/**
* Hardware error ISR for CAN
*
* @param unit CAN controller number( from 0 )
*/
static void Can_ErrIsr( int unit ) {
CAN_HW_t *canHw = GetController(unit);
Can_UnitType *canUnit = CAN_GET_PRIVATE_DATA(unit);
Can_Arc_ErrorType err;
err.R = 0;
// Check wake up
if(SET == CAN_GetITStatus(canHw, CAN_IT_WKU)){
Can_WakeIsr(unit);
CAN_ClearITPendingBit(canHw, CAN_IT_WKU);
}
if(SET == CAN_GetITStatus(canHw, CAN_IT_BOF)){
canUnit->stats.boffCnt++;
CanIf_ControllerBusOff(unit);
Can_SetControllerMode(unit, CAN_T_STOP); // CANIF272
Can_AbortTx( canHw, canUnit ); // CANIF273
// Clear int
CAN_ClearITPendingBit(canHw, CAN_IT_BOF);
}
if (err.R != 0)
{
CanIf_Arc_Error( unit, err );
}
}
/**
* Hardware wake ISR for CAN
*
* @param unit CAN controller number( from 0 )
*/
static void Can_WakeIsr( int unit ) {
//CanIf_ControllerWakeup(unit);
// 269,270,271
Can_SetControllerMode(unit, CAN_T_STOP);
// TODO EcuM_CheckWakeup();
}
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;
}
