API to use CAN on exxotest devices. More...

typedef void *	AGHAF_CAN
	handle on CAN

typedef void(*	AGHAF_CAN_onMessageTx) (uint64_t timestamp, uint32_t ident, uint8_t flags, uint16_t dataLen, uint8_t const data, void userContext)
	callback function called when a message is transmitted on a CAN

typedef void(*	AGHAF_CAN_onMessageRx) (uint64_t timestamp, uint32_t ident, uint8_t flags, uint16_t dataLen, uint8_t const data, void userContext)
	callback function called when a message is received on a CAN

typedef void(*	AGHAF_CAN_onError) (uint64_t timestamp, AGHAF_CAN_Error error, void *userContext)
	callback function called when an error happens on a CAN

typedef void(*	AGHAF_CAN_onBusChange) (uint64_t timestamp, uint8_t chipState, void *userContext)
	callback function called when a bus change happens on a CAN

typedef void(*	AGHAF_CAN_onBusLoad) (uint64_t timestamp, uint8_t chipState, uint8_t busLoad, AGHAF_CAN_Error error, void *userContext)
	callback function called when a bus laod is from a CAN is transmitted

void	AGHAF_CAN_v2_useAPI ()
	Inform the library tu use the V2 CAN API.

void	AGHAF_CAN_v2_setOnMessageTxCallback (AGHAF_CAN can, AGHAF_CAN_onMessageTx callback, void *userContext)
	set the callback called on a tx event

void	AGHAF_CAN_v2_setOnMessageRxCallback (AGHAF_CAN can, AGHAF_CAN_onMessageRx callback, void *userContext)
	set the callback called on a rx event

void	AGHAF_CAN_v2_setOnErrorCallback (AGHAF_CAN can, AGHAF_CAN_onError callback, void *userContext)
	set the callback called on error event

void	AGHAF_CAN_v2_setOnBusChangeCallback (AGHAF_CAN can, AGHAF_CAN_onBusChange callback, void *userContext)
	set the callback called on a bus change event

void	AGHAF_CAN_v2_setOnBusLoadCallback (AGHAF_CAN can, AGHAF_CAN_onBusLoad callback, void *userContext)
	set the callback called on a bus noad event

AGHAF_CAN	AGHAF_CAN_v2_get (AGHAF_Device device, uint8_t index)
	return the CAN bus at index in parameter

uint8_t	AGHAF_CAN_v2_getIndex (AGHAF_CAN can)
	return the index from a CAN bus

uint8_t	AGHAF_CAN_v2_getCount (AGHAF_Device device)
	return the number of CAN bus from a device

AGHAF_Status	AGHAF_CAN_v2_activate (AGHAF_CAN can)
	activate a CAN bus

AGHAF_Status	AGHAF_CAN_v2_deactivate (AGHAF_CAN can)
	deactivate a CAN bus

AGHAF_Status	AGHAF_CAN_v2_isActivated (AGHAF_CAN can, AGHAF_BOOL *isActivated)
	Request if a CAN bus is yet activated or not.

AGHAF_Status	AGHAF_CAN_v2_getParam (AGHAF_CAN can, AGHAF_CAN_Param param, uint32_t *value)
	Provide the value from a CAN parameter.

AGHAF_Status	AGHAF_CAN_v2_setParam (AGHAF_CAN can, AGHAF_CAN_Param param, uint32_t value)
	Set the value from a CAN parameter.

AGHAF_Status	AGHAF_CAN_v2_supportedModes (AGHAF_CAN can, AGHAF_CAN_Mode *modes, uint8_t nbModes)
	Request the supported modes from the CAN bus in parameter.

void	AGHAF_CAN_v2_freeSupportedModes (AGHAF_CAN_Mode *modes)
	Free the memory allocated with AGHAF_CAN_Bus_supportedModes.

AGHAF_Status	AGHAF_CAN_v2_getChipSstate (AGHAF_CAN can, AGHAF_CAN_ChipState *chipState)
	Return the chip state from the bus.

AGHAF_Status	AGHAF_CAN_v2_BusOn (AGHAF_CAN can)
	reactivate the bus after an error

AGHAF_Status	AGHAF_CAN_v2_supportedTerminations (AGHAF_CAN can, uint32_t *terminations, uint32_t nbTerminations)
	Request the supported terminations from a CAN bus.

AGHAF_Status	AGHAF_CAN_v2_supportedTerminationsLs (AGHAF_CAN can, uint32_t *terminations, uint32_t nbTerminations)
	Request the supported low speed terminations from a CAN bus.

void	AGHAF_CAN_v2_freeSupportedTerminations (uint32_t *terminations)
	Free the memory allocated with AGHAF_CAN_Bus_supportedTerminations or AGHAF_CAN_Bus_supportedTerminationsLs.

uint8_t	AGHAF_CAN_v2_Periodic_getCount (AGHAF_CAN can)
	Return the number of periodic message available on a CAN bus.

AGHAF_Status	AGHAF_CAN_v2_Periodic_send (AGHAF_CAN can, uint8_t frameDatalen, uint8_t const *const frameData, uint8_t frameFlags, uint32_t frameIdent, uint8_t index, uint8_t flags, uint32_t period)
	Add a periodic message to send.

AGHAF_Status	AGHAF_CAN_v2_Periodic_send_v2 (AGHAF_CAN can, uint8_t frameDatalen, uint8_t const *const frameData, uint8_t frameFlags, uint32_t frameIdent, uint8_t index, uint8_t flags, uint32_t offset, uint32_t period)
	Add a periodic message to send.

AGHAF_Status	AGHAF_CAN_v2_addFilter (AGHAF_CAN can, AGHAF_CAN_FilterId idType, AGHAF_CAN_FILTER_Type type, AGHAF_CAN_FilterMode mode, uint32_t id1, uint32_t id2)
	add a filter to the CAN bus

AGHAF_Status	AGHAF_CAN_v2_clearFilters (AGHAF_CAN can)
	clear the filters from a bus

AGHAF_Status	AGHAF_CAN_v2_filtersCount (AGHAF_CAN can, AGHAF_CAN_FilterId idType, uint16_t *count)
	Provide the current number of filters.

AGHAF_Status	AGHAF_CAN_v2_supportedFilters (AGHAF_CAN can, uint16_t globalFilterCaps, AGHAF_CAN_FilterDesc values, uint16_t size)
	Provide the supported filters from a CAN bus.

void	AGHAF_CAN_v2_freeSupportedFilters (AGHAF_CAN_FilterDesc *values)
	Free the memory allocated with AGHAF_CAN_Bus_supportedFilters.

AGHAF_Status	AGHAF_CAN_v2_reject (AGHAF_CAN can, AGHAF_CAN_RejectType rejectType, AGHAF_BOOL rtr)
	Set a global filter.

AGHAF_Status	AGHAF_CAN_v2_sendMessage (AGHAF_CAN can, uint32_t ident, uint8_t flags, uint16_t dataLen, uint8_t const *data)
	send data on a CAN bus

Detailed Description

API to use CAN on exxotest devices.

Usage Example

Call order and priority

Device is in "init" state at startup.

The following section describes state management:

When calling AGHAF_CAN_v2_activate, the associated CAN module goes in "active" state.
When calling AGHAF_CAN_v2_deactivate, the associated CAN module goes in "config" state.

Symbol	Description
	Forbidden
	Authorized
	Followed status

Function	Config	Active
AGHAF_CAN_v2_get
AGHAF_CAN_v2_getCount
AGHAF_CAN_v2_setOnMessageTxCallback
AGHAF_CAN_v2_setOnMessageRxCallback
AGHAF_CAN_v2_setOnErrorCallback
AGHAF_CAN_v2_setOnBusChangeCallback
AGHAF_CAN_v2_setOnBusLoadCallback
AGHAF_CAN_v2_getParam
AGHAF_CAN_v2_setParam
AGHAF_CAN_v2_supportedModes
AGHAF_CAN_v2_addFilter
AGHAF_CAN_v2_clearFilters
AGHAF_CAN_v2_filtersCount
AGHAF_CAN_v2_reject
AGHAF_CAN_v2_supportedFilters
AGHAF_CAN_v2_activate
AGHAF_CAN_v2_deactivate
AGHAF_CAN_v2_isActivated
AGHAF_CAN_v2_supportedTerminations
AGHAF_CAN_v2_supportedTerminationsLs
AGHAF_CAN_v2_getChipSstate
AGHAF_CAN_v2_BusOn
AGHAF_CAN_v2_Periodic_send
AGHAF_CAN_v2_Periodic_getCount
AGHAF_CAN_v2_sendMessage

Typedef Documentation

◆ AGHAF_CAN_onBusChange

typedef void(* AGHAF_CAN_onBusChange) (uint64_t timestamp, uint8_t chipState, void *userContext)

callback function called when a bus change happens on a CAN

Parameters

timestamp	timestamp of the event
chipState	corresponding to AGHAF_CAN_ChipState
userContext	context given when setting the callabck in the system

◆ AGHAF_CAN_onBusLoad

typedef void(* AGHAF_CAN_onBusLoad) (uint64_t timestamp, uint8_t chipState, uint8_t busLoad, AGHAF_CAN_Error error, void *userContext)

callback function called when a bus laod is from a CAN is transmitted

Parameters

timestamp	timestamp of the event
chipState	corresponding to AGHAF_CAN_ChipState
busLoad	current bus load
error	value of the error
userContext	context given when setting the callabck in the system

◆ AGHAF_CAN_onError

typedef void(* AGHAF_CAN_onError) (uint64_t timestamp, AGHAF_CAN_Error error, void *userContext)

callback function called when an error happens on a CAN

Parameters

timestamp	timestamp of the event
error	value of the error
userContext	context given when setting the callabck in the system

◆ AGHAF_CAN_onMessageRx

typedef void(* AGHAF_CAN_onMessageRx) (uint64_t timestamp, uint32_t ident, uint8_t flags, uint16_t dataLen, uint8_t const *data, void *userContext)

callback function called when a message is received on a CAN

Parameters

timestamp	timestamp of the event
ident	can identifier
flags	corresponding to AGHAF_CAN_MSG_FLAGS
dataLen	length of the datas received
data	datas received
userContext	context given when setting the callabck in the system

◆ AGHAF_CAN_onMessageTx

typedef void(* AGHAF_CAN_onMessageTx) (uint64_t timestamp, uint32_t ident, uint8_t flags, uint16_t dataLen, uint8_t const *data, void *userContext)

callback function called when a message is transmitted on a CAN

Parameters

timestamp	timestamp of the event
ident	can identifier
flags	corresponding to AGHAF_CAN_MSG_FLAGS
dataLen	length of the datas transmitted
data	datas transmitted
userContext	context given when setting the callabck in the system

Function Documentation

◆ AGHAF_CAN_v2_activate()

AGHAF_Status AGHAF_CAN_v2_activate ( AGHAF_CAN can )

activate a CAN bus

Parameters

can	handle on the bus

Returns: status request information

Examples: Can_v2_FD/main.cpp, Can_v2_LS/main.cpp, and DoCan_v2_FD/main.cpp.

◆ AGHAF_CAN_v2_addFilter()

AGHAF_Status AGHAF_CAN_v2_addFilter	(	AGHAF_CAN	can,
		AGHAF_CAN_FilterId	idType,
		AGHAF_CAN_FILTER_Type	type,
		AGHAF_CAN_FilterMode	mode,
		uint32_t	id1,
		uint32_t	id2
	)

add a filter to the CAN bus

Parameters

can	handle on the bus
idType	standard or extended CAN
type	type from the filter
mode	mode from the filter
id1
id2

Returns: status request information

◆ AGHAF_CAN_v2_BusOn()

AGHAF_Status AGHAF_CAN_v2_BusOn ( AGHAF_CAN can )

reactivate the bus after an error

Parameters

can	handle on the bus

Returns: status request information

◆ AGHAF_CAN_v2_clearFilters()

AGHAF_Status AGHAF_CAN_v2_clearFilters ( AGHAF_CAN can )

clear the filters from a bus

Parameters

can	handle on the bus

Returns: status request information

◆ AGHAF_CAN_v2_deactivate()

AGHAF_Status AGHAF_CAN_v2_deactivate ( AGHAF_CAN can )

deactivate a CAN bus

Parameters

can	handle on the bus

Returns: status request information

Examples: Can_v2_FD/main.cpp, Can_v2_LS/main.cpp, and DoCan_v2_FD/main.cpp.

◆ AGHAF_CAN_v2_filtersCount()

AGHAF_Status AGHAF_CAN_v2_filtersCount	(	AGHAF_CAN	can,
		AGHAF_CAN_FilterId	idType,
		uint16_t *	count
	)

Provide the current number of filters.

Parameters

can	handle on the bus
idType	standard or extended CAN
count	pointer to fill with the data

Returns: status request information

◆ AGHAF_CAN_v2_freeSupportedFilters()

void AGHAF_CAN_v2_freeSupportedFilters ( AGHAF_CAN_FilterDesc * values )

Free the memory allocated with AGHAF_CAN_Bus_supportedFilters.

Parameters

values array to free

◆ AGHAF_CAN_v2_freeSupportedModes()

void AGHAF_CAN_v2_freeSupportedModes ( AGHAF_CAN_Mode * modes )

Free the memory allocated with AGHAF_CAN_Bus_supportedModes.

Parameters

modes array to free

◆ AGHAF_CAN_v2_freeSupportedTerminations()

void AGHAF_CAN_v2_freeSupportedTerminations ( uint32_t * terminations )

Free the memory allocated with AGHAF_CAN_Bus_supportedTerminations or AGHAF_CAN_Bus_supportedTerminationsLs.

Parameters

terminations array to free

◆ AGHAF_CAN_v2_get()

AGHAF_CAN AGHAF_CAN_v2_get	(	AGHAF_Device	device,
		uint8_t	index
	)

return the CAN bus at index in parameter

Parameters

device	device handle from the desired CAN bus
index	index from the bus

Returns: Handle on a CAN bus

Examples: Can_v2_FD/main.cpp, Can_v2_LS/main.cpp, and DoCan_v2_FD/main.cpp.

◆ AGHAF_CAN_v2_getChipSstate()

AGHAF_Status AGHAF_CAN_v2_getChipSstate	(	AGHAF_CAN	can,
		AGHAF_CAN_ChipState *	chipState
	)

Return the chip state from the bus.

Parameters

can	handle on the bus
chipState	pointer to fill

Returns: status request information

◆ AGHAF_CAN_v2_getCount()

uint8_t AGHAF_CAN_v2_getCount ( AGHAF_Device device )

return the number of CAN bus from a device

Parameters

device handle from the device

Returns: Number of CAN bus on the device

Examples: Can_v2_FD/main.cpp, Can_v2_LS/main.cpp, and DoCan_v2_FD/main.cpp.

◆ AGHAF_CAN_v2_getIndex()

uint8_t AGHAF_CAN_v2_getIndex ( AGHAF_CAN can )

return the index from a CAN bus

Parameters

can	handle from the CAN bus

Returns: index from the bus

◆ AGHAF_CAN_v2_getParam()

AGHAF_Status AGHAF_CAN_v2_getParam	(	AGHAF_CAN	can,
		AGHAF_CAN_Param	param,
		uint32_t *	value
	)

Provide the value from a CAN parameter.

Parameters

can	handle on the CAN bus
param	parameter to request
value	pointer to fill with the content

Returns: status request information

◆ AGHAF_CAN_v2_isActivated()

AGHAF_Status AGHAF_CAN_v2_isActivated	(	AGHAF_CAN	can,
		AGHAF_BOOL *	isActivated
	)

Request if a CAN bus is yet activated or not.

Parameters

can	handle on the bus
isActivated	pointer to fill with the information

Returns: status request information

◆ AGHAF_CAN_v2_Periodic_getCount()

uint8_t AGHAF_CAN_v2_Periodic_getCount ( AGHAF_CAN can )

Return the number of periodic message available on a CAN bus.

Parameters

can	handle on the bus

Returns: the number of periodic message available

◆ AGHAF_CAN_v2_Periodic_send()

AGHAF_Status AGHAF_CAN_v2_Periodic_send	(	AGHAF_CAN	can,
		uint8_t	frameDatalen,
		uint8_t const *const	frameData,
		uint8_t	frameFlags,
		uint32_t	frameIdent,
		uint8_t	index,
		uint8_t	flags,
		uint32_t	period
	)

Add a periodic message to send.

Parameters

can	handle on the bus
frameDatalen	data length from the frame
frameData	data from the frame
frameFlags	CAN flags from the frame
frameIdent	CAN identi from the frame
index	index in which to save the frame
flags	AGHAF_CAN_PERIODIC_FLAGS
period	period at which sending the frame (ms)

Returns: status request information

Note: A period of zero stops the priodic frame.

◆ AGHAF_CAN_v2_Periodic_send_v2()

AGHAF_Status AGHAF_CAN_v2_Periodic_send_v2	(	AGHAF_CAN	can,
		uint8_t	frameDatalen,
		uint8_t const *const	frameData,
		uint8_t	frameFlags,
		uint32_t	frameIdent,
		uint8_t	index,
		uint8_t	flags,
		uint32_t	offset,
		uint32_t	period
	)

Add a periodic message to send.

Parameters

can	handle on the bus
frameDatalen	data length from the frame
frameData	data from the frame
frameFlags	CAN flags from the frame
frameIdent	CAN identi from the frame
index	index in which to save the frame
flags	AGHAF_CAN_PERIODIC_FLAGS
offset	offset at which the periodic frame will start to be sent
period	period at which sending the frame (ms)

Returns: status request information

Note: A period of zero stops the priodic frame.

◆ AGHAF_CAN_v2_reject()

AGHAF_Status AGHAF_CAN_v2_reject	(	AGHAF_CAN	can,
		AGHAF_CAN_RejectType	rejectType,
		AGHAF_BOOL	rtr
	)

Set a global filter.

Parameters

can	handle on the bus
rejectType	type of reject desired
rtr

Returns: status request information

◆ AGHAF_CAN_v2_sendMessage()

AGHAF_Status AGHAF_CAN_v2_sendMessage	(	AGHAF_CAN	can,
		uint32_t	ident,
		uint8_t	flags,
		uint16_t	dataLen,
		uint8_t const *	data
	)

send data on a CAN bus

Parameters

can	handle on the CAN bus
ident	CAN identifier
flags	flags starting with AGHAF_CAN_MSG_
dataLen	length of data
data	data to send

Returns: status request information

Examples: Can_v2_FD/main.cpp, and Can_v2_LS/main.cpp.

◆ AGHAF_CAN_v2_setOnBusChangeCallback()

void AGHAF_CAN_v2_setOnBusChangeCallback	(	AGHAF_CAN	can,
		AGHAF_CAN_onBusChange	callback,
		void *	userContext
	)

set the callback called on a bus change event

Parameters

can	handle on the bus
callback	callback to be used for the event
userContext	context provided by the user for custom datas

Examples: Can_v2_FD/main.cpp, and Can_v2_LS/main.cpp.

◆ AGHAF_CAN_v2_setOnBusLoadCallback()

void AGHAF_CAN_v2_setOnBusLoadCallback	(	AGHAF_CAN	can,
		AGHAF_CAN_onBusLoad	callback,
		void *	userContext
	)

set the callback called on a bus noad event

Parameters

can	handle on the bus
callback	callback to be used for the event
userContext	context provided by the user for custom datas

Examples: Can_v2_FD/main.cpp, and Can_v2_LS/main.cpp.

◆ AGHAF_CAN_v2_setOnErrorCallback()

void AGHAF_CAN_v2_setOnErrorCallback	(	AGHAF_CAN	can,
		AGHAF_CAN_onError	callback,
		void *	userContext
	)

set the callback called on error event

Parameters

can	handle on the bus
callback	callback to be used for the event
userContext	context provided by the user for custom datas

Examples: Can_v2_FD/main.cpp, and Can_v2_LS/main.cpp.

◆ AGHAF_CAN_v2_setOnMessageRxCallback()

void AGHAF_CAN_v2_setOnMessageRxCallback	(	AGHAF_CAN	can,
		AGHAF_CAN_onMessageRx	callback,
		void *	userContext
	)

set the callback called on a rx event

Parameters

can	handle on the bus
callback	callback to be used for the event
userContext	context provided by the user for custom datas

Examples: Can_v2_FD/main.cpp, and Can_v2_LS/main.cpp.

◆ AGHAF_CAN_v2_setOnMessageTxCallback()

void AGHAF_CAN_v2_setOnMessageTxCallback	(	AGHAF_CAN	can,
		AGHAF_CAN_onMessageTx	callback,
		void *	userContext
	)

set the callback called on a tx event

Parameters

can	handle on the bus
callback	callback to be used for the event
userContext	context provided by the user for custom datas

Examples: Can_v2_FD/main.cpp, and Can_v2_LS/main.cpp.

◆ AGHAF_CAN_v2_setParam()

AGHAF_Status AGHAF_CAN_v2_setParam	(	AGHAF_CAN	can,
		AGHAF_CAN_Param	param,
		uint32_t	value
	)

Set the value from a CAN parameter.

Parameters

can	handle on the CAN bus
param	parameter to set
value	value to set

Returns: status request information

Examples: Can_v2_FD/main.cpp, Can_v2_LS/main.cpp, and DoCan_v2_FD/main.cpp.

◆ AGHAF_CAN_v2_supportedFilters()

AGHAF_Status AGHAF_CAN_v2_supportedFilters	(	AGHAF_CAN	can,
		uint16_t *	globalFilterCaps,
		AGHAF_CAN_FilterDesc **	values,
		uint16_t *	size
	)

Provide the supported filters from a CAN bus.

Parameters

can	handle on the bus
globalFilterCaps	pointer to fill with global cappabilites informations
values	pointer to fill with the datas
size	size from values arrays

Returns: status request information

Warning: the memory allocated in values must freed with AGHAF_CAN_Bus_freeSupportedFilters

◆ AGHAF_CAN_v2_supportedModes()

AGHAF_Status AGHAF_CAN_v2_supportedModes	(	AGHAF_CAN	can,
		AGHAF_CAN_Mode **	modes,
		uint8_t *	nbModes
	)

Request the supported modes from the CAN bus in parameter.

Parameters

can	handle on the bus
modes	pointer on the datas
nbModes	size from the modes array

Returns: status request information

Warning: the memory allocated in modes must freed with AGHAF_CAN_Bus_freeSupportedModes

◆ AGHAF_CAN_v2_supportedTerminations()

AGHAF_Status AGHAF_CAN_v2_supportedTerminations	(	AGHAF_CAN	can,
		uint32_t **	terminations,
		uint32_t *	nbTerminations
	)

Request the supported terminations from a CAN bus.

Parameters

can	handle on the bus
terminations	pointer on the datas
nbTerminations	size from the modes array

Returns: status request information

Warning: the memory allocated in terminations must freed with AGHAF_CAN_Bus_freeSupportedTerminations

◆ AGHAF_CAN_v2_supportedTerminationsLs()

AGHAF_Status AGHAF_CAN_v2_supportedTerminationsLs	(	AGHAF_CAN	can,
		uint32_t **	terminations,
		uint32_t *	nbTerminations
	)

Request the supported low speed terminations from a CAN bus.

Parameters

can	handle on the bus
terminations	pointer on the datas
nbTerminations	size from the modes array

Returns: status request information

Warning: the memory allocated in terminations must freed with AGHAF_CAN_Bus_freeSupportedTerminations