TTCAN Driver (Ttcan)

Gets the current values for the global, local and cycle time and the cycle count of the controller

Gets the master state. The master state includes the sync mode (sync_off, synchronizing, in_ gap, in_schedule) the master-slave mode (master_off, slave, backup_master, current_master) and the current value for ref trigger offset.

Gets the actual value of NTU (network time unit). Together with the local oscillator period, the actual value of NTU can be derived from the actual value of TUR.

Gets the error level. This includes the severity of the error level (S0-S3) and the minimum and maximum value of the message status count.

Sets the "Next_is_Gap" bit.

Signals the end of a gap.

Adjusts the global time at the beginning of the next basic cycle by the amount of "global time preset"

Sets the value of "global time preset".

Adjusts the NTU (network time unit) according to the value given by "NTU adjust". Together with the local oscillator period, "TUR adjust" can be derived from "NTU adjust".

Sets the value of "NTU adjust". Together with the local oscillator period, "TUR adjust" can be derived from "NTU adjust".

Gets the synchronization quality.

Sets a new value for the time mark for the given time source.

Cancels the time mark.

Acknowledges the time mark interrupt by resetting the flag in the interrupt vector register.

Enables the time mark interrupt.

Disables the time mark interrupt.

Gets the IRQ status of the time mark.

Reads received data from the controller by returning the pointer of the CanID, the DLC and the Data of the message in the requested HRH.

Polls the interrupt flags specific to TTCAN

16 bit value representing time values of TTCAN, e.g. cycle, local or global time

Master state type including sync mode, master-slave mode and current ref trigger offset

TTCAN error level including min and max values of message status count

Time source

Master-Slave Mode

Sync mode

Error level (S0-S3)

TtcanDrv shall provide information from the TTCAN Con- troller about the timing parameters (see [SWS_TtCan_00090]), the synchronization state and the master state (see [SWS_TtCan_00091]).

TtcanDrv shall provide means to influence the timing pa- rameters of a TTCAN Controller (see [SWS_TtCan_00096], [SWS_TtCan_00097], [SWS_TtCan_00098], [SWS_TtCan_00099]) during runtime, if the TTCAN Con- troller acts as Time Master .

TtcanDrv shall provide the functionality of a timer, which is based on the time marks of the communication system, provided by the TTCAN Con- troller .

TtcanDrv shall support event-synchronized communication (see [SWS_TtCan_00094], [SWS_TtCan_00095]) (refer to [1, ISO 11898-4]).

The events according to Table 7.1 shall be indicated to the ap- plication via TtcanIf .

Type of error Related error code Error value TTCAN Controller is not a potential time master CAN_TT_E_NOT_MASTER 0x08 TTCAN Controller is not a current time master CAN_TT_E_NOT_CURRENT_MASTER 0x09 TTCAN Controller transmits two consecutive reference messages which both have the "'Disc_ bit"' set CAN_TT_E_CONSEQUTIVE_DISC 0x0a Adjustment of global time fails, because external synchronization has been disabled during configuration CAN_TT_E_SYNC_DISABLED 0x0b

If development error detection for the Ttcan module is en- abled: The function Can_TTGetControllerTime() shall raise the error CAN_E_- UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetControllerTime() shall raise the error CAN_E_- PARAM_CONTROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetControllerTime() shall raise the error CAN_E_- PARAM_POINTER and shall return E_NOT_OK if the parameter Can_TTGlobalTime or the parameter Can_TTLocalTime or the parameter Can_TTCycleTime or the pa- rameter Can_TTCycelCount is a NULL pointer.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetMasterState() shall raise the error CAN_E_UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetMasterState() shall raise the error CAN_E_- PARAM_CONTROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetMasterState() shall raise the error CAN_E_- PARAM_POINTER and shall return E_NOT_OK if the parameter Can_TTMasterState is a NULL pointer.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetNTUActual() shall raise the error CAN_E_UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetNTUActual() shall raise the error CAN_E_PARAM_- CONTROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetNTUActual() shall raise the error CAN_E_PARAM_- POINTER and shall return E_NOT_OK if the parameter Can_TTNTUAct is a NULL pointer.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetErrorLevel() shall raise the error CAN_E_UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetErrorLevel() shall raise the error CAN_E_PARAM_- CONTROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetErrorLevel() shall raise the error CAN_E_PARAM_- POINTER and shall return E_NOT_OK if the parameter Can_TTErrorLevel is a NULL pointer.

If development error detection for the Ttcan module is en- abled: The function Can_TTSetNextIsGap() shall raise the error CAN_E_UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTSetNextIsGap() shall raise the error CAN_E_PARAM_- CONTROLLER if the parameter Controller is out of range.

The function Can_TTSetEndOfGap() shall only take effect if the TTCAN Controller is a potentional Time Master .

If development error detection for the Ttcan module is en- abled: The function Can_TTSetEndOfGap() shall raise the error CAN_TT_E_NOT_- MASTER if the TTCAN Controller is not a potentional Time Master .

If development error detection for the Ttcan module is en- abled: The function Can_TTSetEndOfGap() shall raise the error CAN_E_UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTSetEndOfGap() shall raise the error CAN_E_PARAM_- CONTROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTSetTimeCommand() shall raise the error CAN_TT_E_- CONSEQUTIVE_DISC if two consecutive reference messages are transmitted wich both have the "`Disc_bit"' set.

If development error detection for the Ttcan module is en- abled: The function Can_TTSetTimeCommand() shall raise the error CAN_TT_E_- SYNC_DISABLED if the adjustment of the Global Time fails, because the external synchronization has been disabled during configuration.

The function Can_TTSetTimeCommand() shall only take ef- fect if the TTCAN Controller is the current Time Master .

If development error detection for the Ttcan module is en- abled: The function Can_TTSetTimeCommand() shall raise the error CAN_TT_E_- NOT_CURRENT_MASTER if the TTCAN Controller is not the current Time Master .

If development error detection for the Ttcan module is en- abled: The function Can_TTSetTimeCommand() shall raise the error CAN_E_UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTSetTimeCommand() shall raise the error CAN_E_- PARAM_CONTROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTGlobalTimePreset() shall raise the error CAN_E_- UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTGlobalTimePreset() shall raise the error CAN_E_- PARAM_CONTROLLER if the parameter Controller is out of range.

The function Can_TTSetExtClockSyncCommand() shall only take effect if the TTCAN Controller is the current Time Master .

If development error detection for the Ttcan module is en- abled: The function Can_TTSetExtClockSyncCommand() shall raise the error CAN_TT_E_NOT_CURRENT_MASTER if the TTCAN Controller is not the current Time Master .

If development error detection for the Ttcan module is en- abled: The function Can_TTSetExtClockSyncCommand() shall raise the error CAN_E_UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTSetExtClockSyncCommand() shall raise the error CAN_E_PARAM_CONTROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTSetNTUAdjust() shall raise the error CAN_E_UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTSetNTUAdjust() shall raise the error CAN_E_PARAM_- CONTROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetSyncQuality() shall raise the error CAN_E_UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetSyncQuality() shall raise the error CAN_E_- PARAM_CONTROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetSyncQuality() shall raise the error CAN_E_- PARAM_POINTER and shall return E_NOT_OK if the parameter Can_TTClockSpeed or the parameter Can_TTGlobalTimePhase is a NULL pointer.

If development error detection for the Ttcan module is en- abled: The function Can_TTSetTimeMark() shall raise the error CAN_E_UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTSetTimeMark() shall raise the error CAN_E_PARAM_- CONTROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTCancelTimeMark() shall raise the error CAN_E_UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTCancelTimeMark() shall raise the error CAN_E_- PARAM_CONTROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTAckTimeMark() shall raise the error CAN_E_UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTAckTimeMark() shall raise the error CAN_E_PARAM_- CONTROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTEnableTimeMarkIRQ() shall raise the error CAN_E_- UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTEnableTimeMarkIRQ() shall raise the error CAN_E_- PARAM_CONTROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTDisableTimeMarkIRQ() shall raise the error CAN_E_- UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTDisableTimeMarkIRQ() shall raise the error CAN_E_- PARAM_CONTROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetTimeMarkIRQStatus() shall raise the error CAN_- E_UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetTimeMarkIRQStatus() shall raise the error CAN_- E_PARAM_CONTROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTGetTimeMarkIRQStatus() shall raise the error CAN_- E_PARAM_POINTER and shall return E_NOT_OK if the parameter Can_TT IRQStatus is a NULL pointer.

CanIf_TTApplWatchdogError TtcanIf.h Reports an application watchdog error. CanIf_TTGap TtcanIf.h Reports the occurrence of a gap. CanIf_TTMasterStateChange TtcanIf.h Reports change of the master state between potential and current master. CanIf_TTSevereError TtcanIf.h Reports one of the following errors: • failed to serve appl. watchdog • config error • watch trigger reached CanIf_TTStartOfCycle TtcanIf.h Reports the start of a basic cycle. CanIf_TTTimeDisc TtcanIf.h Reports a time discontinuity. CanIf_TTTimingError TtcanIf.h Reports one of the following errors: • Change of error level • Tx overflow / underflow • Synchronization failed • Init watch trigger

If development error detection for the Ttcan module is en- abled: The function Can_TTReceive() shall raise the error CAN_E_UNINIT if the driver is not yet initialized.

If development error detection for the Ttcan module is en- abled: The function Can_TTReceive() shall raise the error CAN_E_PARAM_CON- TROLLER if the parameter Controller is out of range.

If development error detection for the Ttcan module is en- abled: The function Can_TTReceive() shall raise the error CAN_E_PARAM_POINTER and shall return E_NOT_OK if one of the parameter CanId , CanDlc or CanSduPtr is a NULL pointer.

• STARTED -> STOPPED • Triggered by hardware if the TTCAN Controller reaches error level S3 (see TTCAN ISO Specification [1]) • The CanIf module is notified with the function CanIf_TTSevereError after STOPPED state is reached.

After severe error detection, the TTCAN Controller shall transition to the state STOPPED and the Ttcan Driver module shall ensure that the CAN Controller doesn't participate on the network anymore.

After severe error detection, TtcanDrv shall cancel still pend- ing messages without raising a cancellation notification.

TtcanDrv shall disable or suppress automatic severe error recovery.

Either the function Can_TTMainFunction_IRQ() or an inter- rupt shall call the function CanIf_TTTimingError() with the corresponding event type, when error levels S1 or S2 (see TTCAN ISO Specification [1]) are reached.

Module Header File Imported Type Can Can_GeneralTypes.h Can_IdType TtcanIf.h CanIf_TTErrorLevelEnumType TtcanIf.h CanIf_TTErrorLevelType TtcanIf.h CanIf_TTEventEnumType TtcanIf.h CanIf_TTMasterSlaveModeType TtcanIf.h CanIf_TTMasterStateType TtcanIf.h CanIf_TTSevereErrorEnumType TtcanIf.h CanIf_TTSyncModeEnumType CanIf TtcanIf.h CanIf_TTTimingErrorIRQType Std Std_Types.h Std_ReturnType

Either the function Can_TTMainFunction_IRQ() or an in- terrupt shall call the function CanIf_TTSevereError() with the corresponding event type, when error level S3 (see TTCAN ISO Specification [1]) is reached.

Spezifikationsanforderung SWS_TtCan_00154.

Replaces SWS_Can_00262 : The function Can_SetCon- trollerMode(CAN_CS_STARTED) shall wait for a limited time until the TTCAN Controller has changed to the state SYNCHRONIZING (Compare to SWS_Can_00371 ).

It shall be possible to map all transmit message objects to specific Time Windows (see TTCAN ISO Specification [1]) by configuration (see TTCANIF145_Conf , TTCANIF146_Conf , TTCANIF147_Conf , TTCANIF148_Conf ).

The TT Can Driver module shall reject configurations with par- tition mappings which are not supported by the implementation.

These requirements are not applicable to this specification.

The ECUC partitions referenced by CanTTCon- trollerEcucPartitionRef shall be a subset of the ECUC partitions referenced by CanEcucPartitionRef .

CanTTController and CanTrcvChannel of one communication channel shall all reference the same ECUC partition.