TechnicalReference_CanSMs
MICROSAR CAN State Manager
Technical Reference
Version 2.10.00
Authors
Mark A. Fingerle
Status
Released
Technical Reference MICROSAR CAN State Manager
Document Information
History
Author
Date
Version
Remarks
Mark A. Fingerle
2012-08-08
2.0.0
Creation from scratch
Mark A. Fingerle
2012-10-23
2.1.0
ESCAN00062053 Interface to provide
internal bus-off recovery level 3.8, Table
3-4, 5.1, 5.2.13
ESCAN00062050 Instruction order for
transition to no communication Figure 3-3
Figure 3-5
Update state machine pictures Figure 3-1,
Figure 3-2, Figure 3-4
Mark A. Fingerle
2013-05-03
2.2.0
ESCAN00065274 Trigger CanIf PduMode
wake up filter in PN use case 6.2.6
Remove chapter “4.2 Include Structure”
and “4.3 Compiler Abstraction and Memory
Mapping”
Mark A. Fingerle
2013-06-13
2.3.0
ESCAN00068036 SetEcuPassive 0,
5.2.14, 6.2.7 ESCAN00068039
PreventBusSleepAtStartUp 3.13, 5.2.15,
6.2.8
Mark A. Fingerle
2013-08-13
2.4.0
ESCAN00069109 3.11 Baud Rate
Adaption
ESCAN00068797 3.14 BusOff Recovery
Notifications
Mark A. Fingerle
2014-10-13
2.5.0
ESCAN00076768 Post-Build Selectable
(Identity Manager) support 6.2.9
ESCAN00076224 Add APIs to Assist EcuM
Wakeup Validation 3.15, 5.2.11, 5.2.12
ESCAN00079340 Description BCD-coded
return-value of GetVersionInfo()
AUTOSAR deviation 6.1
Mark A. Fingerle
2015-11-13
2.6.0
ESCAN00086062 3.10 Swift Tx Timeout
Exception
Mark A. Fingerle
2016-01-13
2.7.0
ESCAN00088643 Extended RAM Check
5.2.2, 5.2.16, 5.2.17, 5.4.8, 5.4.9, 5.5.1,
5.5.2, 5.5.3, 5.5.4
Mark A. Fingerle
2016-05-13
2.8.0
ESCAN00090185 Wakeup validation fail
(Start/Stop wakeup sources); Wakeup
validation must not be used with
asynchronous Trcv (SPI) 5.2.11 5.2.12
ESCAN00090829 Improve description how
to redirect "Error Reporting APIs" 3.17.1,
3.17.2
Mark A. Fingerle
2016-08-01
2.9.0
ESCAN00091303 6.2.13 Expanded Tx
Timeout Exception Handling
© 2017 Vector Informatik GmbH
Version 2.10.00
2
based on template version 5.0.0
Technical Reference MICROSAR CAN State Manager
Mark A. Fingerle
2016-12-01
2.10.0
FEATC-570 Mode Request Repetition Max
is available as Runtime Error (DEM) (see
3.3.1, 3.17.2, 6.1.2)
Reference Documents
No.
Source
Title
Version
[1] AUTOSAR
Specification of CAN State Manager
2.2.0
[2] AUTOSAR
Specification of Development Error Tracer
3.2.0
[3] AUTOSAR
Specification of Diagnostics Event Manager
4.2.0
[4] AUTOSAR
List of Basic Software Modules
1.6.0
[5] AUTOSAR
Specification of CAN Interface
5.0.0
[6] AUTOSAR
Specification of Communication Manager
4.0.0
[7] AUTOSAR
Specification of Basic Software Mode Manager
1.2.0
Scope of the Document
This technical reference describes the general use of the CAN State Manager basis
software. All aspects which are CAN controller specific are described in the technical
reference of the CAN Interface, which is also part of the delivery.
Caution
We have configured the programs in accordance with your specifications in the
questionnaire. Whereas the programs do support other configurations than the one
specified in your questionnaire, Vector’s release of the programs delivered to your
company is expressly restricted to the configuration you have specified in the
questionnaire.
© 2017 Vector Informatik GmbH
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Technical Reference MICROSAR CAN State Manager
Contents
1
Component History ...................................................................................................... 9
2
Introduction................................................................................................................. 10
2.1
Architecture Overview ...................................................................................... 10
3
Functional Description ............................................................................................... 12
3.1
Features .......................................................................................................... 12
3.2
Initialization ...................................................................................................... 13
3.3
State Machine .................................................................................................. 13
3.3.1
Mode Request Indication and Repetition .......................................... 14
3.3.2
Communication Mode Request Change (During Pending Mode
Indication or Running Bus-Off Recovery) ......................................... 14
3.3.3
CANSM_NO_COMMUNICATION to
CANSM_FULL_COMMUNICATION ................................................. 15
3.3.4
CANSM_FULL_COMMUNICATION to
CANSM_SILENT_COMMUNICATION ............................................. 16
3.3.5
CANSM_SILENT_COMMUNICATION ............................................. 16
3.3.6
CANSM_SILENT_COMMUNICATION to
CANSM_FULL_COMMUNICATION ................................................. 16
3.3.7
Transition to CANSM_NO_COMMUNICATION ................................ 17
3.4
Bus-Off Recovery ............................................................................................. 18
3.5
Main Function .................................................................................................. 19
3.6
Communication Modes .................................................................................... 19
3.7
Communication Mode Polling........................................................................... 19
3.8
Bus-off Level Polling ........................................................................................ 19
3.9
Partial Networking ............................................................................................ 19
3.10
Tx Timeout Exception ...................................................................................... 21
3.11
Baud Rate Adaption ......................................................................................... 21
3.12
ECU Passive Mode .......................................................................................... 22
3.13
PreventBusSleepAtStartUp .............................................................................. 22
3.14
BusOff Recovery Notifications Extension of Tx Offline Duration ....................... 23
3.15
Wake-up Validation Assistance ........................................................................ 23
3.16
Start/Stop Wake-up Sources ............................................................................ 23
3.16.1
Normal Behavior .............................................................................. 23
3.16.2
Usage .............................................................................................. 24
3.16.3
Exceptional Behavior ....................................................................... 24
3.16.4
Potential Effect ................................................................................. 24
3.16.4.1
Start of the Wakeup Sources Fail ................................... 24
3.16.4.2
Stop of the Wakeup Sources Fail ................................... 24
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3.16.5
Countermeasures ............................................................................ 25
3.17
Error Handling .................................................................................................. 26
3.17.1
Development Error Reporting ........................................................... 26
3.17.2
Production Code Error Reporting ..................................................... 27
4
Integration ................................................................................................................... 29
4.1
Scope of Delivery ............................................................................................. 29
4.1.1
Static Files ....................................................................................... 29
4.1.2
Dynamic Files .................................................................................. 29
4.2
Critical Sections ............................................................................................... 30
5
API Description ........................................................................................................... 32
5.1
Type Definitions ............................................................................................... 32
5.2
Services Provided by CanSM........................................................................... 32
5.2.1
CanSM_InitMemory ......................................................................... 32
5.2.2
CanSM_PreInit ................................................................................. 33
5.2.3
CanSM_Init ...................................................................................... 33
5.2.4
CanSM_MainFunction ...................................................................... 34
5.2.5
CanSM_RequestComMode ............................................................. 34
5.2.6
CanSM_GetCurrentComMode ......................................................... 35
5.2.7
CanSM_GetVersionInfo ................................................................... 35
5.2.8
CanSM_CheckBaudrate .................................................................. 36
5.2.9
CanSM_ChangeBaudrate ................................................................ 36
5.2.10
CanSM_SetBaudrate ....................................................................... 37
5.2.11
CanSM_StartWakeupSources .......................................................... 38
5.2.12
CanSM_StopWakeupSources .......................................................... 38
5.2.13
CanSM_CheckBorLevel ................................................................... 39
5.2.14
CanSM_SetEcuPassive ................................................................... 39
5.2.15
CanSM_PreventBusSleepAtStartUp ................................................ 40
5.2.16
CanSM_RamCheckStatus ............................................................... 40
5.2.17
CanSM_RamCheckEnableMailbox .................................................. 41
5.3
Services Used by CanSM ................................................................................ 41
5.4
Callback Functions ........................................................................................... 42
5.4.1
CanSM_ControllerBusOff ................................................................. 42
5.4.2
CanSM_ControllerModeIndication .................................................... 43
5.4.3
CanSM_TransceiverModeIndication ................................................. 43
5.4.4
CanSM_ClearTrcvWufFlagIndication ............................................... 44
5.4.5
CanSM_CheckTransceiverWakeFlagIndication ................................ 44
5.4.6
CanSM_ConfirmPnAvailability.......................................................... 45
5.4.7
CanSM_TxTimeoutException ........................................................... 45
5.4.8
CanSM_RamCheckCorruptMailbox ................................................. 46
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5.4.9
CanSM_RamCheckCorruptController .............................................. 46
5.5
Callout Functions ............................................................................................. 47
5.5.1
Appl_CanSM_RamCheckStart ......................................................... 47
5.5.2
Appl_CanSM_RamCheckCorruptController ..................................... 47
5.5.3
Appl_CanSM_RamCheckCorruptMailbox ........................................ 48
5.5.4
Appl_CanSM_RamCheckFinished ................................................... 48
6
AUTOSAR Standard Compliance............................................................................... 50
6.1
Deviations ........................................................................................................ 50
6.1.1
Communication mode requests are acceped if possible ................... 50
6.1.2
Mode Request Timeout is available as Runtime Error (DEM) ........... 50
6.2
Additions/ Extensions ....................................................................................... 50
6.2.1
API CanSM_InitMemory() ................................................................ 50
6.2.2
No Mode Notification During CanSM_Init ......................................... 50
6.2.3
Configuration Options ...................................................................... 50
6.2.4
Additional Bus-Off Recovery in State Silent...................................... 50
6.2.5
API CanSM_CheckBorLevel() .......................................................... 50
6.2.6
Partial Network Wake Up Filter ........................................................ 50
6.2.7
ECU Passive Mode .......................................................................... 50
6.2.8
PreventBusSleepAtStartUp .............................................................. 50
6.2.9
Post-Build Selectable (Identity Manager) ......................................... 51
6.2.10
APIs to Assist EcuM Wakeup Validation ........................................... 51
6.2.11
Swift or Large Tx Timeout Exception handling .................................. 51
6.2.12
Extended RAM Check ...................................................................... 51
6.2.13
Expanded Tx Timeout Exception Handling ....................................... 51
6.3
Limitations........................................................................................................ 51
6.3.1
Controllers ....................................................................................... 51
6.3.2
Configuration Class .......................................................................... 51
7
Glossary and Abbreviations ...................................................................................... 52
7.1
Glossary .......................................................................................................... 52
7.2
Abbreviations ................................................................................................... 52
8
Contact ........................................................................................................................ 53
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Illustration List
Figure 2-1
AUTOSAR architecture ............................................................................. 10
Figure 2-2
Interfaces to adjacent modules of the CanSM ........................................... 11
Figure 3-1
CanSM state machine .............................................................................. 14
Figure 3-2
Sub state transition to CANSM_FULL_COMMUNICATION ...................... 15
Figure 3-3
Sub state transition to CANSM_NO_COMMUNICATION .......................... 17
Figure 3-4
CanSM sub-state bus-off recovery ............................................................ 18
Figure 3-5
Sub state Partial Network transition to CANSM_NO_COMMUNICATION . 20
Tables
Table 1-1
Component history...................................................................................... 9
Table 3-1
Supported AUTOSAR standard conform features ..................................... 12
Table 3-2
Not supported AUTOSAR standard conform features ............................... 12
Table 3-3
Features provided beyond the AUTOSAR standard .................................. 13
Table 3-4
Service IDs ............................................................................................... 27
Table 3-5
Errors reported to DET ............................................................................. 27
Table 3-6
Errors reported to DEM ............................................................................. 28
Table 4-1
Static files ................................................................................................. 29
Table 4-2
Generated files ......................................................................................... 30
Table 5-1
Type definitions ......................................................................................... 32
Table 5-2
CanSM_InitMemory .................................................................................. 33
Table 5-3
CanSM_PreInit ......................................................................................... 33
Table 5-4
CanSM_Init ............................................................................................... 34
Table 5-5
CanSM_MainFunction .............................................................................. 34
Table 5-6
CanSM_RequestComMode ...................................................................... 35
Table 5-7
CanSM_GetCurrentComMode .................................................................. 35
Table 5-8
CanSM_GetVersionInfo ............................................................................ 36
Table 5-9
CanSM_CheckBaudrate ........................................................................... 36
Table 5-10
CanSM_ChangeBaudrate ......................................................................... 37
Table 5-11
CanSM_SetBaudrate ................................................................................ 37
Table 5-12
CanSM_StartWakeupSources .................................................................. 38
Table 5-13
CanSM_StopWakeupSources .................................................................. 39
Table 5-14
CanSM_CheckBorLevel ........................................................................... 39
Table 5-15
CanSM_SetEcuPassive ............................................................................ 40
Table 5-16
CanSM_PreventBusSleepAtStartUp ......................................................... 40
Table 5-17
CanSM_RamCheckStatus ........................................................................ 41
Table 5-18
CanSM_RamCheckEnableMailbox ........................................................... 41
Table 5-19
Services used by the CanSM .................................................................... 42
Table 5-20
CanSM_ControllerBusOff ......................................................................... 43
Table 5-21
CanSM_ControllerModeIndication ............................................................ 43
Table 5-22
CanSM_TransceiverModeIndication ......................................................... 44
Table 5-23
CanSM_ClearTrcvWufFlagIndication ........................................................ 44
Table 5-24
CanSM_CheckTransceiverWakeFlagIndication ........................................ 45
Table 5-25
CanSM_ConfirmPnAvailability .................................................................. 45
Table 5-26
CanSM_TxTimeoutException ................................................................... 46
Table 5-27
CanSM_RamCheckCorruptMailbox .......................................................... 46
Table 5-28
CanSM_RamCheckCorruptController ....................................................... 47
Table 5-29
Appl_CanSM_RamCheckStart ................................................................. 47
Table 5-30
Appl_CanSM_RamCheckCorruptController .............................................. 48
Table 5-31
Appl_CanSM_RamCheckCorruptMailbox ................................................. 48
Table 5-32
Appl_CanSM_RamCheckFinished ............................................................ 49
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Table 7-1
Glossary ................................................................................................... 52
Table 7-2
Abbreviations ............................................................................................ 52
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1 Component History
The component history gives an overview over the important milestones that are
supported in the different versions of the component.
Component Version New Features
2.0.0
Creation according to AUTOSAR 4.0.3
5.1.0
Extended RAM Check
Table 1-1 Component history
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2 Introduction
This document describes the functionality, API and configuration of the AUTOSAR BSW
module CanSM as specified in [1].
Supported AUTOSAR Release*:
4
Supported Configuration Variants:
pre-compile, Post-Build Selectable
Vendor ID:
CANSM_VENDOR_ID
30 decimal
(= Vector-Informatik,
according to HIS)
Module ID:
CANSM_MODULE_ID
140 decimal
(according to ref. [4])
* For the precise AUTOSAR Release 4.x please see the release specific documentation.
The CAN State Manager (CanSM) realizes a software layer between the Communication
Manager (ComM) and the CAN Interface (CanIf). The CanSM handles the startup and
shutdown of the communication of a CAN network. The CAN State Manager maps the
CAN State Manager states to the states of the ComM and causes the necessary actions to
change the CAN State Manager state to those requested by the ComM. The main function
of the CAN State Manager is called cyclically by the Schedule Manager (SchM).
2.1
Architecture Overview
The following figure shows where the CanSM is located in the AUTOSAR architecture.
Figure 2-1 AUTOSAR architecture
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The next figure shows the interfaces to adjacent modules of the CanSM. These interfaces
are described in chapter 5.
Figure 2-2 Interfaces to adjacent modules of the CanSM
Applications do not access the services of the BSW modules directly.
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3 Functional Description
3.1
Features
The features listed in the following tables cover the complete functionality specified for the
CanSM.
The AUTOSAR standard functionality is specified in [1], the corresponding features are
listed in the tables
> Table 3-1 Supported AUTOSAR standard conform features
> Table 3-2 Not supported AUTOSAR standard conform features
For further information of not supported features see also chapter 6.
Vector Informatik provides further CanSM functionality beyond the AUTOSAR standard.
The corresponding features are listed in the table
> Table 3-3 Features provided beyond the AUTOSAR standard
The following features specified in [1] are supported:
Supported AUTOSAR Standard Conform Features
Translation of network communication mode requests
Output of current network communication modes (Polling and Callback)
Control of peripherals (CAN Transceivers, CAN Controllers)
Control of PDU mode
Handle the network mode via a separate state machine per network
Bus error management: Bus-off recovery via a separate state machine per network
Change Baud Rate handling
Tx Timeout Exception handling
Error classification, detection and notification
Enable and disable development and production error detection
Table 3-1 Supported AUTOSAR standard conform features
The following features specified in [1] are not supported:
Category
Description
ASR
Version
Functional
Several controllers per network.
4.0.3
Config
Change networks and controllers via Post-build configuration.
4.0.3
Config
Configuration variants “link-time”.
4.0.3
Table 3-2 Not supported AUTOSAR standard conform features
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The following features are provided beyond the AUTOSAR standard:
Features Provided Beyond The AUTOSAR Standard
Deactivate the DEM at pre-compile time, like DET.
Changes of the communication mode are possible even during a pending mode indication.
Handling of bus-off events which occurs after CANSM_FULL_COMMUNNICATION has been left.
Interface to provide internal bus-off recovery level; CanSM_CheckBorLevel()
PduMode wake up filter in PN use case
Execute transition from SILENT to FULL within RequestComMode
ECU active/passive mode functionality
Prevent the bus sleep state of the CanIf, CanDrv and CanTrcv at CanSM initialization for the
given CAN network handle
MICROSAR Identity Manager using Post-Build Selectable
Extended RAM Check
Table 3-3 Features provided beyond the AUTOSAR standard
3.2
Initialization
Some embedded targets do not initialize RAM to zero during start-up. Therefore some
variables have to be initialized explicitly if they need a specific value before the
initialization function CanSM_Init is called. This is done by the function
CanSM_InitMemory. The function initializes the CanSM variables and sets the state to
‘not initialized’. The function has to be called before the initialization function CanSM_Init.
After that, the initialization CanSM_Init has to be triggered and the CAN State Manager
will set the internal used variables to their start values to ensure a deterministic behavior of
the state machines.
Info
The CanSM initializes the CAN channel into the state NO COMMUNICATION. This
means, the CAN modules (CanIf, CanDrv and CanTrcv) are set into the corresponding
state for NO COMMUNCIATION (bus sleep). During this transition, detected wake-up
reasons, inside the CAN modules, are cleared.
This leads to the behavior that wake-up events, which are triggered by the CAN bus,
cannot be detected and/or validated during the initialization phase.
If the detection/validation of the wake up information is necessary for the ECU then the
CanSM API CanSM_PreventBusSleepAtStartUp() can be used to prevent the bus
sleep mode at start up for the above listed CAN modules.
3.3
State Machine
The CanSM functionality cannot be used before the API function CanSM_Init has been
called. If the CanSM_Init function is executed successfully the CanSM starts the
transition to the state CANSM_NO_COMMUNNICATION.
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stm CANSM_BSM
CANSM_BSM_S_FULLCOM
T_NO_COM_MODE_REQUEST,
T_SILENT_COM_MODE_REQUEST
/E_FULL_TO_SILENT_COM
T_FULL_COM_MODE_REQUEST
/E_SILENT_TO_FULL_COM
/E_FULLCOM
CANSM_BSM_S_SILENTCOM
A
CANSM_BSM_S_PRE_FULLCOM
T_NO_COM_MODE_REQUEST
/E_PRE_NO_COM
T_NO_COM_MODE_REQUEST
T_FULL_COM_MODE_REQUEST
CANSM_BSM_S_PRE_NOCOM
T_FULL_COM_MODE_REQUEST
CanSM_Init
/E_NOCOM
PowerOn
/E_PRE_NO_COM
PowerOff
CANSM_BSM_S_NOT_INITIALIZED
CANSM_BSM_S_NOCOM
Figure 3-1 CanSM state machine
3.3.1
Mode Request Indication and Repetition
If the CanSM triggers the transceiver or the controller, the CanSM waits for the
corresponding indication that the requested mode is reached. If the function call returns
E_NOT_OK and the corresponding indication is missing, the CanSM repeats the request
in the next main cycle. The CanSM repeats a controller/transceiver mode request also if
the
correct
mode
indication
is
not
received
within
the
CanSMModeRequestRepetitionTime.
Each repetition of any of the CanIf API call is counted. If the amount exceeds the value
CanSMModeRequestRepetitionMax
the
CanSM
initiate
the
transition
to
CANSM_BSM_S_NOCOM. Also the Det (E_MODE_REQUEST_TIMEOUT) or Dem will be
informed. This error indication can be configured. The Dem is dominant if both are
enabled. The repetition counter is also reset if the desired final state is reached or
maximum repetition couter value is reached (T_REPEAT_MAX) and the according
transition is triggered.
3.3.2
Communication Mode Request Change (During Pending Mode Indication or
Running Bus-Off Recovery)
If the state machine reachs a sub state and a changed mode request is present, the state
machine changes immediately the “current direction” to reach the desired communication
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mode. The CanSM ensures that the controller and transceiver are set to the corresponding
mode. Therefore the CanSM performs always the whole sub-state machine, so if e.g. a
startup is skipped by a NoCom request the CanSM changes the controller mode, too, even
if it has not been changed and it is still STOPPED.
Exception:
COMM_SILENT_COMMUNICATION request can NOT be requested if
The transition (from SILENT or after initialization) to CANSM_NO_COMMUNNICATION has
been started
The CanSM is in state CANSM_SILENT_COMMUNNICATION
The CanSM is in state CANSM_NO_COMMUNNICATION
3.3.3
CANSM_NO_COMMUNICATION to CANSM_FULL_COMMUNICATION
stm CANSM_BSM_S_PRE_FULLCOM
CANSM_BSM_S_PRE_FULLCOM
S_TRCV_NORMAL
+ do / DO_SET_TRCV_MODE_NORMAL
EntryPoint
T_REPEAT_MAX
[G_TRCV_NORMAL_E_OK]
T_TRCV_NORMAL_TIMEOUT
S_TRCV_NORMAL_WAIT
T_ T
T _
R T
C R
V C
_ V
N _
O N
RO
MR
AM
L A
_I L_
N I
D N
I D
C I
A C
T A
E T
D ED
S_CC_STOPPED
T_REPEAT_MAX
+ do / DO_SET_CC_MODE_STOPPED
[G_CC_STOPPED_E_OK]
T_CC_STOPPED_TIMEOUT
S_CC_STOPPED_WAIT
T_ T
C _
C C
_ C
S _
T S
O T
P O
P P
E P
D E
_ID_
N I
D N
I D
C I
A C
T A
E T
D ED
ExitPoint
T_REPEAT_MAX
S_CC_STARTED
+ do / DO_SET_CC_MODE_STARTED
ExitPoint
To
[G_CC_STARTED_E_OK]
FULLCOM
T_CC_STARTED_TIMEOUT
T_CC_STARTED_INDICATED
S_CC_STARTED_WAIT
T_CC_STARTED_INDICATED
Figure 3-2 Sub state transition to CANSM_FULL_COMMUNICATION
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In this state there is no communication on the CAN channel. When full communication is
requested the CanSM sets the transceiver mode to NORMAL and the controller mode to
STARTED (via STOPPED). In case of a successful transition the CanSM sets the Rx and Tx
Pdu Mode to ONLINE, informs the ComM (see [6]) and the BswM (see [7]) about the new
communication state and starts the “ensure timer”. If the CanSMBorTimeTxEnsured
lapse without a bus-off indication the CanSM informs the Dem that no bus-off is present.
Alternatively to the “ensure timer” the CanSM may poll the TxState to decide that no bus-
off is present if CanSMBorTxConfirmationPolling is activated.
Caution
This chapter describes only the normal shutdown. In case a partial network is activated
the CanSM performs an alternative sequence which is described in chapter 3.9.
3.3.4
CANSM_FULL_COMMUNICATION to CANSM_SILENT_COMMUNICATION
As long as full communication is requested the CanSM stays in this state, otherwise the
CanSM switches to silent mode and stops the Tx PDU mode. In case of a successful
transition
the
CanSM
notifies
the
ComM
and
BswM
about
the
CANSM_SILENT_COMMUNICATION communication state.
3.3.5
CANSM_SILENT_COMMUNICATION
The state represents the prepare bus sleep phase of the network. The node is still able to
receive CAN messages but does not transmit them.
3.3.6
CANSM_SILENT_COMMUNICATION to CANSM_FULL_COMMUNICATION
According to the requested communication mode the CanSM switches back to
CANSM_FULL_COMMUNNICATION, starts the Tx PDU mode and notifies the ComM and
BswM about the new communication state.
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3.3.7
Transition to CANSM_NO_COMMUNICATION
stm CANSM_BSM_DeinitPnNotSupported
CANSM_BSM_DeinitPnNotSupported
CANSM_BSM_DeinitPnNotSupportedProceed
S_CC_STOPPED
+ do / DO_SET_CC_MODE_STOPPED
EntryPoint
[CANSM_BSM_G_CC_STOPPED_E_OK]
T_REPEAT_MAX
T_CC_STOPPED_TIMEOUT
T_CC_STOPPED_INDICATED
S_CC_STOPPED_WAIT
T_CC_STOPPED_INDICATED
S_CC_SLEEP
+ do / DO_SET_CC_MODE_SLEEP
[G_CC_SLEEP_E_OK]
T_CC_SLEEP_INDICATED
T_CC_SLEEP_TIMEOUT
S_CC_SLEEP_WAIT
T_CC_SLEEP_INDICATED
S_TRCV_NORMAL
+ do / DO_SET_TRCV_MODE_NORMAL
[G_TRCV_NORMAL_E_OK]
T_TRCV_NORMAL_INDICATED
T_TRCV_NORMAL_TIMEOUT
S_TRCV_NORMAL_WAIT
T_TRCV_NORMAL_INDICATED
S_TRCV_STANDBY
+ do / DO_SET_TRCV_MODE_STANDBY
[G_TRCV_STANDBY_E_OK]
T_TRCV_STANDBY_INDICATED
CANSM_BSM_T_TRCV_STANDBY_TIMOUT
S_TRCV_STANDBY_WAIT
T_TRCV_STANDBY_INDICATED
ExitPoint
Figure 3-3 Sub state transition to CANSM_NO_COMMUNICATION
The CanSM informs the BswM about the communication CANSM_NO_COMMUNICATION
immediately if the transition shutdown process has been started. According to the
requested communication mode the CanSM switches to CANSM_NO_COMMUNICATION.
Then the CanSM sets the controller to SLEEP (via STOPPED) and the transceiver to
STANDBY (via NORMAL). In case of a successful transition the CanSM informs the ComM
about the new communication state (if this transition is executed in the call context of
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CanSM_Init the ComM and BswM functions are not called because these modules will
be initialized after the CanSM).
3.4
Bus-Off Recovery
stm CANSM_BSM_S_FULLCOM
CANSM_BSM_S_FULLCOM
S_TX_OFF
[G_TX_ON]
/E_TX_ON
S_BUS_OFF_CHECK,
T_RESTART_CC_INDICATED
S_NO_BUS_OFF
/E_TX_OFF
CANSM_BSM_S_RESTART_CC_WAIT
T_BUS_OFF
/E_BUS_OFF
T_RESTART_CC_TIMEOUT
[G_BUS_OFF_PASSIVE]
/E_BUS_OFF_PASSIVE
[G_RESTART_CC_E_OK]
S_RESTART_CC
EntryPoint
+ do / DO_SET_CC_MODE_STARTED
T_REPEAT_MAX
[ComModeRequest
NoCom or Silent]
ExitPoint
Figure 3-4 CanSM sub-state bus-off recovery
In case bus-off is indicated the CanSM informs the Dem (E_BUSOFF and
EVENT_STATUS_PREFAILED), the ComM (SILENT) and BswM (BUSOFF). In the next
step the CanSM restarts the controller to STARTED mode. If the according mode indication
is received the CanSM sets the Rx Pdu Mode to ONLINE and Tx Pdu Mode to OFFLINE
and starts the bus-off timer. If the CanSMBorTimeL1 (or CanSMBorTimeL2 if the bus-off
count is equal or greater than CanSMBorCounterL1ToL2) elapse CanSM reactivates the
Tx path of the channel again, informs the ComM (FULL) and BswM (FULL) and starts the
“ensure timer”. If the CanSMBorTimeTxEnsured timer has elapsed without a bus-off
indication the CanSM informs the Dem, otherwise the next bus-off recovery sequence is
started. The “ensure timer” can also substituted by polling the TxState if
CanSMBorTxConfirmationPolling is activated as mentioned above.
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Note
The indicated Dem event does not instantly lead to a DTC due to the EventStatus pre-
failed. The mechanism to qualify the event as failed has to be configured within the
DEM [3].
3.5
Main Function
The CanSM has one main function which has to be called cyclically by the SchM. The
main function triggers a state transition in case of a received mode indication or if a timer
elapses.
3.6
Communication Modes
The ComM collects the communication requests from the SWC and from the network.
Accordingly the ComM calculates the needed communication mode and requests this from
the CAN State Manager via the function CanSM_RequestComMode.
3.7
Communication Mode Polling
The ComM is informed about every mode change by the CAN State Manager via the
callback function ComM_BusSM_ModeIndication.
Additional the ComM may request the communication mode which is currently active by
calling the API function CanSM_GetCurrentComMode. The CAN State Manager will
deliver the communication mode to the pointer passed as a function parameter.
3.8
Bus-off Level Polling
The current bus-off level can be determinate by calling the API function
CanSM_CheckBorLevel. The CanSM will deliver the bus-off level (CANSM_BOR_NONE,
CANSM_BOR_LEVEL1 or CANSM_BOR_LEVEL2) to the pointer passed as a function
parameter.
3.9
Partial Networking
If Partial Networking for a CAN channel is activated the CAN transceiver can only be
woken up by a specified CAN Message. Also the Network Management will ignore NM
messages which do not belong to the Partial Network and the CanSM will perform an
alternative shutdown sequence.
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stm CANSM_BSM_DeinitPnSupported
CANSM_BSM_DeinitPnSupported
CANSM_BSM_DeinitPnSupportedProceed
S_PN_CLEAR_WUF
+ do / DO_CLEAR_TRCV_WUF
[G_PN_CLEAR_WUF_E_OK]
T_CLEAR_WUF_TIMEOUT
T_CLEAR_WUF_INDICATED
S_PN_CLEAR_WUF_WAIT
T_CLEAR_WUF_INDICATED
S_PN_CC_STOPPED
+ do / DO_SET_CC_MODE_STOPPED
T_CC_STOPPED_TIMEOUT
[G_CC_STOPPED_E_OK]
S_CC_STOPPED_WAIT
T_CC_STOPPED_INDICATED
T_CC_STOPPED_INDICATED
S_TRCV_NORMAL
+ do / DO_SET_TRCV_MODE_NORMAL
[G_TRCV_NORMAL_E_OK]
T_TRCV_NORMAL_TIMEOUT
T_TRCV_NORMAL_INDICATED
S_TRCV_NORMAL_WAIT
T_TRCV_NORMAL_INDICATED
S_TRCV_STANDBY
+ do / DO_SET_TRCV_MODE_STANDBY
T_TRCV_STANDBY_TIMOUT
[G_TRCV_STANDBY_E_OK]
S_TRCV_STANDBY_WAIT
T_TRCV_STANDBY_INDICATED
T_TRCV_STANDBY_INDICATED
S_CC_SLEEP
+ do / DO_SET_CC_MODE_SLEEP
T_CHECK_WFLAG_INDICATED
[G_CC_SLEEP_E_OK]
S_CC_SLEEP_WAIT
T_CC_SLEEP_INDICATED
CANSM_BSM_T_CC_SLEEP_TIMEOUT
T_CC_SLEEP_INDICATED
S_CHECK_WFLAG_IN_NOT_CC_SLEEP
S_CHECK_WFLAG_IN_CC_SLEEP
+ do / DO_CHECK_WFLAG
+ do / DO_CHECK_WFLAG
[G_CHECK_WFLAG_E_OK] [G_CHECK_WFLAG_E_OK]
T_CHECK_WFLAG_TIMEOUT
T_CHECK_WFLAG_TIMEOUT
S_CHECK_WUF_IN_CC_SLEEP_WAIT
S_CHECK_WUF_IN_NOT_CC_SLEEP_WAIT
T_CHECK_WFLAG_INDICATED
T_CHECK_WFLAG_INDICATED Junction
T_CHECK_WFLAG_INDICATED
T_REPEAT_MAX
EntryPoint
ExitPoint
Figure 3-5 Sub state Partial Network transition to CANSM_NO_COMMUNICATION
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If the feature has been enabled globally (at pre-compile time) and on the desired channel,
the CanSM first resets the current available wake-up information in the transceiver, before
the transceiver is set to STANDBY and the controller to SLEEP. If this is done, the CanSM
triggers the function CanIf_CheckTrcvWakeFlag to handle a wake-up which might have
occurred during the shutdown. If an API call does not deliver the expected reaction it will
called again as described in chapter 3.3, subchapter “Mode Request Indication and
Repetition”. But the absence of the controller STOPPED indication has an exceptional
nature and does not lead to a repetition. Instead of the repetition the
CheckTrcvWakeFlag will be triggered and the whole shutdown sequence will be
repeated from start after the CanSM_CheckTransceiverWakeFlagIndication has
been received.
3.10 Tx Timeout Exception
If the CanSM gets the CanSM_TxTimeoutException notification the CanSM performs
the transition to CANSM_NO_COMMUNICATION, except bus-off is active. In this case the
CanSM_TxTimeoutException notification will be ignored because it is quite likely a
“false report” due to the TxOffline phase and the communication will work again after that
and if not, the “Tx Timeout Exception” will be indicated by the CanNm again anyway.
If a “Tx Timeout Exception” handling is running any incoming communication mode
request will be postponed until CANSM_NO_COMMUNICATION has been reached. After that
the transition to CANSM_FULL_COMMUNICATION will be started if the last requested
communication
mode
was
COMM_FULL_COMMUNICATION
or
COMM_SILENT_COMMUNICATION.
In addition the CanSM provides an abbreviated recovery mechanism. If the feature
CanSMSwiftTxTimeoutRecovery is activated, only the conroller is set to STOPPED and back
to STARTED, instead of executing the entire shutdown and start up sequence. If it was not
successful to set the controller back to STARTED within the first try the CanSM indicates
COMM_SILENT_COMMUNICATION to the ComM and CANSM_BSWM_NO_COMMUNICATION to the BswM
and executes the stanard repetition mechanism to reach the needed controller mode.
3.11 Baud Rate Adaption
The adaption of the baud rate is started by calling the function CanSM_SetBaudrate (or
CanSM_ChangeBaudrate). A Baud Rate Change is only possible if the communication
state is COMM_FULL_COMMUNICATION and no bus-off is present (validated by “Tx ensured
time” or “Tx Confirmation”).
When the Baud Rate Change has been accepted the CanSM informs the BswM
(CHANGE_BAUDRATE), set the PDU mode to OFFLINE and the controller mode to
STOPPED. After the controller mode STOPPED is reached the CanSM informs the ComM
(NoCom) and lead the driver to set the new baud rate. Then the controller mode will be set
back to STARTED. After the controller mode STARTED is reached the CanSM set the PDU
mode to ONLINE.
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Note
The feature is intended to be used by the Dcm module.
Caution
The CanSM_ChangeBaudrate API is deprecated. So it is recommended to use the
CanSM_SetBaudrate API instead.
CanSM_SetBaudrate API and CanSM_ChangeBaudrate API cannot be
provided simultaneously.
If CanSM_ChangeBaudrate API is used nevertheless the desired baud rate has to be
validated via the function CanSM_CheckBaudrate before the function
CanSM_ChangeBaudrate will be called.
3.12 ECU Passive Mode
After the initialization of the CanSM the ECU mode is active per default. The ECU mode is
the same for each CAN channel.
The CanSM can be instructed to handle the passive or active mode, globally for all
channels via the API CanSM_SetEcuPassive(). The mode stays until a new request is
issued or a (re-)initialization of the CanSM happens.
In passive mode the CanSM sets the Tx PDU mode to OFFLINE_ACTIVE instead to
ONLINE (3.3.6, 3.3.3). If the ECU mode switches from passive to active the CanSM
switches the Tx PDU modes which are in OFFLINE_ACTIVE to ONLINE.
During a bus-off recovery phase the modification of the Tx PDU mode is postponed until
the bus-off recovery phase has been finished (Ch 3.4, Figure 3-4 E_TX_ON).
3.13 PreventBusSleepAtStartUp
If
the
feature
is
enabled
within
the
configuration
tool
the
function
CanSM_PreventBusSleepAtStartUp() becomes available. The function, if called before the
initialization, causes the CanSM to skip the initial transition of the according CAN channel.
Usually the CanSM sets the controller to sleep mode and the transceiver to standby during
the initialization.
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Note
The CanSM expects that a FULL_COMMUNICATION request follows after the function
has been used and so the CanSM performs no further actions.
Caution
If CanSM_PreventBusSleepAtStartUp() is used the CanDrv and CanTrcv stay in their
initial state and so usually no CAN wake-ups are possible.
3.14 BusOff Recovery Notifications Extension of Tx Offline Duration
The feature gives the application the possibility to react on an active bus-off. If the feature
is activated the CanSM triggers the “bus-off begin indication function” immediately, each
time the CanSM is informed about a bus-off. The second parameter of the function can be
used to extend the “bus-off recovery time” (TxOffline) (from 0 up to 153ms which is the
maximum value needed by the J1939Nm).
When the CanSM enters the state S_BUS_OFF_CHECK, the Tx path is restarted. The
communication should work again and the CanSM informs the application via the “bus-off
end indication function”. The according channel can be identified via the network handle,
which is the first parameter of both functions.
The name of the indication functions can be set within the configuration tool. If the
indication function is not needed delete the function name (empty string) or delete the
parameter. Both functions can be (de)activated separately.
If J1939Nm is used, both the begin (J1939Nm_GetBusOffDelay) and end
(J1939Nm_BusOffEnd) indications are required.
3.15 Wake-up Validation Assistance
3.16 Start/Stop Wake-up Sources
With the new APIs (5.2.11, 5.2.12) the CanSM can be used, to start and stop the wake-up
sources, to enable the wake-up validation. Thus it can be avoided that the EcuM callout
starts the wake-up sources while the CanSM performs the transition to no communication
or the EcuM callout stops the wake-up sources while the CanSM performs the transition to
full communication.
3.16.1 Normal Behavior
Usually the CanSM is informed about the start of the wake-up validation sequence (via
5.2.11) within the state CANSM_NO_COMMUNICATION. In this case the CanSM sets the
CAN controller to STARTED and the CAN transceiver to NORMAL. If the validation is
successful it will be finished by a full communication request, then the Pdu mode is set to
ONLINE and the ComM and the BswM are notified with the corresponding full
communication indication.
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The validation is also finished if the wake-up has not been determined as valid within the
specified validation time. Then the CanSM is informed by the according API (5.2.12) and
the CanSM switches the controller back to SLEEP and the CAN transceiver to STANDBY.
If a validation sequence is started while the CanSM performs a transition to
CANSM_NO_COMMUNICATION, the current transition to CANSM_NO_COMMUNICATION will
be canceled.
3.16.2 Usage
To use the wake-up validation assistance of the CanSM, remove the “set controller mode”
and “set transceiver mode” functions from the EcuM wake-up sources callouts, call
CanSM_StartWakeupSources
instead
within
the
EcuM
callout
EcuM_StartWakeupSources and the CanSM_StopWakeupSources within the EcuM
callout EcuM_StopWakeupSources. Pay also attention to 4.2.
3.16.3 Exceptional Behavior
The change of the CAN HW mode could be disturbed and is not possible within the HW
loop timeout. Especially the change of the controller mode may fail due to message
reception, dominant voltage level or electromagnetic interference.
If any transceiver or controller mode change returns E_NOT_OK any further actions will be
omitted and the CanSM will return E_NOT_OK too; except if the set controller mode to
SLEEP is answered with E_NOT_OK. In this case CanSM triggers a new wake-up by the
EcuM, which will start a new wake-up validation sequence. So no further exceptional
actions are necessary and the CanSM StopWakeupSources returns E_OK.
In case the CanSM returns an E_NOT_OK the CanTrcv/CanDrv are in “undefined” state so
it is most likely not possible to react on any event on the CAN bus respectively no Rx, no
Tx or no wake-up is possible which can lead to the effects described in the following
chapter.
3.16.4 Potential Effect
3.16.4.1 Start of the Wakeup Sources Fail
Because of the disturbance during the mode change the CAN HW (controller and/or
transceiver) might be in an undefined state and is probably not able to react on incoming
messages. Messages on the bus are lost, until a new wake-up is possible, after the
validation timeout elapses and a successful call of StopWakeupSources.
3.16.4.2 Stop of the Wakeup Sources Fail
Because of the disturbance during the mode change the CAN HW (controller and/or
transceiver) might be in an undefined state. Probably the CAN wake-up will not work and
the ECU is not able to react on Rx messages on the affected CAN bus.
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Caution
The EcuM may perform a state change to stop/sleep in the same
EcuM_MainFunction() cycle where EcuM_StopWakeupSources() is called. So it
is possible that the ECU stays in low power mode and cannot be woken up again
(internal/external wake-up or wake-up by CAN).
3.16.5 Countermeasures
> A short disturbance can probably be resolved by calling Start-/StopWakeupSources()
within the current call context again.
> As a second approach the return value of StartWakeupSources could be ignored. As a
result the validation time elapses, the wake-up sources are stopped and a new wake-
up interrupt triggers the validation again, if the CAN communication is still running. As
a drawback, the ECU cannot participate in the CAN communication during this period
and therefore is not recommended for time critical systems.
> Furthermore, the validation procedure can be bypassed altogether. Instead of calling
CanIf_CheckValidation(), the wake-up can be validated "manually" by calling
EcuM_ValidateWakeupEvent() directly. As a result, normal CAN communication is
started on the channel.
Note: This may also lead to a wake-up of other ECUs on the affected CAN channel,
due to the electromagnetic interference, because of inhibited wake-up validation.
> If the StopWakeupSources() fails the validation sequence could be restarted again
“manually” via EcuM_SetWakeupEvent() call. The ECU can react faster to a
potential running CAN communication, under the assumption that the
StartWakeupSources() will be executed successfully. Alternatively it is possible to
initiate an ECU reset. The whole CAN stack becomes reinitialized by the BSW
modules from scratch.
Note
The appropriate solution depends highly on the type of the ECU and on the
requirements which have to be fulfilled by the ECU.
Caution
If any one of the functions CanSM_StartWakeupSources() 5.2.11 or
CanSM_StopWakeupSources 5.2.12 returns a failure (i.e. returns E_NOT_OK) the
application has to perform an ECU dependent error handling.
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Note
Wakeup validation does not work with asynchronous hardware e.g. partial network
transceiver.
3.17 Error Handling
3.17.1 Development Error Reporting
By default, development errors are reported to the DET using the service
Det_ReportError() as specified in [2], if development error reporting is enabled (i.e.
pre-compile parameter CANSM_DEV_ERROR_DETECT == STD_ON).
If another module is used for development error reporting, the function prototype for
reporting the error can be configured by the integrator, but must have the same signature
as the service Det_ReportError(). The redirection of the function name has to be done
via “User Config File”.
The reported CanSM ID is 140.
The reported service IDs identify the services which are described in 5.2. The following
table presents the service IDs and the related services:
Service ID Service
0x00
CanSM_Init
0x01
CanSM_GetVersionInfo
0x02
CanSM_RequestComMode
0x03
CanSM_GetCurrentComMode
0x04
CanSM_ControllerBusOff
0x05
CanSM_MainFunction
0x06
CanSM_ConfirmPnAvailability
0x07
CanSM_ControllerModeIndication
0x08
CanSM_ClearTrcvWufFlagIndication
0x09
CanSM_TransceiverModeIndication
0x0A
CanSM_CheckTransceiverWakeFlagIndication
0x0B
CanSM_TxTimeoutException
0x0C
CanSM_CheckBaudrate
0x0E
CanSM_ChangeBaudrate
0x0D
CanSM_SetBaudrate
0x0F
CanSM_CheckBorLevel
0x40
CanSM_PreventBusSleepAtStartUp
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Service ID Service
0x20u
CanSM_StartWakeupSources
0x21u
CanSM_StopWakeupSources
Table 3-4 Service IDs
The errors reported to DET are described in the following table:
Error Code
Description
0x01 CANSM_E_UNINIT
API service used without having called
the initialization function.
0x02 CANSM_E_PARAM_POINTER
API service called with invalid pointer in
parameter list
0x03 CANSM_E_INVALID_NETWORK_HANDLE API service called with wrong network
handle parameter, which is not
configured in the CanSM configuration.
0x04 CANSM_E_PARAM_CONTROLLER
API service called with wrong controller
index.
0x05 CANSM_E_PARAM_TRANSCEIVER
API
service
called
with
wrong
transceiver index.
0x06 CANSM_E_BUSOFF_RECOVERY_ACTIVE API network mode request called during
not finished bus-off recovery
0x07 CANSM_E_WAIT_MODE_INDICATION
API network mode request called during
pending indication
0x08 CANSM_E_INVALID_COMM_REQUEST
API network mode request called with
invalid communication mode request
e.g. SILENT requested in state NoCom.
0x09 CANSM_E_PARAM_INVALID_BAUDRATE API change baud rate called with invalid
baud rate i.e. the requested baud rate is
not equal to the remembered, valid
baud
rate
of
the
last
CanSM_CheckBaudrate call.
0x0A CANSM_E_MODE_REQUEST_TIMEOUT
API set transceiver/controller mode
request for a network failed more often
as allowed by configuration.
0x0B CANSM_E_INITIALIZED
API service used after the initialization
function.
Table 3-5 Errors reported to DET
3.17.2 Production Code Error Reporting
By default, production code related errors are reported to the DEM using the service
Dem_ReportErrorStatus() as specified in [3], if the according production error of the
CAN channel is configured.
If another module is used for production code error reporting, the function prototype for
reporting the error can be configured by the integrator, but must have the same signature
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as the service Dem_ReportErrorStatus(). The redirection of the function name has to
be done via “User Config File”.
The errors reported to DEM are described in the following table:
Error Code
Description
CANSM_E_BUS_OFF
The error code ist used to inform the Dem about the
bus-off handling.
CANSM_E_MODE_REQUEST_TIMEOUT The CanIf API calls has been triggered more often than
configured without getting the supposed mode
indication callbacks.
The DEM indication will substitute the DET.
Table 3-6 Errors reported to DEM
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4 Integration
This chapter gives necessary information for the integration of the MICROSAR CanSM
into an application environment of an ECU.
4.1
Scope of Delivery
The delivery of the CanSM contains the files which are described in the chapters 4.1.1 and
4.1.2:
4.1.1
Static Files
File Name
Source
Object
Description
Code
Code
Delivery Delivery
CanSM.c
This is the source file of the CanSM. It contains the
implementation of the main functionality (not available
if libraries are delivered).
CanSM.h
This is the main header file of the CAN State Manager
which provides the “defines”, function prototypes and
types of the CAN State Manager.
CanSM_BswM.h
This header exports the
CanSM_BswMCurrentStateType, which is dedicated to
the BswM module.
CanSM_Cbk.h
This is the callback header file that declares the
notification functions which inform the CanSM about
the transceiver or controller changes.
CanSM_ComM.h
This is a header file of the CAN State Manager which
is the specific interface for the ComM to the services of
the CAN State Manager.
CanSM_Dcm.h
This header exports the Set/Check/ChangeBaudrate
interfaces, which are dedicated to the Dcm module.
CanSM_EcuM.h
This header exports the Init/InitMemory interfaces,
which are used to (pre)initialize the CAN state
manager.
CanSM_TxTime
The header provide the callback function
outException.h
CanSM_TxTimeoutException as optional interface (if
PN is active) to the CanNm.
Table 4-1 Static files
4.1.2
Dynamic Files
The dynamic files are generated by the configuration tool DaVinci Configurator.
File Name
Description
CanSM_Cfg.h
Configuration header file which is generated. It contains pre-compile switches,
which enable/disable features, type definitions and constant values.
CanSM_Lcfg.c
Configuration source file. It contains configuration parameter which may be
changed at link time.
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File Name
Description
CanSM_PBcfg.c Configuration source file. It contains for example timer variable values or
channel configuration parameter. It contains configuration parameter which
may be changed after link time.
Table 4-2 Generated files
4.2
Critical Sections
Critical sections are handled by the BSW Scheduler. The intention of the following critical
sections is to block the interrupt of CanSM functions (with a higher priority).
> The CANSM_EXCLUSIVE_AREA_1 has to be used if it is possible that the function
CanSM_MainFunction() may be interrupted by any of the functions
> CanSM_RequestComMode()
> CanSM_ControllerBusOff()
> CanSM_TxTimeoutException()
> CanSM_SetEcuPassive()
> CanSM_StopWakeupSources()
> CanSM_StartWakeupSources().
> The CANSM_EXCLUSIVE_AREA_2 has to be used if it is possible that the function
CanSM_RequestComMode() may be interrupted by any of the functions
> CanSM_MainFunction()
> CanSM_ControllerModeIndication()
> CanSM_TransceiverModeIndication()
> CanSM_ClearTrcvWufFlagIndication()
> CanSM_CheckTransceiverWakeFlagIndication()
> CanSM_TxTimeoutException()
> CanSM_SetEcuPassive()
> CanSM_StopWakeupSources()
> CanSM_StartWakeupSources().
> The CANSM_EXCLUSIVE_AREA_3 has to be used if it is possible that the function
CanSM_ControllerBusOff() may be interrupted by any of the functions
> CanSM_RequestComMode()
> CanSM_ControllerBusOff()
> CanSM_TxTimeoutException().
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The intention of the following critical sections is to avoid a change of the CAN controller or
transceiver mode during shutdown of the CAN communication when the CanSM performs
the transition to from Silent Communication to No Communication.
> The CANSM_EXCLUSIVE_AREA_4 has to be used if it is possible that one of functions
CanSM_MainFunction() or CanSM_RequestComMode() may be interrupted by a
CAN event.
1. By CAN Wake Up Interrupt
2. By CAN Wake Up Polling
3. By CAN Bus-Off (Can error)
> The CANSM_EXCLUSIVE_AREA_5 has to be used if it is possible that one of the
functions CanSM_SetEcuPassive() or CanSM_StartWakeupSources() or
CanSM_StopWakeupSources() may be interrupted by any of the functions
> CanSM_RequestComMode()
> CanSM_MainFunction().
> Or it is possible that the function CanSM_ControllerModeIndication() may be
interrupted by the function
> CanSM_SetEcuPassive().
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5 API Description
For an interfaces overview please see Figure 2-2.
5.1
Type Definitions
The types defined by the CanSM are described in this chapter.
Type Name
C-Type
Description
Value Range
CanSM_BswMCurre uint8
CAN specific
CANSM_BSWM_NO_COMMUNICATION
ntStateType
communication
CANSM_BSWM_SILENT_COMMUNICATION
modes / states
notified to the BswM CANSM_BSWM_FULL_COMMUNICATION
module.
CANSM_BSWM_BUS_OFF
CANSM_BSWM_CHANGE_BAUDRATE
Pointer to the
CanSM_Channel
structure which
pointer contains the
ConfigPtrType
configuration data
of a CAN channel.
Structure which
CanSM_Channel
struct
contains the
ConfigType
configuration data
of a CAN channel.
CanSM_ConfigT
Structure which
struct
contains the global
ype
configuration data.
Structure contains
CanSM_Channel
struct
the variable values
VarRecordType
of a specific CAN
channel.
CanSM_BorStat
uint8
Can specific bus-off CANSM_BOR_NONE
eType
level.
CANSM_BOR_LEVEL1
CANSM_BOR_LEVEL2
Table 5-1 Type definitions
5.2
Services Provided by CanSM
5.2.1
CanSM_InitMemory
Prototype
void CanSM_InitMemory( void )
Parameter
-
-
Return code
-
-
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Functional Description
This function initializes the CanSM memory and sets the variable CanSM_IsInitialized to FALSE
Particularities and Limitations
Service ID: see table 'Service IDs'
Called once at start-up before the initialization function.
Expected Caller Context
Function is called once before CanSM_Init
Table 5-2 CanSM_InitMemory
5.2.2
CanSM_PreInit
Prototype
void CanSM_PreInit (const CanSM_ConfigType *const ConfigPtr)
Parameter
ConfigPtr [in]
Pointer to configuration structure
Return code
void
none
Functional Description
Initializes the configuration data component.
Particularities and Limitations
CanSM_InitMemory has been called if CANSM_PREVENT_BUSSLEEP_AT_STARTUP is activated unless
CanSM_EnableSetBusSleep[] is initialized by start up code.
The API is only needed in case of extended RAM check. Otherwise use CanSM_Init without
CanSM_PreInit.
Configuration Variant(s): CANSM_EXTENDED_RAM_CHECK
Call context
> TASK
> This function is Reentrant
Table 5-3 CanSM_PreInit
5.2.3
CanSM_Init
Prototype
void CanSM_Init( const CanSM_ConfigType* const ConfigPtr )
Parameter
ConfigPtr
Pointer to the configuration structure that shall be used for the post-build
parameters.
Return code
-
-
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Functional Description
Service for CAN State Manager initialization.
Particularities and Limitations
Service ID: see table 'Service IDs'
Non Reentrant
Expected Caller Context
Called once after startup
Table 5-4
CanSM_Init
5.2.4
CanSM_MainFunction
Prototype
void CanSM_MainFunction( void )
Parameter
-
-
Return code
-
-
Functional Description
The main function of the CanSM executes asynchron transitions of each network, which is configured for
the CanSM.
Particularities and Limitations
Service ID: see table 'Service IDs'
CanSM has to be initialized. Function has to be called cyclically. The cycle time is set in the
configuration tool.
Non Reentrant
Expected Caller Context
Cyclic on task level
Table 5-5
CanSM_MainFunction
5.2.5
CanSM_RequestComMode
Prototype
Std_ReturnType CanSM_RequestComMode( NetworkHandleType NetworkHandle,
ComM_ModeType CanSM_RequestedComMMode )
Parameter
NetworkHandle
The communication network number belonging to the request.
CanSM_RequestedComMM New desired value of the communication mode.
ode
Return code
ReturnType
Returns whether function parameter are valid or not.
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Functional Description
The function stores the requested communication mode for the network handle and executes the
corresponding network mode state machine.
Particularities and Limitations
Service ID: see table 'Service IDs'
CanSM has to be initialized.
Reentrant for different CAN networks, not reentrant for the same CAN network
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-6
CanSM_RequestComMode
5.2.6
CanSM_GetCurrentComMode
Prototype
Std_ReturnType CanSM_GetCurrentComMode( NetworkHandleType
NetworkHandle, ComM_ModeType* CanSM_ComMModePtr )
Parameter
NetworkHandle
Index of the network channel.
CanSM_ComMModePtr
Pointer where the communication mode information is copied to.
Return code
ReturnType
Returns whether function parameter are valid or not.
Functional Description
This service delivers the current communication mode of a CAN network.
Particularities and Limitations
Service ID: see table 'Service IDs'
CanSM has to be initialized.
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-7
CanSM_GetCurrentComMode
5.2.7
CanSM_GetVersionInfo
Prototype
void CanSM_GetVersionInfo( Std_VersionInfoType * VersionInfo )
Parameter
VersionInfo
Pointer, where to store the version data of the CanSM.
Return code
-
-
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Functional Description
This service returns the version information of this module. The version information includes:
- Module Id
- Vendor Id
- Vendor specific version numbers (The versions are BCD-coded).
Particularities and Limitations
Service ID: see table 'Service IDs'
The function is only available if enabled at compile time (CANSM_VERSION_INFO_API =
STD_ON)
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-8
CanSM_GetVersionInfo
5.2.8
CanSM_CheckBaudrate
Prototype
Std_ReturnType CanSM_CheckBaudrate( NetworkHandleType
CanSM_NetworkHandle, uint16 CanSM_Baudrate )
Parameter
CanSM_NetworkHandle
The communication network number belonging to the request.
CanSM_Baudrate
New desired baud rate.
Return code
ReturnType
E_OK: Baudrate supported by all configured CAN controllers of the network
E_NOT_OK: Baudrate not supported / invalid network
Functional Description
This service check, if a certain baud rate is supported by the configured CAN controller of a CAN network.
Particularities and Limitations
Service ID: see table 'Service IDs'
CanSM has to be initialized.
Reentrant for different CAN networks, not reentrant for the same CAN network
Please note that this API is deprecated and is kept only for backward compatibility reasons
(Substituted by CanSM_SetBaudrate).
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-9
CanSM_CheckBaudrate
5.2.9
CanSM_ChangeBaudrate
Prototype
Std_ReturnType CanSM_ChangeBaudrate( NetworkHandleType
CanSM_NetworkHandle, uin16 CanSM_Baudrate )
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Parameter
CanSM_NetworkHandle
The communication network number belonging to the request.
CanSM_Baudrate
New desired baud rate.
Return code
ReturnType
Returns whether function parameter are valid or not.
Functional Description
This service starts a process to change the baud rate for the configured CAN controllers of a certain CAN
network
Particularities and Limitations
Service ID: see table 'Service IDs'
CanSM has to be initialized.
CanSM_CheckBaudrate has to be called first successfully.
Reentrant for different CAN networks, not reentrant for the same CAN network
Please note that this API is deprecated and is kept only for backward compatibility reasons
(Substituted by CanSM_SetBaudrate).
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-10 CanSM_ChangeBaudrate
5.2.10 CanSM_SetBaudrate
Prototype
Std_ReturnType CanSM_SetBaudrate( NetworkHandleType
CanSM_NetworkHandle, uin16 BaudRateConfigID )
Parameter
CanSM_NetworkHandle
The communication network number belonging to the request.
BaudRateConfigID
References a baud rate configuration by ID (see
CanControllerBaudRateConfigID)
Return code
ReturnType
E_OK: Service request accepted, setting of (new) baud rate started
E_NOT_OK: Service request not accepted
Functional Description
This service starts a process to change the baud rate for the configured CAN controller of a CAN network.
Particularities and Limitations
Service ID: see table 'Service IDs'
CanSM has to be initialized
Reentrant for different CAN networks, not reentrant for the same CAN network
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-11 CanSM_SetBaudrate
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5.2.11 CanSM_StartWakeupSources
Prototype
Std_ReturnType CanSM_StartWakeupSources( NetworkHandleType
CanSM_NetworkHandle )
Parameter
NetworkHandle
Network handle of the wake-up source which should be started
Return code
E_OK
The CanSM has set the CanTrcv and CanDrv in the required states
E_NOT_OK
It was not possible to set the CanTrcv or CanDrv to the required state to
perform the wake-up validation, e.g. because of dominant level on Rx pin. At
this point the CanTrcv or CanDrv are in an “undefined” state. The CanSM itself
does not execute any retry. The application has to perform an ECU dependent
error handling.
Functional Description
This function notifies the CanSM module that the EcuM has received a wake-up event which has to be
validated.
Particularities and Limitations
CanSM has to be initialized.
Reentrant for different CAN networks
Transceiver which work asynchronous must not be used (i.e. Partial network Trcv, SPI Trcv,
Trcv within SBC)
Expected Caller Context
Function can be called in task context.
Table 5-12 CanSM_StartWakeupSources
5.2.12 CanSM_StopWakeupSources
Prototype
Std_ReturnType CanSM_StopWakeupSources( NetworkHandleType
CanSM_NetworkHandle, EcuM_WakeupSourceType WakeupSource )
Parameter
NetworkHandle
The communication network number belonging to the request.
WakeupSource
The wake-up source handle of the CAN channel which should be stopped
Return code
E_OK
The CanSM has set the CanTrcv and CanDrv in the required states or started
a new wakeup.
E_NOT_OK
It was not possible to set the CanTrcv or CanDrv to the required state, e.g.
because of dominant level on Rx pin. At this point the CanTrcv or CanDrv are
in an “undefined” state. The CanSM itself does not execute any retry. The
application has to perform an ECU dependent error handling.
Functional Description
This function notifies the CanSM module that the wake-up has not been determined as valid within the
specified validation time
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Particularities and Limitations
CanSM has to be initialized.
Reentrant for different CAN networks
Transceiver which work asynchronous must not be used (i.e. Partial network Trcv, SPI Trcv,
Trcv within SBC)
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-13 CanSM_StopWakeupSources
5.2.13 CanSM_CheckBorLevel
Prototype
Std_ReturnType CanSM_CheckBorLevel( const NetworkHandleType
NetworkHandle, const CanSM_BorStateType* CanSM_BorStatePtr)
Parameter
NetworkHandle
Index of the network channel.
CanSM_BorStatePtr
Pointer to target variable, which shall be used for the output of the bus-off
recovery level.
Return code
ReturnType
E_OK: API request accepted
E_NOT_OK: API request rejected
Functional Description
This service delivers the current bus-off level of a CAN network.
Particularities and Limitations
Service ID: see table 'Service IDs'
CanSM has to be initialized.
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-14 CanSM_CheckBorLevel
5.2.14 CanSM_SetEcuPassive
Prototype
void CanSM_SetEcuPassive( boolean CanSM_EcuPassiveMode )
Parameter
CanSM_EcuPassiveMode Boolean parameter which switches the ECU mode between active and
passive mode
Return code
-
-
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Functional Description
The function stores the requested ECU mode until it’s modified by the next call of this function. In passive
mode the CanSM sets the Tx PDU mode to OFFLINE_ACTIVE instead to ONLINE.
Particularities and Limitations
CanSM has to be initialized.
Non Reentrant
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-15 CanSM_SetEcuPassive
5.2.15 CanSM_PreventBusSleepAtStartUp
Prototype
Std_ReturnType CanSM_PreventBusSleepAtStartUp( NetworkHandleType
CanSM_NetworkHandle )
Parameter
CanSM_NetworkHandle
communication network handle
Return code
Std_ReturnType
Returns whether the network handle is valid and if the function has been
called before or after the initialization.
Functional Description
The function can be used to prevent the bus sleep state of the CanIf, CanDrv and CanTrcv at start up for
the given CAN network handle.
The CanIf, CanDrv and CanTrcv leaves in the corresponding module initialization state.
Particularities and Limitations
Called at start-up before the CanSM initialization function
The function must not be used with PostBuildSelecabel configuarions
Expected Caller Context
Function has to be called before CanSM_Init
Table 5-16 CanSM_PreventBusSleepAtStartUp
5.2.16 CanSM_RamCheckStatus
Prototype
Std_ReturnType CanSM_RamCheckStatus (NetworkHandleType CanSM_NetworkHandle)
Parameter
CanSM_NetworkHandle
Network handle
[in]
Return code
Std_ReturnType
CANSM_APPL_RAMCHECK_ENABLE Everything is E_OK
CANSM_APPL_RAMCHECK_DISABLE Communication shall be disabled
CANSM_APPL_RAMCHECK_ENABLE_REPEAT Communication shall be
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enabled and the RAM check repeated
CANSM_APPL_RAMCHECK_DISABLE_REPEAT Communication shall be
disabled and the RAM check repeated
E_NOT_OK wrong Parameter
Functional Description
Reports the RAM check status to the ComM.
Particularities and Limitations
Reports the last RAM check status
Configuration Variant(s): CANSM_EXTENDED_RAM_CHECK
Call context
> ANY
> This function is Synchronous
> This function is Reentrant
Table 5-17 CanSM_RamCheckStatus
5.2.17 CanSM_RamCheckEnableMailbox
Prototype
void CanSM_RamCheckEnableMailbox (NetworkHandleType Network, Can_HwHandleType
MailBox)
Parameter
Network [in]
network handle
MailBox [in]
HW mail box identifier
Return code
void
none
Functional Description
Forwards enable mail box.
Particularities and Limitations
If a mail box shall be enabled the information from the application is passed through to the CanDrv via
CanIf.
Configuration Variant(s): CANSM_EXTENDED_RAM_CHECK
Call context
> ANY
> This function is Synchronous
> This function is Reentrant
Table 5-18 CanSM_RamCheckEnableMailbox
5.3
Services Used by CanSM
In the following table services provided by other components, which are used by the
CanSM are listed. For details about prototype and functionality refer to the documentation
of the providing component.
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Component
API
Application
Appl_CanSM_RamCheckCorruptController
Application
Appl_CanSM_RamCheckCorruptMailbox
Application
Appl_CanSM_RamCheckFinished
Application
Appl_CanSM_RamCheckStart
BswM
BswM_CanSM_CurrentState
CanIf
CanIf_SetControllerMode
CanIf
CanIf_SetTrcvMode
CanIf
CanIf_ChangeBaudrate
CanIf
CanIf_SetPduMode
CanIf
CanIf_CheckTrcvWakeFlag
CanIf
CanIf_ClearTrcvWufFlag
CanIf
CanIf_GetTxConfirmationState
CanIf
CanIf_RamCheckEnableController
CanIf
CanIf_RamCheckEnableMailbox
CanIf
CanIf_RamCheckExecute
CanNm
CanNm_ConfirmPnAvailability
DEM
Dem_ReportErrorStatus
DET
Det_ReportError
ComM
ComM_BusSM_ModeIndication
SchM
SchM_Enter_CanSM_CANSM_EXCLUSIVE_AREA_i
for i=1,2,3,4,5
SchM
SchM_Exit_CanSM_CANSM_EXCLUSIVE_AREA_i
for i=1,2,3,4,5
Table 5-19 Services used by the CanSM
5.4
Callback Functions
This chapter describes the callback functions that are implemented by the CanSM and can
be invoked by other modules. The prototypes of the callback functions are provided in the
header file CanSM_Cbk.h by the CanSM.
5.4.1
CanSM_ControllerBusOff
Prototype
void CanSM_ControllerBusOff( uint8 CanSM_ControllerId )
Parameter
CanSM_ControllerId
Index of the CAN controller, which detected a bus-off event
Return code
-
-
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Functional Description
The CanSM is notified about a bus-off event on a certain CAN controller with this callback function. The
CanSM uses this information to execute the bus-off recovery for the corresponding controller.
Particularities and Limitations
CanSM has to be initialized.
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-20 CanSM_ControllerBusOff
5.4.2
CanSM_ControllerModeIndication
Prototype
void CanSM_ControllerModeIndication(uint8 CanSM_ControllerId,
CanIf_ControllerModeType CanSM_ControllerMode )
Parameter
CanSM_ControllerId
Index of the CAN controller, which detected a bus-off event
CanSM_ControllerMode Notified CAN controller mode
Return code
-
-
Functional Description
This callback shall notify the CanSM module about a CAN controller mode change.
Particularities and Limitations
Service ID: see table 'Service IDs'
CanSM has to be initialized.
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-21 CanSM_ControllerModeIndication
5.4.3
CanSM_TransceiverModeIndication
Prototype
void CanSM_TransceiverModeIndication( uint8 CanSM_TransceiverId,
CanIf_TrcvModeType CanSM_TransceiverMode )
Parameter
CanSM_TransceiverId
Index of the CAN controller, which detected a bus-off event
CanSM_TransceiverMode Notified CAN transceiver mode
Return code
-
-
Functional Description
This callback shall notify the CanSM module about a CAN transceiver mode change.
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Particularities and Limitations
Service ID: see table 'Service IDs'
CanSM has to be initialized.
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-22 CanSM_TransceiverModeIndication
5.4.4
CanSM_ClearTrcvWufFlagIndication
Prototype
void CanSM_ClearTrcvWufFlagIndication ( uint8 CanSM_TransceiverId )
Parameter
CanSM_TransceiverId
The transceiver ID number belonging to the request.
Return code
-
-
Functional Description
This call-back function indicates the CanIf_ClearTrcvWufFlag API process end for the notified CAN
Transceiver.
Particularities and Limitations
Service ID: see table 'Service IDs'
CanSM has to be initialized.
Reentrant for different CAN transceivers
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-23 CanSM_ClearTrcvWufFlagIndication
5.4.5
CanSM_CheckTransceiverWakeFlagIndication
Prototype
void CanSM_CheckTransceiverWakeFlagIndication ( uint8
CanSM_TransceiverId )
Parameter
CanSM_TransceiverId
The transceiver ID number belonging to the request.
Return code
-
-
Functional Description
This call-back function indicates the CheckTransceiverWakeFlag API process end for the notified CAN
Transceiver.
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Particularities and Limitations
Service ID: see table 'Service IDs'
CanSM has to be initialized.
Reentrant for different CAN transceivers
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-24 CanSM_CheckTransceiverWakeFlagIndication
5.4.6
CanSM_ConfirmPnAvailability
Prototype
void CanSM_ConfirmPnAvailability ( uint8 CanSM_TransceiverId )
Parameter
CanSM_TransceiverId
The transceiver ID number belonging to the request.
Return code
-
-
Functional Description
This call-back function indicates that the transceiver is running in PN communication mode. In this case the
CanNm will be informed by calling CanNm_ConfirmPnAvailability.
Particularities and Limitations
Service ID: see table 'Service IDs'
CanSM has to be initialized.
Reentrant for different CAN transceivers
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-25 CanSM_ConfirmPnAvailability
5.4.7
CanSM_TxTimeoutException
Prototype
void CanSM_TxTimeoutException ( NetworkHandleType CanSM_NetworkHandle )
Parameter
CanSM_NetworkHandle
The communication network number belonging to the request.
Return code
-
-
Functional Description
This function notifies the CanSM module that the Com has detected a Tx timeout exception, which shall be
recovered by the CanSM module by a re-initialization of the CAN controller.
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Particularities and Limitations
Service ID: see table 'Service IDs'
CanSM has to be initialized.
Reentrant for different CAN networks
Expected Caller Context
Function can be called in task and interrupt context.
Table 5-26 CanSM_TxTimeoutException
5.4.8
CanSM_RamCheckCorruptMailbox
Prototype
void CanSM_RamCheckCorruptMailbox (uint8 CanSM_ControllerId, Can_HwHandleType
MailBox)
Parameter
CanSM_ControllerId [in]
CAN controller index
MailBox [in]
Mail box identifier
Return code
void
none
Functional Description
Handles the indication of a RAM check error.
Particularities and Limitations
Gets information about RAM check errors. Forwards the information to the application and evaluates HW
register failures
Configuration Variant(s): -
Call context
> ANY
> This function is Reentrant
Table 5-27 CanSM_RamCheckCorruptMailbox
5.4.9
CanSM_RamCheckCorruptController
Prototype
void CanSM_RamCheckCorruptController (uint8 CanSM_ControllerId)
Parameter
CanSM_ControllerId [in]
CAN controller index
Return code
void
none
Functional Description
Handles the indication of a RAM check error.
Particularities and Limitations
Gets information about RAM check errors. Forwards the information to the application and evaluates HW
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register failures
Configuration Variant(s): -
Call context
> ANY
> This function is Reentrant
Table 5-28 CanSM_RamCheckCorruptController
5.5
Callout Functions
5.5.1
Appl_CanSM_RamCheckStart
Prototype
void Appl_CanSM_RamCheckStart (NetworkHandleType CanSM_NetworkHandle)
Parameter
CanSM_NetworkHandle
network handle
[in]
Return code
void
none
Functional Description
Indicates the start of the RAM check.
Particularities and Limitations
Indicates the start of the RAM check.
Configuration Variant(s): CANSM_EXTENDED_RAM_CHECK
Call context
> ANY
> This function is Synchronous
> This function is Reentrant
Table 5-29 Appl_CanSM_RamCheckStart
5.5.2
Appl_CanSM_RamCheckCorruptController
Prototype
void Appl_CanSM_RamCheckCorruptController (NetworkHandleType
CanSM_NetworkHandle)
Parameter
CanSM_NetworkHandle
network handle
[in]
Return code
void
none
Functional Description
Forwards register RAM failures.
Particularities and Limitations
If register RAM failures occurs the information from the CanDrv is passed through the Application.
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Configuration Variant(s): CANSM_EXTENDED_RAM_CHECK
Call context
> ANY
> This function is Synchronous
> This function is Reentrant
Table 5-30 Appl_CanSM_RamCheckCorruptController
5.5.3
Appl_CanSM_RamCheckCorruptMailbox
Prototype
void Appl_CanSM_RamCheckCorruptMailbox (NetworkHandleType CanSM_NetworkHandle,
Can_HwHandleType MailBox)
Parameter
CanSM_NetworkHandle
Network handle
[in]
Can_HwHandleType [in]
HW mail box identifier
Return code
void
none
Functional Description
Forwards message box RAM failures.
Particularities and Limitations
If a message box RAM failure occurs the information from the CanDrv is passed through the Application.
Configuration Variant(s): CANSM_EXTENDED_RAM_CHECK
Call context
> ANY
> This function is Synchronous
> This function is Reentrant
Table 5-31 Appl_CanSM_RamCheckCorruptMailbox
5.5.4
Appl_CanSM_RamCheckFinished
Prototype
Std_ReturnType Appl_CanSM_RamCheckFinished (NetworkHandleType
CanSM_NetworkHandle)
Parameter
CanSM_NetworkHandle
Network handle
[in]
Return code
Std_ReturnType
CANSM_APPL_RAMCHECK_ENABLE Everything is E_OK
CANSM_APPL_RAMCHECK_DISABLE Communication shall be disabled
CANSM_APPL_RAMCHECK_ENABLE_REPEAT Communication shall be
enabled and the RAM check repeated
CANSM_APPL_RAMCHECK_DISABLE_REPEAT Communication shall be
disabled and the RAM check repeated
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Functional Description
Indicates the end of the RAM check.
Particularities and Limitations
The CanDrv has finished the extended RAM check. All potential errors have been reported. The Application
has to specify further actions via return value.
Configuration Variant(s): CANSM_EXTENDED_RAM_CHECK
Call context
> ANY
> This function is Synchronous
> This function is Reentrant
Table 5-32 Appl_CanSM_RamCheckFinished
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6 AUTOSAR Standard Compliance
6.1
Deviations
6.1.1
Communication mode requests are acceped if possible
The module accepts the communication mode requests even if there is a pending mode
indication. E.g. the CanSM is in state S_CC_STARTED_WAIT (3.3.3) and gets a
NO_COMMUNICATION request the deinitialization (3.3.7) becomes started.
Det_ReportError with the ErrorId parameter CANSM_E_WAIT_MODE_INDICATION is not
used.
6.1.2
Mode Request Timeout is available as Runtime Error (DEM)
The Det error CANSM_E_MODE_REQUEST_TIMEOUT can be substituted by a Dem Error.
6.2
Additions/ Extensions
6.2.1
API CanSM_InitMemory()
This service function was added to be called at “Power On” or after reset to set the global
CanSM state. Afterwards the CanSM can be initialized correctly.
6.2.2
No Mode Notification During CanSM_Init
The ComM_BusSM_ModeIndication and BswM_CanSM_CurrentState are not called
during the transition from CANSM_INIT to CANSM_NO_COMMUNNICATION because the
ComM and BswM become initialized after the CanSM.
6.2.3
Configuration Options
It’s possible to (de)activate the DEM at pre-compile time, like DET.
6.2.4
Additional Bus-Off Recovery in State Silent
If bus-off occurs outside the state FULL_COMMUNICATION, the CanSM handles bus-off
and sets the CAN controller mode to STARTED once.
6.2.5
API CanSM_CheckBorLevel()
This service function delivers the current bus-off level of a CAN network.
6.2.6
Partial Network Wake Up Filter
For the partial network use case it has to be ensured that that the first message on the bus
is a wake up message. Therefore the CanSM triggers the PDU Mode
CANIF_SET_ONLINE_WAKF instead CANIF_SET_ONLINE. The CanSM feature is automatically
active if the feature is active in the CanIf.
6.2.7
ECU Passive Mode
The passive mode deactivates the Tx part during full communication. The ECU listens
“passively” on all CAN busses.
6.2.8
PreventBusSleepAtStartUp
The additional API CanSM_PreventBusSleepAtStartUp() allows to skip the initial transition
for the selected channel(s).
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6.2.9
Post-Build Selectable (Identity Manager)
The code generator and the static code supports post build selectable configuration.
6.2.10 APIs to Assist EcuM Wakeup Validation
The APIs can be used to ensure that the CAN HW is started/online during running wakeup
Validation (chapters 3.15, 3.17.1, 4.2, 5.2.11, 5.2.12).
6.2.11 Swift or Large Tx Timeout Exception handling
The CanSM provides two different versions of Tx Timeout Exception handling. The desired
one can be configured. The new swift version sets the controller to stopped and back to
started instead executing the whole shut down sequence to NoCom.
6.2.12 Extended RAM Check
The CanSM triggers the DrvCan to execute CanSelfDiag (Extended RAM Check).
6.2.13 Expanded Tx Timeout Exception Handling
The CanSM provides the option to configure a callout function which is called at the end of
the timeout exception handling. If a valid function name is configured the CanSM activates
the "expanded" time out exception handling. The "expanded" time out exception handling
is equal to the CanSMSwiftTxTimeoutRecovery followed by the configured end indication.
In addition the CanSM executes the handling also if the Tx timeout exception is indicated
in the states "SILENTCOM" or "BUS_OFF_CHECK".
6.3
Limitations
6.3.1
Controllers
The CanSM supports only one controller per channel.
6.3.2
Configuration Class
Only VARIANT-PRE-COMPILE and POST-BUILD-SELECTABLE is supported.
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7 Glossary and Abbreviations
7.1
Glossary
Term
Description
DaVinci Configurator Generation tool for MICROSAR components
Table 7-1 Glossary
7.2
Abbreviations
Abbreviation
Description
API
Application Programming Interface
AUTOSAR
Automotive Open System Architecture
BSW
Basis Software
BswM
Basic Software Mode Manager
CAN
Controller Area Network
CanDrv
CAN Driver
CanIf
CAN Interface
CanNm
CAN Network Management
CanSM
CAN State Manager
CanTrcv
CAN Transceiver
Cbk
Call-back / call-out notification (functions)
Cfg
Configuration
ComM
Communication Manager
DEM, Dem
Diagnostic Event Manager
DET, Det
Development Error Tracer
DTC
Diagnostic Trouble Code
ECU
Electronic Control Unit
EcuM
ECU State Manager
HIS
Hersteller Initiative Software
MICROSAR
Microcontroller Open System Architecture (the Vector AUTOSAR
solution)
PDU
Protocol Data Unit
PN
Partial Networking
RAM
Random Access Memory
SBC
System Basis Chip
SchM
BSW Scheduler
SPI
Serial Peripheral Interface
SWC
Software Component
Table 7-2 Abbreviations
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Technical Reference MICROSAR CAN State Manager
8 Contact
Visit our website for more information on
> News
> Products
> Demo software
> Support
> Training data
> Addresses
www.vector.com
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Document Outline
- 1 Component History
- 2 Introduction
- 3 Functional Description
- 3.1 Features
- 3.2 Initialization
- 3.3 State Machine
- 3.3.1 Mode Request Indication and Repetition
- 3.3.2 Communication Mode Request Change (During Pending Mode Indication or Running Bus-Off Recovery)
- 3.3.3 CANSM_NO_COMMUNICATION to CANSM_FULL_COMMUNICATION
- 3.3.4 CANSM_FULL_COMMUNICATION to CANSM_SILENT_COMMUNICATION
- 3.3.5 CANSM_SILENT_COMMUNICATION
- 3.3.6 CANSM_SILENT_COMMUNICATION to CANSM_FULL_COMMUNICATION
- 3.3.7 Transition to CANSM_NO_COMMUNICATION
- 3.4 Bus-Off Recovery
- 3.5 Main Function
- 3.6 Communication Modes
- 3.7 Communication Mode Polling
- 3.8 Bus-off Level Polling
- 3.9 Partial Networking
- 3.10 Tx Timeout Exception
- 3.11 Baud Rate Adaption
- 3.12 ECU Passive Mode
- 3.13 PreventBusSleepAtStartUp
- 3.14 BusOff Recovery Notifications Extension of Tx Offline Duration
- 3.15 Wake-up Validation Assistance
- 3.16 Start/Stop Wake-up Sources
- 3.17 Error Handling
- 4 Integration
- 5 API Description
- 5.1 Type Definitions
- 5.2 Services Provided by CanSM
- 5.2.1 CanSM_InitMemory
- 5.2.2 CanSM_PreInit
- 5.2.3 CanSM_Init
- 5.2.4 CanSM_MainFunction
- 5.2.5 CanSM_RequestComMode
- 5.2.6 CanSM_GetCurrentComMode
- 5.2.7 CanSM_GetVersionInfo
- 5.2.8 CanSM_CheckBaudrate
- 5.2.9 CanSM_ChangeBaudrate
- 5.2.10 CanSM_SetBaudrate
- 5.2.11 CanSM_StartWakeupSources
- 5.2.12 CanSM_StopWakeupSources
- 5.2.13 CanSM_CheckBorLevel
- 5.2.14 CanSM_SetEcuPassive
- 5.2.15 CanSM_PreventBusSleepAtStartUp
- 5.2.16 CanSM_RamCheckStatus
- 5.2.17 CanSM_RamCheckEnableMailbox
- 5.3 Services Used by CanSM
- 5.4 Callback Functions
- 5.4.1 CanSM_ControllerBusOff
- 5.4.2 CanSM_ControllerModeIndication
- 5.4.3 CanSM_TransceiverModeIndication
- 5.4.4 CanSM_ClearTrcvWufFlagIndication
- 5.4.5 CanSM_CheckTransceiverWakeFlagIndication
- 5.4.6 CanSM_ConfirmPnAvailability
- 5.4.7 CanSM_TxTimeoutException
- 5.4.8 CanSM_RamCheckCorruptMailbox
- 5.4.9 CanSM_RamCheckCorruptController
- 5.5 Callout Functions
- 6 AUTOSAR Standard Compliance
- 6.1 Deviations
- 6.2 Additions/ Extensions
- 6.2.1 API CanSM_InitMemory()
- 6.2.2 No Mode Notification During CanSM_Init
- 6.2.3 Configuration Options
- 6.2.4 Additional Bus-Off Recovery in State Silent
- 6.2.5 API CanSM_CheckBorLevel()
- 6.2.6 Partial Network Wake Up Filter
- 6.2.7 ECU Passive Mode
- 6.2.8 PreventBusSleepAtStartUp
- 6.2.9 Post-Build Selectable (Identity Manager)
- 6.2.10 APIs to Assist EcuM Wakeup Validation
- 6.2.11 Swift or Large Tx Timeout Exception handling
- 6.2.12 Extended RAM Check
- 6.2.13 Expanded Tx Timeout Exception Handling
- 6.3 Limitations
- 7 Glossary and Abbreviations
- 8 Contact