SNIP_CLASSIC_CANIF_SECTION_7_7_BasicCAN_and_FullCAN_reception

7.7 BasicCAN and FullCAN reception This chapter only applies to CAN 2.0 and CAN FD. CAN XL hardware has an entirely different approach for accessing the frames using descriptors and queues, similar to Ethernet. CanIf distinguishes between BasicCAN and FullCAN handling for activation of software acceptance filtering. A CAN mailbox (Hardware Object) for FullCAN operation only enables transmission or reception of single CanIds. Accordingly, BasicCAN operation of one Hardware Object enables to transmit or receive a range of CanIds. A Hardware Receive Object for configured BasicCAN reception is able to receive a range of CanIds, which pass its hardware acceptance filter. This range may exceed the list of predefined Rx L-PDUs to be received by this HRH. Therefore, CanIf subsequently shall execute software filtering to pass only the predefined list of Rx L-PDUs to the corresponding upper layer modules. For more details please refer to Chapter 7.20 “Software receive filter”. [SWS_CANIF_00467] ⌈CanIf shall configure and store an order on HTHs and HRHs for all HOHs derived from the configuration containers CanIfHthCfg and CanIfHrhCfg.⌋ [SWS_CANIF_00468] ⌈CanIf shall reference a hardware acceptance filter for each HOH derived from the configuration parameters CanIfHthIdSymRef and CanIfHrhIdSymRef.⌋ The main difference between BasicCAN and FullCAN operation is in the need of a software acceptance filtering mechanism (see Chapter 7.20 “Software receive filter”). [SWS_CANIF_00469] ⌈CanIf shall give the possibility to configure and store a software acceptance filter for each HRH of type BasicCAN configured by parameter CanIfHrhSoftwareFilter.⌋ [SWS_CANIF_00211] ⌈CanIf shall execute the software acceptance filter from [SWS_CANIF_00469] for the HRH passed by callback function CanIf_RxIndication().⌋ BasicCAN and FullCAN objects may coexist in a single configuration setup. Multiple BasicCAN and FullCAN receive objects can be used, if provided by the underlying CAN Controllers. [SWS_CANIF_00877] Upstream requirements: SRS_Can_01140, SRS_Can_01141, SRS_Can_01162 ⌈If CanIf receives an L-PDU (see CanIf_RxIndication()), it shall compare the masked CanIfRxPduCanId with the passed Mailbox->CanId to select the correct reception L-SDU configured in CanIfRxPduCfg. The mask is defined by CanIfRxPduCanIdMask in both cases.⌋ [SWS_CANIF_00281] Upstream requirements: SRS_Can_01140 ⌈CanIf shall accept and handle StandardCAN IDs and ExtendedCAN IDs on the same Physical Channel (= mixed mode operation).⌋ In a mixed mode operation Standard CAN IDs and Extended CAN IDs can be used mixed at the same time on the same CAN network. Mixed mode operation can be accomplished, if the BasicCAN/FullCAN Hardware Objects have been configured separately for either StandardCAN or ExtendedCAN operation. In case of mixed mode operation the software acceptance filter algorithm (see Chapter 7.20 “Software receive filter”) must be able to deal with both type of CanIds.