/* Dcm Example Initialise Routine.
* 初始化Can、CanIf、PduR和DCM ，
* 需要使用“dcm_ex1.arxml”生成其相应配置文件。*/
void DcmEx1Init(void)
{
Can_Init(&Can_ConfigData);
CanIf_Init(&CanIf_Config);
CanTp_Init();
PduR_Init(&PduR_Config);
Dcm_Init();
//启动配置的两个CAN通道 CAN_CTRL_0 和 CAN_CTRL_1
CanIf_SetControllerMode(vCanIf_Channel_0,CANIF_CS_STARTED);
CanIf_SetControllerMode(vCanIf_Channel_1,CANIF_CS_STARTED);
}
/*
* Controller :: CanIf_Arc_ChannelIdType (CanIf-specific id to abstract from Can driver/controllers)
* ConfigurationIndex :: CanIf_Arc_ConfigurationIndexType
*/
void CanIf_InitController(uint8 Controller, uint8 ConfigurationIndex)
{
// We call this a CanIf channel. Hopefully makes it easier to follow.
CanIf_Arc_ChannelIdType channel = (CanIf_Arc_ChannelIdType) Controller;
CanIf_ControllerModeType mode;
VALIDATE_NO_RV(CanIf_Global.initRun, CANIF_INIT_CONTROLLER_ID, CANIF_E_UNINIT );
VALIDATE_NO_RV(channel < CANIF_CHANNEL_CNT, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
VALIDATE_NO_RV(ConfigurationIndex < CANIF_CHANNEL_CONFIGURATION_CNT, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_POINTER);
if (CanIf_GetControllerMode(channel, &mode) == E_OK)
{
if (mode == CANIF_CS_STARTED)
{
CanIf_SetControllerMode(channel, CANIF_CS_STOPPED); // CANIF092
}
else if (mode != CANIF_CS_STOPPED)
{
VALIDATE_NO_RV(FALSE, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER_MODE); // CANIF092
}
}
else
{
VALIDATE_NO_RV(FALSE, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER_MODE);
}
// CANIF293: ..Subsequently the CAN Interface calls the corresponding
// CAN Driver initialization services.
// CANIF066: The CAN Interface has access to the CAN Driver configuration data. All
// public CAN Driver configuration data are described in [8] Specification of CAN Driver.
// Grab the configuration from the Can Controller
const Can_ControllerConfigType *canConfig;
const CanControllerIdType canControllerId = ARC_GET_CHANNEL_CONTROLLER(channel);
// Validate that the configuration at the index match the right channel
VALIDATE_NO_RV(CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfControllerIdRef == channel, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
canConfig = CanIf_ConfigPtr->ControllerConfig[ConfigurationIndex].CanIfInitControllerRef;
// Validate that the CanIfControllerConfig points to configuration for the right Can Controller
VALIDATE_NO_RV(canConfig->CanControllerId == canControllerId, CANIF_INIT_CONTROLLER_ID, CANIF_E_PARAM_CONTROLLER);
Can_InitController(canControllerId, canConfig);
// Set mode to stopped
CanIf_SetControllerMode(channel, CANIF_CS_STOPPED);
}
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 CanIf_ControllerBusOff(uint8 Controller)
{
CanIf_Arc_ChannelIdType channel = 0xff;
VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_CONTROLLER_BUSOFF_ID, CANIF_E_UNINIT );
for(int i = 0; i < CANIF_CHANNEL_CNT; i++)
{
if(CanIf_ConfigPtr->Arc_ChannelToControllerMap[i] == Controller)
{
channel = i;
}
}
VALIDATE_NO_RV( Controller < CANIF_CHANNEL_CNT, CANIF_CONTROLLER_BUSOFF_ID, CANIF_E_PARAM_CONTROLLER );
// According to figure 35 in canif spec this should be done in
// Can driver but it is better to do it here
CanIf_SetControllerMode(channel, CANIF_CS_STOPPED);
if (CanIf_ConfigPtr->DispatchConfig->CanIfBusOffNotification != NULL)
{
CanIf_ConfigPtr->DispatchConfig->CanIfBusOffNotification(channel);
}
}
// Tasks
void Task1( void ) {
EcuM_StartupTwo();
CanIf_SetControllerMode(CANIF_Controller_A, CANIF_CS_STARTED);
Com_IpduGroupStart(CanDbImportedPdus, 1);
TerminateTask();
}
void StartupHook(void)
{
/* Add Code Here */
(void)SetRelAlarm(ID_vAlarmReceiver,50,10);
(void)SetRelAlarm(ID_vAlarmSender,100,200);
(void)SetRelAlarm(ID_vAlarmMainFunction,200,1); //so cyclic 1 Ticks = 4ms
Can_Init(&Can_ConfigData);
CanIf_Init(&CanIf_Config);
CanNm_Init(&CanNm_Config);
CanSM_Init(&CanSM_Cfg);
Nm_Init(&Nm_Config);
ComM_Init(&ComM_Cfg);
CanIf_SetControllerMode(vCanIf_Channel_0,CANIF_CS_STARTED);
CanIf_SetControllerMode(vCanIf_Channel_1,CANIF_CS_STARTED);
Nm_PassiveStartUp(vNm_Channel_0);
ComM_RequestComMode(vComM_User_0,COMM_FULL_COMMUNICATION);
CanNm_NetworkRequest(vCanNm_Channel_0);
}
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 CanSM_Internal_SetNetworkControllerMode(NetworkHandleType NetworkHandle, CanIf_ControllerModeType controllerMode)
{
Std_ReturnType totalStatus = E_OK;
const CanSM_NetworkType *NetworkCfg = &CanSM_Config->Networks[NetworkHandle];
for(uint8 ctrl = 0; ctrl < NetworkCfg->ControllerCount; ctrl++) {
uint8 index;
if( E_OK != CanSM_Internal_GetCanSMControllerIndex(NetworkCfg->Controllers[ctrl].CanIfControllerId, &index) ) {
return E_NOT_OK;
}
CanSM_Internal.ControllerModeBuf[index].hasPendingCtrlIndication = TRUE;
CanSM_Internal.ControllerModeBuf[index].pendingCtrlMode = controllerMode;
if( E_OK != CanIf_SetControllerMode(NetworkCfg->Controllers[ctrl].CanIfControllerId, controllerMode)) {
/* Not accepted. No mode indication pending */
CanSM_Internal.ControllerModeBuf[index].hasPendingCtrlIndication = FALSE;
totalStatus = E_NOT_OK;
}
}
return totalStatus;
}
void CAN_InterfaceTest(const char* driverName, int sendcountmax, int baud, int config) {
int cnt;
sendcount = 0;
recvcount = 0;
time_t t_start, t_end;
Std_ReturnType std_ret;
/* CanIf_ConfigTypeはAUTOSARの仕様に準拠したため、本バージョンでは未使用。NULLを指定する */
CanIf_Init(NULL);
/* AUTOSARの仕様に準拠し、各種設定は静的なデータとしてコンパイル時に確定させる。
本サンプルプログラムでは、テストのため内部設定を直接書き換える。
CanIfConfigurationsは、CanIf_Initの実行後に修正する必要がある */
/* ドライバ名の設定 */
CanIfConfigurations.initConfiguration[RECVCFG].ConfigSet.driverName = driverName;
CanIfConfigurations.initConfiguration[SENDCFG].ConfigSet.driverName = driverName;
/* ボーレートの設定 */
CanIfConfigurations.initConfiguration[RECVCFG].ConfigSet.baudRate = baud;
CanIfConfigurations.initConfiguration[SENDCFG].ConfigSet.baudRate = baud;
/* Acceptフィルタの設定 */
CanIfConfigurations.initConfiguration[RECVCFG].ConfigSet.acceptCode = 0x00000000;
CanIfConfigurations.initConfiguration[RECVCFG].ConfigSet.acceptMask = 0xffffffff;
CanIfConfigurations.initConfiguration[SENDCFG].ConfigSet.acceptCode = 0x00000000;
CanIfConfigurations.initConfiguration[SENDCFG].ConfigSet.acceptMask = 0xffffffff;
/* PDU-IDの登録 */
CanIfConfigurations.initConfiguration[RECVCFG].CanIfNumberOfCanRxPduIds = 1;
CanIfConfigurations.initConfiguration[RECVCFG].CanIfRxPduConfigList[0].CanIfCanRxPduCanId = RECV_PDUID;
CanIfConfigurations.initConfiguration[RECVCFG].CanIfRxPduConfigList[0].CanIfCanRxPduId = RECV_PDUID;
CanIfConfigurations.initConfiguration[RECVCFG].CanIfNumberOfCanTxPduIds = 0;
CanIfConfigurations.initConfiguration[RECVCFG].CanIfNumberOfDynamicCanTxPduIds = 0;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfNumberOfCanTxPduIds = 1;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfTxPduConfigList[0].CanIfTxPduIdCanId = SEND_PDUID;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfTxPduConfigList[0].CanIfCanTxPduId = SEND_PDUID;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfNumberOfCanRxPduIds = 0;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfNumberOfDynamicCanTxPduIds = 0;
/* 受信コールバックの設定 */
CanIfConfigurations.initConfiguration[RECVCFG].CanIfRxPduConfigList[0].CanIfRxUserType = CANIF_CAN_NM;
if(config == 0) {
CanIfConfigurations.initConfiguration[RECVCFG].CanIfRxPduConfigList[0].CanIfUserRxIndication = CanRxCallback;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfTxPduConfigList[0].CanIfUserTxConfirmtion = CanTxCallback;
} else {
CanIfConfigurations.initConfiguration[RECVCFG].CanIfRxPduConfigList[0].CanIfUserRxIndication = NULL;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfTxPduConfigList[0].CanIfUserTxConfirmtion = NULL;
}
/* コントローラの初期化 */
CanIf_InitController(sendController, SENDCFG);
CanIf_InitController(recvController, RECVCFG);
if (CanIf_SetControllerMode(sendController, CANIF_CS_STARTED) != E_OK) {
printf("CanIf_SetControllerMode(0, CANIF_CS_STARTED) failed\n");
return;
}
if (CanIf_SetControllerMode(recvController, CANIF_CS_STARTED) != E_OK) {
printf("CanIf_SetControllerMode(1, CANIF_CS_STARTED) failed\n");
return;
}
time(&t_start);
for(cnt = 0; (cnt < (sendcountmax * 5) && recvcount < sendcountmax); ++cnt) {
Dem_Sleep(1000);
/* 送信テスト */
if(sub_loop_trg == 0 && sendcount < sendcountmax) {
PduInfoType pduInfo;
uint8 buf[8];
sprintf((char*)buf, "UU%4.4d*", cnt);
buf[7] = 0x00;
pduInfo.SduDataPtr = buf;
pduInfo.SduLength = 8;
do{ /* エラーの時はリトライして待つ */
std_ret = CanIf_Transmit(SEND_PDUID, &pduInfo);
printf("CanIf_Transmit std_ret = %d, cnt = %d\n",std_ret ,cnt);
}while(std_ret != E_OK);
printf("Transmit ch:%d to ch:%d: ID:%x '%8.8s'\n",
sendController, recvController, SEND_PDUID, pduInfo.SduDataPtr);
++sendcount;
}
// ヒステリシスを持った、送信の制御
if(sub_loop_trg == 0) {
if((sendcount - recvcount) >= sub_loop_limit) sub_loop_trg = 1;
} else {
if((sendcount - recvcount) < (sub_loop_limit / 4)) sub_loop_trg = 0;
}
if (config == 1) {
/* 受信テスト */
if (CanIf_ReadRxPduData(RECV_PDUID, &recvData) == E_OK) {
/* 受信データあり */
printf("Receive ch:%d ID:%x '%8.8s'\n",
recvController, RECV_PDUID, recvData.SduDataPtr);
++recvcount;
}
}
}
if (recvcount == sendcountmax) {
printf("All data received. (%d/%d)\n", recvcount, sendcountmax);
}
else {
printf("%d data lost.(%d/%d)\n", sendcountmax - recvcount, recvcount, sendcountmax);
}
time(&t_end);
printf("Total time: %d [Sec]\n", (t_end - t_start));
/* 終了処理の追加 */
CanIf_Deinit();
}
