SNIP_CLASSIC_CANIF_SECTION_7_8_Initialization

7.8 Initialization The EcuM calls the CanIf’s function CanIf_Init() for initialization of the entire CanIf (see [SWS_CANIF_00001]). All global variables and data structures are initialized including flags and buffers during the initialization process. The EcuM executes initialization of CanDrvs and CanTrcvs separately by call of their corresponding initialization services (refer to [1] and [2, Specification of CAN Transceiver Driver]). The CanIf expects that the CAN Controller remains in STOPPED mode like after power-on reset after the initialization process has been completed. In this mode the CanIf and CanDrv are neither able to transmit nor receive CAN L-PDUs (see [SWS_CANIF_00001]). If re-initialization of the entire CAN modules during runtime is required, the EcuM shall invoke the CanSm (see [3]) to initiate the required state transitions of the CAN Controller by call of CAN Interface module’s API service CanIf_SetControllerMode (). The CanIf maps the calls from CanSm to calls of the respective CanDrvs (see Chapter 8.6.3).