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Can.c
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Can.c
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#include"Can.h"
#include"UTILES.h"
#include"CanIf_Cbk.h"
#include "..\DET\Det.h"
/*Necessary Global variables*/
VAR(static uint8,Can_CODE) Can_HTHMutex = NumberOfHTH; //HTH Hardware Transmit handle
VAR(static Can_ControllerStateType,Can_CODE) Can_Controller0_Statues = CAN_CS_UNINIT; //Controller 1 State
VAR(static Can_ControllerStateType,Can_CODE) Can_Controller1_Statues = CAN_CS_UNINIT; //Controller 2 State
VAR( Can_ConfigType,Can_CODE) Configurations;
VAR(static BaudeRate_ConfigType,Can_CODE) BaudeRate_Config[Max_BaudeRateIDs]; //For the Post linking configuration
VAR(static uint16,Can_CODE)Can_InterruptsCounter=1;
VAR(extern uint32,Can_CODE) Can_StatuesReg; //use variable because this register is read sensitive
VAR(extern boolean,Can_CODE) Error_Flag; //Error Flag
//POLLING Flages
#if CanTxProcessing==POLLING
VAR(static boolean,Can_CODE)TX_Flag=FALSE ; //Successful transmission flag
#endif
#if CanRxProcessing==POLLING
VAR(static boolean,Can_CODE)RX_Flag=FALSE ; //Successful Reception flag
#endif
#if CanBusoffProcessing==POLLING
VAR(static boolean,Can_CODE)BusOff_Flag=FALSE ; //Bus Off flag
#endif
#if CanWakeupProcessing == POLLING
VAR(static boolean,Can_CODE)Wakeup_Flag=FALSE ; //Wakeup Flage
#endif
/***************************************/
/*Semaphores and Mutex control Functions*/
FUNC(static void,Can_CODE) Mutex_Wait(uint8 Mutex){
while(Mutex<=0);
Mutex--;
}
FUNC(static void,Can_CODE) Mutex_Signal(uint8 Mutex){
Mutex++;
}
/*******************************/
/***********************************************************************************************************/
/*API IDs*/
#define Can_Init_ID 0x00
#define Can_DeInit_ID 0x10
#define Can_SetBaudrate_ID 0x0f
#define Can_SetControllerMode_ID 0x03
#define Can_DisableControllerInterrupts_ID 0x04
#define Can_EnableControllerInterrupts_ID 0x05
#define Can_CheckWakeup_ID 0x0b
#define Can_GetControllerErrorState_ID 0x0b
#define Can_GetControllerMode_ID 0x12
#define Can_Write_ID 0x06
/*Can Driv Errors*/
/*Development Errors*/
#define CAN_E_PARAM_POINTER 0x01
#define CAN_E_PARAM_HANDLE 0x02
#define CAN_E_PARAM_DATA_LENGTH 0x03
#define CAN_E_PARAM_CONTROLLER 0x04
#define CAN_E_UNINIT 0x05
#define CAN_E_TRANSITION 0x06
#define CAN_E_PARAM_BAUDRATE 0x07
#define CAN_E_ICOM_CONFIG_INVALID 0x08
#define CAN_E_INIT_FAILED 0x09
/*Runtime Errors*/
#define CAN_E_DATALOST 0x01
/***********************************************************************************************************/
//This function initializes the module.
FUNC(void, Can_CODE) Can_Init( const Can_ConfigType* Config ){
#if CanControllerBaseAddress == Controller1_BaseAddress
if(Can_Controller0_Statues!=CAN_CS_UNINIT){
#if CanDevErrorDetect==STD_ON
/*implementation of the DeT*/
Det_ReportError(Can_MODULE_ID, 0, Can_Init_ID, CAN_E_TRANSITION);
#endif
}
#elif CanDevErrorDetect == Controller2_BaseAddress
if(Can_Controller1_Statues!=CAN_CS_UNINIT){
return 0;
}
#endif
Configurations = *(Config);
/*setting the INIT bit in the CAN Control (CANCTL) register stopping all bus activities */
set_bit(CANCTL,0); //Initialization started
while(get_bit(CANIF1CRQ,15)==1); //Wait for busy bit to clear
/*****************************************************************************************************/
/*Initialize all the memory objects*/
set_bit(CANIF1CMSK,7); //WRND
set_bit(CANIF1CMSK,5); //ARB
set_bit(CANIF1CMSK,4); //Control
/*CLear registers for Initilizations*/
CANIF1ARB2=0;
CANIF1MCTL=0;
/***********************************/
// Loop through to program all 32 message objects
VAR(static uint8,Can_CODE)MessageCounter=0;
for(MessageCounter=1;MessageCounter<=32;MessageCounter++){
while(get_bit(CANIF1CRQ,15)==1); //Wait for busy bit to clear
// Initiate programming the message object
CANIF1CRQ=MessageCounter;
}
/*Make sure that the interrupt and new data flags are updated for the message objects.*/
set_bit(CANIF1CMSK,2); //NewData
set_bit(CANIF1CMSK,3); //Clear the interrupt bending bit
// Loop through to program all 32 message objects
for(MessageCounter=1;MessageCounter<=32;MessageCounter++){
/*CAN Data registers initially is zero so looping through memory objects will just clear them*/
while(get_bit(CANIF1CRQ,15)==1); //Wait for busy bit to clear
// Initiate programming the message object
CANIF1CRQ=MessageCounter;
CANIF1MSK1=0;
CANIF1MSK2=0;
CANIF1DA1=0;
CANIF1DA2=0;
CANIF1DB1=0;
CANIF1DB2=0;
}
/*****************************************************************************************************/
/***********************************/
/*Baud Rate and Timming Configuration*/
/* Time Quantum (tq) => tq = BRP / fsys(system frequency) where fsys is CanCpuClockRef
________________________________________
| CANBIT | Register Field Setting |
|-----------------------------------------|
| TSEG2 | Phase2 - 1 |
| TSEG1 | Prop + Phase1 - 1 |
| SJW | SJW - 1 |
| BRP | Baud rate - 1 |
|_____________|___________________________|
*Bit length=[TSEG1 + TSEG2 + 3] × tq OR Bit length=[Sync + Prop + Phase1 + Phase2] × tq
*/
// Initialize Baud rate and timing
set_bit(CANCTL,0); //Initialization started
set_bit(CANCTL,6); //Configuration Change Enable
//calculating the Prescaler for the baud rate
VAR(uint32,Can_CODE) Prescaler = (CanCpuClockRef/(CanControllerBaudRate*1000));
CANBIT|=((Prescaler-1)&0x3F); //Setting the Prescaler in the BRP section of the register, BRP= Baud rate prescaler - 1
//Setting Time Segment after Sample Point
CANBIT|=((CanControllerSeg2-1)&0x7000); //TSEG2=Time Segment after Sample Point-1 in quants
//Setting Time Segment before Sample Point
CANBIT|=((CanControllerSeg1-1)&0xF00); //TSEG1=Time Segment after Sample Point-1 in quants
//Setting (Re)Synchronization Jump Width
CANBIT|=((CanControllerSyncJumpWidth-1)&0xC0); //SJW=(Re)Synchronization Jump Width-1 in quants
/********************************************/
/*Enable interrupts*/
set_bit(CANCTL,1); //General Can interrupt
set_bit(CANCTL,3); //Error Interrupt
set_bit(CANCTL,2); //Statues Interrupt
/***********************************/
/***********************************/
/*Initialize message objects as not valid*/
reset_bit(CANIF1ARB2,15); //MSGVAL = 0
/***********************************/
/* 1 ) In the CAN IFn Command Mask (CANIFnCMASK) register:*/
//Set the WRNRD bit to specify a Write on the memory object to intialize it
set_bit(CANIF1CMSK,7);
/*Specify which bits to transfer using the and bits DATAA DATAB*/
//Set the Pin DATAA to allow the use Data A registers
set_bit(CANIF1CMSK,1);
//Set the Pin DATAB to allow the use Data B registers
set_bit(CANIF1CMSK,0);
//Set the Control access pin
set_bit(CANIF1CMSK,4);
/* This the initial state for the registers.*/
CANIF1ARB1=0;
CANIF1ARB2=0;
CANIF1MCTL=0;
CANIF1MSK1=0;
CANIF1MSK2=0;
/*set the DIR bit to indicate receive*/
reset_bit(CANIF1ARB2,13);
//specify whether to transfer the IDMASK, DIR, and MXTD of the message object into the CAN IFn
reset_bit(CANIF1CMSK,6);
/*Specify whether to transfer the ID, DIR, XTD, and MSGVAL of the message object into the interface registers*/
reset_bit(CANIF1CMSK,5);
/*Specify whether to clear the bit in the CANIFnMCTL register using the INTPND CLRINTPND bit*/
reset_bit(CANIF1CMSK,3);
/*Specify whether to clear the bit in the CANNWDAn register using the bit NEWDAT NEWDAT*/
reset_bit(CANIF1CMSK,2);
/* 2 ) Specify which of the bits are used for acceptance filtering*/
#if CanIdType==STANDARD //IDs is 11bit
CANIF1MSK1=0;
CANIF1MSK2|=((uint32)((CanHwFilterMask)&(0x7FF))<<2);
#elif CanIdType==EXTENDED //IDs is 29bit
CANIF1MSK1|=((uint32)((CanHwFilterMask)&(0xFFFF)));
CANIF1MSK2|=((uint32)((CanHwFilterMask)&(0x1FFF>>16)));
#endif
/*Enable the Use of Acceptance Mask*/
set_bit(CANIF1MCTL,12);
/*Enable the Access to mask bits*/
set_bit(CANIF1CMSK,6);
/*Enable the Access Arbitration Bits*/
set_bit(CANIF1CMSK,5);
/* 3 ) Use the MXTD and MDIR bits to specify whether to use XTD and DIR for acceptance filtering.*/
/*The extended identifier bit XTD is used for acceptance filtering.*/
reset_bit(CANIF1MSK2,15);
/*The message direction bit DIR is used for acceptance filtering.*/
reset_bit(CANIF1MSK2,14);
/* 4 ) Set the Id and the Type as receive memory object*/
#if CanIdType==STANDARD //IDs is 11bit
reset_bit(CANIF1ARB2,14);
CANIF1ARB2|=((uint32)((CanObjectId)&(0x1FFF))<<2);
#elif CanIdType==EXTENDED //IDs is 29bit
set_bit(CANIF1ARB2,14);
CANIF1ARB1|=((uint32)((CanObjectId)&(0xFFFF)));
CANIF1ARB2|=((uint32)((CanObjectId)&(0xFFF>>16)));
#endif
/*set the MSGVAL bit to indicate message object valid*/
set_bit(CANIF1ARB2,15);
/* 5 ) CANIFnMCTL Register */
/*specify the size of the data frame in bytes.*/
CANIF1MCTL|=((Config->Lenght)&0xF);
/*End of Buffer => Single message object*/
set_bit(CANIF1MCTL,7);
/*Receive Interrupt Enable*/
set_bit(CANIF1MCTL,10);
/*Disable the use of remote frame */
reset_bit(CANIF1MCTL,9);
/*Starting the Can In Reading state*/
/* 6 ) Choosing the memory object to be recieved in*/
CANIF1CRQ|=(Config->Hth)&(0x3F);
/*Wait for busy bit to clear*/
while(get_bit(CANIF1CRQ,15)==1);
/*****************************/
#if CanControllerBaseAddress == Controller1_BaseAddress
Can_Controller0_Statues = CAN_CS_STOPPED;
#elif CanControllerBaseAddress == Controller2_BaseAddress
Can_Controller1_Statues = CAN_CS_STOPPED;
#endif
}
/*************************/
//This function de-initializes the module.
FUNC(void, Can_CODE) Can_DeInit( void ){
if(Can_Controller0_Statues==CAN_CS_STARTED){
#if CanDevErrorDetect==STD_ON
/*implementation of the DeT*/
Det_ReportError(Can_MODULE_ID, 0, Can_DeInit_ID, CAN_E_TRANSITION);
#endif
}else{
/*setting the INIT bit in the CAN Control (CANCTL) register stopping all bus activities */
set_bit(CANCTL,0); //Initialization started
while(get_bit(CANIF1CRQ,15)==1); //Wait for busy bit to clear
/*****************************************************************************************************/
/*Initialize all the memory objects*/
set_bit(CANIF1CMSK,7); //WRND
set_bit(CANIF1CMSK,5); //ARB
set_bit(CANIF1CMSK,4); //Control
/*CLear registers for Initilizations*/
CANIF1ARB2=0;
CANIF1MCTL=0;
/***********************************/
// Loop through to program all 32 message objects
VAR(static uint8,Can_CODE)MessageCounter=0;
for(MessageCounter=1;MessageCounter<=32;MessageCounter++){
while(get_bit(CANIF1CRQ,15)==1); //Wait for busy bit to clear
// Initiate programming the message object
CANIF1CRQ=MessageCounter;
}
/*Make sure that the interrupt and new data flags are updated for the message objects.*/
set_bit(CANIF1CMSK,2); //NewData
set_bit(CANIF1CMSK,3); //Clear the interrupt bending bit
// Loop through to program all 32 message objects
for(MessageCounter=1;MessageCounter<=32;MessageCounter++){
/*CAN Data registers initially is zero so looping through memory objects will just clear them*/
while(get_bit(CANIF1CRQ,15)==1); //Wait for busy bit to clear
// Initiate programming the message object
CANIF1CRQ=MessageCounter;
CANIF1MSK1=0;
CANIF1MSK2=0;
CANIF1DA1=0;
CANIF1DA2=0;
CANIF1DB1=0;
CANIF1DB2=0;
}
/*****************************************************************************************************/
Can_Controller0_Statues = CAN_CS_STOPPED;
set_bit(CANCTL,0); //Initialization started
set_bit(CANCTL,6); //Configuration Change Enable
//De-Initialize Baud rate and timing
CANBIT|=((0x1)&0x3F); //Resetting the Prescaler in the BRP section of the register, BRP Initial value ix 0x1
//Resetting Time Segment after Sample Point
CANBIT|=((0x2)&0x7000); //TSEG2 Initial value is 0x2
//Setting Time Segment before Sample Point
CANBIT|=((0x3)&0xF00); //TSEG1 Initial value is 0x3
//Setting (Re)Synchronization Jump Width
CANBIT|=((0x0)&0xC0); //SJW Initial value is 0x0
/***********************************/
/*De-initialize message objects as not valid*/
reset_bit(CANIF1ARB2,15); //MSGVAL = 0
reset_bit(CANIF2ARB2,15); //MSGVAL = 0
/***********************************/
reset_bit(CANIF1ARB2,15); //MSGVAL = 0
reset_bit(CANIF2ARB2,15); //MSGVAL = 0
/*Exit the Initialization state*/
reset_bit(CANCTL,0); //Normal oberation
/***********************************/
Can_Controller0_Statues = CAN_CS_UNINIT;
}
}
/*************************/
/*This service shall set the baud rate configuration of the CAN controller(Can_Controller0,Can_Controller1)
BaudRateConfigID references a baud rate configuration by ID CanControllerBaudRateConfigID
Uniquely identifies a specific baud rate configuration. This ID is used by SetBaudrate API.
If the call of Can_SetBaudrate will cause a re-initialization of the CAN
Controller the CAN controller must be in state STOPPED when this function is
called
*/
#if CanSetBaudrateApi==STD_ON
FUNC(Std_ReturnType,Can_CODE) Can_SetBaudrate( uint8 Controller, uint16 BaudRateConfigID ) {
#if CanDevErrorDetect ==STD_ON
if(Can_Controller0_Statues==CAN_CS_UNINIT){
/*implementation of the DeT*/
Det_ReportError(Can_MODULE_ID, 0, Can_SetBaudrate_ID, CAN_E_UNINIT);
}
else if(BaudRateConfigID>Max_BaudeRateIDs){
Det_ReportError(Can_MODULE_ID, 0, Can_SetBaudrate_ID, CAN_E_PARAM_BAUDRATE);
}
else if(Controller>Can_Controller1){
Det_ReportError(Can_MODULE_ID, 0, Can_SetBaudrate_ID, CAN_E_PARAM_CONTROLLER);
}
#endif
if(Can_Controller0_Statues== CAN_CS_STOPPED){
#if CanControllerBaseAddress == Controller1_BaseAddress
VAR(uint16,Can_CODE)Counter=0;
VAR(uint32,Can_CODE) Prescaler;
switch(Controller){
case Can_Controller0:
set_bit(CANCTL,0); //Initialization started
set_bit(CANCTL,6); //Configuration Change Enable
// Change Baud rate and timing
//this for loop to find the configurations of the given BaudeRate ID
for(Counter=0;((BaudeRate_Config[Counter].BaudRateConfigIDs!=BaudRateConfigID)&&Counter<Max_BaudeRateIDs);Counter++){
//Counter after the for loop is the the number of the structure that hold the baud rate configuration
}
//if the given BaudRate Configuration ID isn't correct return error
if((Counter==Max_BaudeRateIDs-1)&&((BaudeRate_Config[Counter].BaudRateConfigIDs!=BaudRateConfigID))){
return E_NOT_OK;
}
//calculating the Prescaler for the baud rate
Prescaler = (CanCpuClockRef/(BaudeRate_Config[Counter].BaudRate*1024));
CANBIT|=((Prescaler-1)&0x3F); //Setting the Prescaler in the BRP section of the register, BRP= Baud rate prescaler - 1
//Setting Time Segment after Sample Point
CANBIT|=(((BaudeRate_Config[Counter].TSEG2)-1)&0x7000); //TSEG2=Time Segment after Sample Point-1 in quants
//Setting Time Segment before Sample Point
CANBIT|=(((BaudeRate_Config[Counter].TSEG1)-1)&0xF00); //TSEG1=Time Segment after Sample Point-1 in quants
//Setting (Re)Synchronization Jump Width
CANBIT|=(((BaudeRate_Config[Counter].SJW)-1)&0xC0); //SJW=(Re)Synchronization Jump Width-1 in quants
Can_Controller0_Statues== CAN_CS_STARTED;
break;
case Can_Controller1:
set_bit(CANCTL_Controller2,0); //Initialization started
set_bit(CANCTL_Controller2,6); //Configuration Change Enable
// Change Baud rate and timing
//this for loop to find the configurations of the given BaudeRate ID
for(Counter=0;((BaudeRate_Config[Counter].BaudRateConfigIDs!=BaudRateConfigID)&&Counter<Max_BaudeRateIDs);Counter++){
//Counter after the for loop is the the number of the structure that hold the baud rate configuration
}
//if the given BaudRate Configuration ID isn't correct return error
if((Counter==Max_BaudeRateIDs-1)&&((BaudeRate_Config[Counter].BaudRateConfigIDs!=BaudRateConfigID))){
return E_NOT_OK;
}
//calculating the Prescaler for the baud rate
Prescaler = (CanCpuClockRef/(BaudeRate_Config[Counter].BaudRate*1024));
CANBIT_Controller2|=((Prescaler-1)&0x3F); //Setting the Prescaler in the BRP section of the register, BRP= Baud rate prescaler - 1
//Setting Time Segment after Sample Point
CANBIT_Controller2|=(((BaudeRate_Config[Counter].TSEG2)-1)&0x7000); //TSEG2=Time Segment after Sample Point-1 in quants
//Setting Time Segment before Sample Point
CANBIT_Controller2|=(((BaudeRate_Config[Counter].TSEG1)-1)&0xF00); //TSEG1=Time Segment after Sample Point-1 in quants
//Setting (Re)Synchronization Jump Width
CANBIT_Controller2|=(((BaudeRate_Config[Counter].SJW)-1)&0xC0); //SJW=(Re)Synchronization Jump Width-1 in quants
Can_Controller1_Statues== CAN_CS_STARTED;
break;
default:
return E_NOT_OK;
break;
}
#elif CanControllerBaseAddress == Controller2_BaseAddress
VAR(uint16,Can_CODE)Counter=0;
VAR(uint8,Can_CODE) Prescaler;
switch(Controller){
case Can_Controller0:
set_bit(CANCTL,0); //Initialization started
set_bit(CANCTL,6); //Configuration Change Enable
// Change Baud rate and timing
//this for loop to find the configurations of the given BaudeRate ID
for(Counter=0;((BaudeRate_Config[Counter].BaudRateConfigIDs!=BaudRateConfigID)&&Counter<Max_BaudeRateIDs);Counter++){
//Counter after the for loop is the the number of the structure that hold the baud rate configuration
}
//if the given BaudRate Configuration ID isn't correct return error
if((Counter==Max_BaudeRateIDs-1)&&((BaudeRate_Config[Counter].BaudRateConfigIDs!=BaudRateConfigID))){
return E_NOT_OK;
}
//calculating the Prescaler for the baud rate
Prescaler = (CanCpuClockRef/(BaudeRate_Config[Counter].BaudRate*1024));
CANBIT|=((Prescaler-1)&0x3F); //Setting the Prescaler in the BRP section of the register, BRP= Baud rate prescaler - 1
//Setting Time Segment after Sample Point
CANBIT|=(((BaudeRate_Config[Counter].TSEG2)-1)&0x7000); //TSEG2=Time Segment after Sample Point-1 in quants
//Setting Time Segment before Sample Point
CANBIT|=(((BaudeRate_Config[Counter].TSEG1)-1)&0xF00); //TSEG1=Time Segment after Sample Point-1 in quants
//Setting (Re)Synchronization Jump Width
CANBIT|=(((BaudeRate_Config[Counter].SJW)-1)&0xC0); //SJW=(Re)Synchronization Jump Width-1 in quants
Can_Controller0_Statues== CAN_CS_STARTED;
break;
case Can_Controller1:
set_bit(CANCTL_Controller1,0); //Initialization started
set_bit(CANCTL_Controller1,6); //Configuration Change Enable
// Change Baud rate and timing
//this for loop to find the configurations of the given BaudeRate ID
for(Counter=0;((BaudeRate_Config[Counter].BaudRateConfigIDs!=BaudRateConfigID)&&Counter<Max_BaudeRateIDs);Counter++){
//Counter after the for loop is the the number of the structure that hold the baud rate configuration
}
//if the given BaudRate Configuration ID isn't correct return error
if((Counter==Max_BaudeRateIDs-1)&&((BaudeRate_Config[Counter].BaudRateConfigIDs!=BaudRateConfigID))){
return E_NOT_OK;
}
//calculating the Prescaler for the baud rate
Prescaler = (CanCpuClockRef/(BaudeRate_Config[Counter].BaudRate*1024));
CANBIT_Controller1|=((Prescaler-1)&0x3F); //Setting the Prescaler in the BRP section of the register, BRP= Baud rate prescaler - 1
//Setting Time Segment after Sample Point
CANBIT_Controller1|=(((BaudeRate_Config[Counter].TSEG2)-1)&0x7000); //TSEG2=Time Segment after Sample Point-1 in quants
//Setting Time Segment before Sample Point
CANBIT_Controller1|=(((BaudeRate_Config[Counter].TSEG1)-1)&0xF00); //TSEG1=Time Segment after Sample Point-1 in quants
//Setting (Re)Synchronization Jump Width
CANBIT_Controller1|=(((BaudeRate_Config[Counter].SJW)-1)&0xC0); //SJW=(Re)Synchronization Jump Width-1 in quants
Can_Controller1_Statues== CAN_CS_STARTED;
break;
default: return E_NOT_OK;break;
}
#endif
return E_OK; //Service request accepted, setting of (new) baud rate started
}else{
return E_NOT_OK ; //Service request not accepted
}
return E_NOT_OK;
}
/*************************/
#endif
//This function performs software triggered state transitions of the CAN controller State machine..
FUNC(Std_ReturnType,Can_CODE) Can_SetControllerMode( uint8 Controller, Can_ControllerStateType Transition ){
/*the state transition value CAN_CS_STARTED, the function Can_SetControllerMode shall re-initialize the CAN
controller with the same controller configuration set previously used by functions Can_SetBaudrate or Can_Init.*/
#if CanDevErrorDetect ==STD_ON
/*implementation of the DET*/
if(Can_Controller0_Statues==CAN_CS_UNINIT){
Det_ReportError(Can_MODULE_ID, 0, Can_SetControllerMode_ID, CAN_E_UNINIT);
}else if(Controller>Can_Controller1){
Det_ReportError(Can_MODULE_ID, 0, Can_SetControllerMode_ID, CAN_E_PARAM_CONTROLLER);
}
#endif
switch (Controller){
case Can_Controller0:
switch(Transition){
case CAN_CS_STARTED:
/*Check if the Controller in stopped state or not*/
if(Can_Controller0_Statues!=CAN_CS_STOPPED){
#if CanDevErrorDetect ==STD_ON
/*Error in the wanted transaction*/
Det_ReportError(Can_MODULE_ID, 0, Can_SetControllerMode_ID, CAN_E_TRANSITION);
#endif
}else{
/*Exit the Initialization state*/
reset_bit(CANCTL,0); //change to normal operation to start the Can controller
/*Changing the state */
Can_Controller0_Statues=Transition;
/*Enable the interrupts*/
Can_EnableControllerInterrupts(Can_Controller0);
/*after successful transmission of state use the callback function CanIf_ControllerModeIndication()*/
CanIf_ControllerModeIndication(CanControllerId,Transition);
}
break;
case CAN_CS_STOPPED:
/*Check if the Controller in stopped state or not*/
if(Can_Controller0_Statues!=(CAN_CS_SLEEP||CAN_CS_STARTED)){
#if CanDevErrorDetect ==STD_ON
/*Error in the wanted transaction*/
Det_ReportError(Can_MODULE_ID, 0, Can_SetControllerMode_ID, CAN_E_TRANSITION);
#endif
}else{
/*Enter the Initialization state*/
set_bit(CANCTL,0); //change to Initialization operation to Stop the Can controller
/*Changing the state */
Can_Controller0_Statues=Transition;
/*Disable the interrupts*/
Can_DisableControllerInterrupts(Can_Controller0);
/*after successful transmission of state use the callback function CanIf_ControllerModeIndication()*/
CanIf_ControllerModeIndication(CanControllerId,Transition);
}
break;
case CAN_CS_SLEEP:
/*Check if the Controller in stopped state or not*/
if(Can_Controller0_Statues!=(CAN_CS_STOPPED)){
#if CanDevErrorDetect ==STD_ON
/*Error in the wanted transaction*/
Det_ReportError(Can_MODULE_ID, 0, Can_SetControllerMode_ID, CAN_E_TRANSITION);
#endif
} else{
/*TO DO Implement the sleep mode but for now make it as stop*/
/***********************************************************/
/*Enter the Initialization state*/
set_bit(CANCTL,0); //change to Initialization operation to Stop the Can controller
/*Disable the interrupts*/
Can_DisableControllerInterrupts(Can_Controller0);
/***********************************************************/
/*Changing the state */
Can_Controller0_Statues=Transition;
/*after successful transmission of state use the callback function CanIf_ControllerModeIndication()*/
CanIf_ControllerModeIndication(CanControllerId,Transition);
}
break;
case CAN_CS_UNINIT:
/*Check if the Controller in stopped state or not*/
if(Can_Controller0_Statues!=(CAN_CS_SLEEP||CAN_CS_STOPPED)){
#if CanDevErrorDetect ==STD_ON
/*Error in the wanted transaction*/
Det_ReportError(Can_MODULE_ID, 0, Can_SetControllerMode_ID, CAN_E_TRANSITION);
#endif
}else{
Can_DeInit();
/*Disable the interrupts*/
Can_DisableControllerInterrupts(Can_Controller0);
/*Changing the state */
Can_Controller0_Statues=Transition;
/*after successful transmission of state use the callback function CanIf_ControllerModeIndication()*/
CanIf_ControllerModeIndication(CanControllerId,Transition);
}
break;
default:
}
return E_OK;
break;
case Can_Controller1:
switch(Transition){
case CAN_CS_STARTED:
/*Check if the Controller in stopped state or not*/
if(Can_Controller0_Statues!=CAN_CS_STOPPED){
#if CanDevErrorDetect ==STD_ON
/*Error in the wanted transaction*/
Det_ReportError(Can_MODULE_ID, 0, Can_SetControllerMode_ID, CAN_E_TRANSITION);
#endif
}else{
/*Exit the Initialization state*/
reset_bit(CANCTL,0); //change to normal operation to start the Can controller
/*Enable the interrupts*/
Can_EnableControllerInterrupts(Can_Controller1);
/*Changing the state */
Can_Controller1_Statues=Transition;
/*after successful transmission of state use the callback function CanIf_ControllerModeIndication()*/
CanIf_ControllerModeIndication(CanControllerId,Transition);
}
break;
case CAN_CS_STOPPED:
/*Check if the Controller in stopped state or not*/
if(Can_Controller1_Statues!=(CAN_CS_SLEEP||CAN_CS_STARTED)){
#if CanDevErrorDetect ==STD_ON
/*Error in the wanted transaction*/
Det_ReportError(Can_MODULE_ID, 0, Can_SetControllerMode_ID, CAN_E_TRANSITION);
#endif
}else{