN module. More...

#include "can.h"
#include "version_cfg.h"
#include "HL_het.h"
#include "HL_reg_system.h"
#include "bender_iso165c.h"
#include "can_helper.h"
#include "database.h"
#include "diag.h"
#include "foxmath.h"
#include "ftask.h"
#include "io.h"
#include "mcu.h"

Include dependency graph for can.c:

Go to the source code of this file.

Macros
#define	CAN_TIMING_LOWER_LIMIT_COUNTS (95u)

#define	CAN_TIMING_UPPER_LIMIT_COUNTS (105u)

#define	CAN_BOOT_MESSAGE_MAXIMUM_RELEASE_DISTANCE (31u)

#define	CAN_BOOT_MESSAGE_BYTE_3_BIT_VERSION_CONTROL (0u)

#define	CAN_BOOT_MESSAGE_BYTE_3_BIT_DIRTY_FLAG (1u)

#define	CAN_BOOT_MESSAGE_BYTE_3_BIT_DISTANCE_OVERFLOW_FLAG (2u)

#define	CAN_BOOT_MESSAGE_BYTE_3_BIT_DISTANCE_COUNTER (3u)

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 void	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. The result is reported via flags in the DIAG module. 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)

STD_RETURN_TYPE_e	CAN_TransmitBootMessage (void)
	Transmit startup boot message. More...

CAN_STATE_s *	TEST_CAN_GetCANState (void)

Variables
static CAN_STATE_s	can_state

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: 2021-07-23 (date of last update)

Prefix: CAN

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

Definition in file can.c.

Macro Definition Documentation

◆ CAN_BOOT_MESSAGE_BYTE_3_BIT_DIRTY_FLAG

#define CAN_BOOT_MESSAGE_BYTE_3_BIT_DIRTY_FLAG (1u)

bit position of boot message byte 3 dirty flag

Definition at line 90 of file can.c.

◆ CAN_BOOT_MESSAGE_BYTE_3_BIT_DISTANCE_COUNTER

#define CAN_BOOT_MESSAGE_BYTE_3_BIT_DISTANCE_COUNTER (3u)

bit position of boot message byte 3 release distance counter

Definition at line 96 of file can.c.

◆ CAN_BOOT_MESSAGE_BYTE_3_BIT_DISTANCE_OVERFLOW_FLAG

#define CAN_BOOT_MESSAGE_BYTE_3_BIT_DISTANCE_OVERFLOW_FLAG (2u)

bit position of boot message byte 3 release distance overflow flag

Definition at line 93 of file can.c.

◆ CAN_BOOT_MESSAGE_BYTE_3_BIT_VERSION_CONTROL

#define CAN_BOOT_MESSAGE_BYTE_3_BIT_VERSION_CONTROL (0u)

bit position of boot message byte 3 version control flag

Definition at line 87 of file can.c.

◆ CAN_BOOT_MESSAGE_MAXIMUM_RELEASE_DISTANCE

#define CAN_BOOT_MESSAGE_MAXIMUM_RELEASE_DISTANCE (31u)

maximum distance from release that can be encoded in the boot message

Definition at line 81 of file can.c.

◆ CAN_TIMING_LOWER_LIMIT_COUNTS

#define CAN_TIMING_LOWER_LIMIT_COUNTS (95u)

lower limit of timestamp counts for a valid CAN timing

Definition at line 75 of file can.c.

◆ CAN_TIMING_UPPER_LIMIT_COUNTS

#define CAN_TIMING_UPPER_LIMIT_COUNTS (105u)

upper limit of timestamp counts for a valid CAN timing

Definition at line 78 of file can.c.

Function Documentation

◆ CAN_CheckCanTiming()

static void 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. The result is reported via flags in the DIAG module.

Definition at line 274 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

Parse all TX message boxes until we find a free one, then use it to send the CAN message. In the HAL, message box numbers start from 1, not 0.

Definition at line 211 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 374 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 207 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 183 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 425 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 430 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 420 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 237 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 244 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 349 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 438 of file can.c.

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◆ 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 395 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 407 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 383 of file can.c.

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◆ CAN_TransmitBootMessage()

STD_RETURN_TYPE_e CAN_TransmitBootMessage ( void )

Transmit startup boot message.

Returns: STD_OK if transmission successful, otherweise STD_NOT_OK

Definition at line 481 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 435 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 473 of file can.c.

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◆ TEST_CAN_GetCANState()

CAN_STATE_s* TEST_CAN_GetCANState ( void )

Definition at line 531 of file can.c.

Variable Documentation

◆ can_state

CAN_STATE_s can_state

static

Initial value:

= {
    .periodicEnable         = false,
    .currentSensorPresent   = {REPEAT_U(false, STRIP(BS_NR_OF_STRINGS))},
    .currentSensorCCPresent = {REPEAT_U(false, STRIP(BS_NR_OF_STRINGS))},
    .currentSensorECPresent = {REPEAT_U(false, STRIP(BS_NR_OF_STRINGS))},
}

tracks the local state of the can module

Definition at line 101 of file can.c.

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ CAN_BOOT_MESSAGE_BYTE_3_BIT_DIRTY_FLAG

◆ CAN_BOOT_MESSAGE_BYTE_3_BIT_DISTANCE_COUNTER

◆ CAN_BOOT_MESSAGE_BYTE_3_BIT_DISTANCE_OVERFLOW_FLAG

◆ CAN_BOOT_MESSAGE_BYTE_3_BIT_VERSION_CONTROL

◆ CAN_BOOT_MESSAGE_MAXIMUM_RELEASE_DISTANCE

◆ CAN_TIMING_LOWER_LIMIT_COUNTS

◆ CAN_TIMING_UPPER_LIMIT_COUNTS

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_TransmitBootMessage()

◆ CAN_TxInterrupt()

◆ canMessageNotification()

◆ TEST_CAN_GetCANState()

Variable Documentation

◆ can_state