void StartupTask( void ) {
pi_printf("infor: start up\r\n");
bcm2835_read_mac_address();
parse_config();
printf("ACT LED on GPIO %d\r\n", act_led_gpio);
printf("CAN bus frequency %d MHz\r\n", MCP2515_FREQUENCY_MHz);
EcuM_StartupTwo();
// Startup CanIf due to ComM is missing in this example
CanIf_SetControllerMode(CANIF_CanIfCtrlCfg, CANIF_CS_STARTED);
CanIf_SetPduMode(CANIF_CanIfCtrlCfg, CANIF_SET_ONLINE);
/** Setup Com stack with necessary parameters**/
Com_IpduGroupVector groupVector;
Com_ClearIpduGroupVector(groupVector);
//Start the IPDU group
Com_SetIpduGroup(groupVector, COM_PDU_GROUP_ID_TXIPDUGROUP, TRUE);
Com_SetIpduGroup(groupVector, COM_PDU_GROUP_ID_RXIPDUGROUP, TRUE);
Com_IpduGroupControl(groupVector, TRUE);
TerminateTask();
}
void CanSM_Internal_SetNetworkPduMode(NetworkHandleType NetworkHandle, CanIf_PduSetModeType pduMode)
{
const CanSM_NetworkType *NetworkCfg = &CanSM_Config->Networks[NetworkHandle];
for(uint8 ctrl = 0; ctrl < NetworkCfg->ControllerCount; ctrl++) {
if( E_OK != CanIf_SetPduMode(NetworkCfg->Controllers[ctrl].CanIfControllerId, pduMode) ) {
/* TODO: Report some kind of Det-error. */
// CANSM_DET_REPORTERROR();
}
}
}
void StartupTask( void ) {
pi_printf("infor: start up\r\n");
EcuM_StartupTwo();
// Startup CanIf due to ComM is missing in this example
CanIf_SetControllerMode(CANIF_CanIfCtrlCfg, CANIF_CS_STARTED);
CanIf_SetPduMode(CANIF_CanIfCtrlCfg, CANIF_SET_ONLINE);
/** Setup Com stack with necessary parameters**/
Com_IpduGroupVector groupVector;
//Start the IPDU group
Com_ClearIpduGroupVector(groupVector);
//Start the IPDU group
Com_SetIpduGroup(groupVector, COM_PDU_GROUP_ID_TXCOMIPDUGROUP, TRUE);
Com_SetIpduGroup(groupVector, COM_PDU_GROUP_ID_RXCOMIPDUGROUP, TRUE);
Com_IpduGroupControl(groupVector, TRUE);
TerminateTask();
}
Std_ReturnType CanIf_SetControllerMode(uint8 Controller,
CanIf_ControllerModeType ControllerMode)
{
// We call this a CanIf channel. Hopefully makes it easier to follow.
CanIf_Arc_ChannelIdType channel = (CanIf_Arc_ChannelIdType) Controller;
CanIf_ControllerModeType oldMode;
VALIDATE( CanIf_Global.initRun, CANIF_SET_CONTROLLER_MODE_ID, CANIF_E_UNINIT );
VALIDATE( channel < CANIF_CHANNEL_CNT, CANIF_SET_CONTROLLER_MODE_ID, CANIF_E_PARAM_CONTROLLER );
oldMode = CanIf_Global.channelData[channel].ControllerMode;
if (oldMode == CANIF_CS_UNINIT)
{
VALIDATE(FALSE, CANIF_SET_CONTROLLER_MODE_ID, CANIF_E_UNINIT); // See figure 32, 33
return E_NOT_OK;
}
CanControllerIdType canControllerId = ARC_GET_CHANNEL_CONTROLLER(Controller);
switch (ControllerMode)
{
case CANIF_CS_STARTED: // Figure 32
{
switch (oldMode)
{
case CANIF_CS_SLEEP:
if (Can_SetControllerMode(canControllerId, CAN_T_STOP) == CAN_NOT_OK){
return E_NOT_OK;
}
CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STOPPED;
break;
default:
// Just fall through
break;
}
CanIf_SetPduMode(channel, CANIF_SET_ONLINE);
if (Can_SetControllerMode(canControllerId, CAN_T_START) == CAN_NOT_OK){
return E_NOT_OK;
}
CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STARTED;
}
break;
case CANIF_CS_SLEEP: // Figure 33
{
switch (oldMode) {
case CANIF_CS_STARTED:
if (Can_SetControllerMode(canControllerId, CAN_T_STOP) == CAN_NOT_OK){
return E_NOT_OK;
}
CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STOPPED;
break;
default:
// Just fall through for other cases
break;
}
if (Can_SetControllerMode(canControllerId, CAN_T_SLEEP) == CAN_NOT_OK){
return E_NOT_OK;
}
CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_SLEEP;
break;
}
case CANIF_CS_STOPPED:
{
switch (oldMode)
{
case CANIF_CS_SLEEP:
if (Can_SetControllerMode(canControllerId, CAN_T_WAKEUP) == CAN_NOT_OK){
return E_NOT_OK;
}
break;
default:
// Just fall through for other cases
break;
}
CanIf_SetPduMode(channel, CANIF_SET_OFFLINE);
if (Can_SetControllerMode(canControllerId, CAN_T_STOP) == CAN_NOT_OK){
return E_NOT_OK;
}
CanIf_Global.channelData[channel].ControllerMode = CANIF_CS_STOPPED;
break;
}
case CANIF_CS_UNINIT:
// Just fall through
break;
}
return E_OK;
}
