CAN Plugin

Detailed Description

Provides an interface for non-standard CAN sensors.

Data Structures
struct	dwSensorCANPluginFunctionTable
	Function Table exposing CAN plugin functions. More...

Typedefs
typedef dwStatus(*	dwSensorCANPlugin_clearFilter) (dwSensorPluginSensorHandle_t sensor)
	Reset the filter set by 'dwSensorCANPlugin_setFilter' interface. More...
typedef dwStatus(*	dwSensorCANPlugin_setFilter) (const uint32_t *canIDs, const uint32_t *masks, uint16_t numCanIDs, dwSensorPluginSensorHandle_t sensor)
	Specifes a set of CAN IDs to be filtered. More...
typedef dwStatus(*	dwSensorCANPlugin_setUseHwTimestamps) (bool use, dwSensorPluginSensorHandle_t sensor)
	Enables or disables hardware timestamp of the CAN messages. More...
typedef dwStatus(*	dwSensorCANPlugin_send) (const dwCANMessage *msg, dwTime_t timeout_us, dwSensorPluginSensorHandle_t sensor)
	Sends a message over the CAN bus within a specified timeout. More...
typedef dwStatus(*	dwSensorCANPlugin_parseDataBuffer) (dwCANMessage *output, dwSensorPluginSensorHandle_t sensor)
	Processes the data previously passed via the 'dwSensorPlugin_pushData' interface. More...

Functions
dwStatus	dwSensorCANPlugin_getFunctionTable (dwSensorCANPluginFunctionTable *functions)
	Gets the handle to functions defined in 'dwSensorCANPluginFunctionTable' structure. More...

Typedef Documentation

dwSensorCANPlugin_clearFilter

typedef dwStatus(* dwSensorCANPlugin_clearFilter) (dwSensorPluginSensorHandle_t sensor)

Reset the filter set by 'dwSensorCANPlugin_setFilter' interface.

Parameters

[in]

sensor

Specifies the sensor.

Returns

DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_SUCCESS

Definition at line 49 of file CANPlugin.h.

dwSensorCANPlugin_parseDataBuffer

typedef dwStatus(* dwSensorCANPlugin_parseDataBuffer) (dwCANMessage *output, dwSensorPluginSensorHandle_t sensor)

Processes the data previously passed via the 'dwSensorPlugin_pushData' interface.

The interpreted memory buffer outputted from this API is owned by the plugin. The plugin shall support multiple buffers in flight via this API.

Parameters

[out]	output	Pointer to decoded CAN message
[in]	sensor	Specifies the sensor the data came from.

Returns

DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_NOT_AVAILABLE - if no frame is ready for consumption DW_SUCCESS

Definition at line 129 of file CANPlugin.h.

dwSensorCANPlugin_send

typedef dwStatus(* dwSensorCANPlugin_send) (const dwCANMessage *msg, dwTime_t timeout_us, dwSensorPluginSensorHandle_t sensor)

Sends a message over the CAN bus within a specified timeout.

A message is guaranteed to have been sent when this method returns 'DW_SUCCESS'. The method can block for up-to the specified amount of time if a bus is blocked or previous

See also

dwSensorCAN_readMessage() operation has not yet finished.

Parameters

[in]	msg	A pointer to the message to be sent.
[in]	timeout_us	Specifies the timeout, in microseconds, to wait at most before giving up.
[in]	sensor	Specifies a CAN bus sensor to send the message over.

Returns

DW_NOT_SUPPORTED - if the underlying sensor does not support send operation.
DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENT - if given arguments are invalid.
DW_TIME_OUT - if operation has timed out.
DW_SAL_SENSOR_ERROR - if there was an i/o or bus error.
DW_NOT_AVAILABLE - if sensor has not been started.
DW_SUCCESS

Note

Send operation using can.virtual is a no-op and returns always DW_SUCCESS

Definition at line 113 of file CANPlugin.h.

dwSensorCANPlugin_setFilter

typedef dwStatus(* dwSensorCANPlugin_setFilter) (const uint32_t *canIDs, const uint32_t *masks, uint16_t numCanIDs, dwSensorPluginSensorHandle_t sensor)

Specifes a set of CAN IDs to be filtered.

The filter is active if it contains at least one sender ID.

Parameters

[in]	canIDs	A pointer to an array of CAN IDs to be filtered. Any matching CAN ID is used together with the mask to filter.
[in]	masks	A pointer to an array of filter masks to be applied. A mask is applied together with the ID as 'id & mask'. If mask is set to NULL, a default mask of '1FFFFFFF' is used.
[in]	numCanIDs	Specifies the number of elements passed in the array. To remove the filter, pass 0.
[in]	sensor	Specifies the sensor handle.

Returns

DW_NOT_SUPPORTED - if the underlying sensor does not support filter operation.
DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENT - if given arguments are invalid.
DW_SAL_SENSOR_ERROR - if there was a sensor error, i.e., filter cannot be set.
DW_SUCCESS

Definition at line 69 of file CANPlugin.h.

dwSensorCANPlugin_setUseHwTimestamps

typedef dwStatus(* dwSensorCANPlugin_setUseHwTimestamps) (bool use, dwSensorPluginSensorHandle_t sensor)

Enables or disables hardware timestamp of the CAN messages.

Hardware timestamps are used per default when supported by the sensor. If HW timestamps are not supported, SW timestamps are used per default. HW timestamps can be turned off if the default behavior is not working properly with the current hardware stack.

Note

The effect takes place on the next (re)start of the sensor.

Parameters

[in]	use	Specifies either 'true' or 'false' to enable or disable hardware timestamping.
[in]	sensor	Specifies the sensor handle.

Attention

If the same physical CAN device/interface is shared by multiple sensors, setting HW timestamping affects timestamping of all sensors sharing the same device.

Note

If using AurixCAN as a driver, hardware timestamps are used as timestamped by Aurix.

Returns

DW_NOT_SUPPORTED - if the underlying sensor does not support hardware timestamps.
DW_INVALID_HANDLE - if given sensor handle is invalid
DW_INVALID_ARGUMENT - if given arguments are invalid
DW_SUCCESS

Definition at line 91 of file CANPlugin.h.

Function Documentation

dwSensorCANPlugin_getFunctionTable()

dwStatus dwSensorCANPlugin_getFunctionTable

(

dwSensorCANPluginFunctionTable *

functions

)

Gets the handle to functions defined in 'dwSensorCANPluginFunctionTable' structure.

Parameters

[out]

functions

A pointer to the function table

Returns

DW_INVALID_ARGUMENT - if pointer to the function table is NULL.
DW_SUCCESS

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes