HAL FDCAN Use Cases

Prerequisite

@startuml skinparam backgroundColor #FFFFFF ' To add a number by line 'autonumber ' Fix order of each column participant "User Application" as App participant System == Prerequisite == App -> System:HAL_Init() note right Configure the Flash prefetch, the time base source and the NVIC end note System --> App:<color green> HAL_OK App -> System:SystemClock_Config() note right Configure system clock end note App <-- System: @enduml

Full FDCAN Initialization Sequence

@startuml participant "User application" as App participant "<font color=black><b>HAL FDCAN" as FDCAN #19DD3A participant "System driver" as System == FDCAN HAL Initialization == App -> FDCAN:HAL_FDCAN_Init() note right Initialize the FDCAN handle and associate an instance end note alt if (USE_HAL_FDCAN_CLK_ENABLE_MODEL > HAL_CLK_ENABLE_NO) FDCAN -> System:Enable the FDCAN clock FDCAN <-- System: end App <-- FDCAN:<font color=green>HAL_OK hnote over FDCAN <font color=green>Driver state is INIT end note alt if (USE_HAL_FDCAN_CLK_ENABLE_MODEL == HAL_CLK_ENABLE_NO) App-> System:Enable the FDCAN clock note right The application is free to enable the FDCAN clock before or after initialization end note App <-- System: end == FDCAN System Initialization== Note over FDCAN#lightyellow: FDCAN System initialization can be called before\nFDCAN HAL initialization alt#darkgrey #lightgrey If Interrupts needed App-> System : Enable needed Interrupts System-->App end alt#darkgrey #lightgrey If GPIO(s) needed App-> System : Initialization of GPIOs System-->App end == FDCAN Configuration== App -> FDCAN : HAL_FDCAN_SetConfig() Note right#lightyellow: Configure the FDCAN according to the application requirements App <-- FDCAN:<font color=green>HAL_OK hnote over FDCAN <font color=green>Driver state is IDLE end note @enduml

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Full FDCAN Initialization and Configuration Sequence

@startuml participant "User application" as App participant "<font color=black><b>HAL FDCAN" as FDCAN #19DD3A == FDCAN HAL Initialization == App -> FDCAN: HAL_FDCAN_Init() note right Initialize the FDCAN handle and associate an instance end note App <-- FDCAN:<color green>HAL_OK hnote over FDCAN <font color=green>Driver state is INIT end note == FDCAN Global configuration == App -> FDCAN : HAL_FDCAN_SetConfig() Note right#lightyellow: Configure the FDCAN according to the application requirements App <-- FDCAN:<color green>HAL_OK note over App <color orange><b> The application can start any process or execute any unitary configuration</b> end note hnote over FDCAN <font color=green>Driver state is IDLE end note == FDCAN unitary configurations == App-> FDCAN: HAL_FDCAN_Set/Get<Item>() FDCAN --> App:<color green>HAL_OK App-> FDCAN: HAL_FDCAN_Enable/Disable<Item>() FDCAN --> App:<color green>HAL_OK @enduml

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Full FDCAN Deinitialization Sequence

@startuml participant "User application" as App participant "<font color=black><b>HAL FDCAN" as FDCAN #19DD3A participant "System driver" as System == FDCAN HAL DeInitialization == App-> FDCAN : HAL_FDCAN_DeInit() note right Clear the interrupt lines, error code and user data end note App<--FDCAN: hnote over FDCAN <font color=green>Driver state is RESET end note == FDCAN System DeInitialization == App-> System : Disable NVIC note right When using interrupt end note App-> System : DeInitialization of GPIOs note right When using GPIOs end note App-> System : Disable FDCAN clock @enduml

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FDCAN Transmit Message Polling Mode Using HAL_FDCAN_GetTxFifoFreeLevel

@startuml participant "User application" as App#AliceBlue participant "<font color=black><b>HAL FDCAN" as FDCAN #19DD3A == Full FDCAN initialization and configuration sequence == App-> FDCAN: HAL_FDCAN_Start(&hfdcan) FDCAN --> App:<color green>HAL_OK Note over App#lightyellow: The application builds the Tx Header and Tx Data structure\n and buffer of the message to be transmitted. == FDCAN HAL Message Transmit == App-> FDCAN: HAL_FDCAN_ReqTransmitMsgFromFIFOQ(&hfdcan, &TxHeader, TxData) FDCAN --> App:<color green>HAL_OK loop#darkgrey #lightgrey until x == FREE_TX_BUFFER App-> FDCAN: HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan) FDCAN --> App: x Note over App#lightyellow: Up to three Tx buffers can be set up for message\n transmission (FREE_TX_BUFFER = 3) end @enduml

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FDCAN Transmit Message Polling Mode Using HAL_FDCAN_GetTxBufferMessageStatus

@startuml participant "User application" as App participant "<font color=black><b>HAL FDCAN" as FDCAN #19DD3A == HAL FDCAN2 Transmit a message using FIFO/Queue == Note over App #lightyellow: The application builds the header and data structures\nof the message to be transmitted. hnote over FDCAN <font color=green>Driver state is IDLE end hnote App -> FDCAN: HAL_FDCAN_Start() FDCAN --> App: <font color=green>HAL_OK hnote over FDCAN <font color=green>Driver state is ACTIVE end hnote loop For each message to transmit App -> FDCAN: HAL_FDCAN_ReqTransmitMsgFromFIFOQ() note right Add a message to the Tx FIFO/Queue and activate the transmission request end note FDCAN --> App: <font color=green>HAL_OK end loop While HAL_FDCAN_BUFFER_PENDING on a specific FIFO/Queue buffer App -> FDCAN: HAL_FDCAN_GetTxBufferMessageStatus() note right The application checks if the message has been transmitted from the FIFO/Queue. end note alt Message not yet transmitted FDCAN --> App: HAL_FDCAN_BUFFER_PENDING note right The transmit buffer is not empty - message still pending end note else Message transmitted FDCAN --> App: HAL_FDCAN_BUFFER_NOT_PENDING note right The transmit buffer is empty - message sent end note destroy App end end @enduml

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FDCAN Reading Message Polling Mode Using HAL_FDCAN_GetRxFifoFillLevel

@startuml participant "User application" as App#AliceBlue participant "<font color=black><b>HAL FDCAN" as FDCAN #19DD3A participant "System Driver" as Driver#AliceBlue == HAL FDCAN Polling Message Receive == Note over App#lightyellow: The acceptance filters have been configured. hnote over FDCAN <font color=green>Diver state is ACTIVE end note App -> Driver: HAL_GetTick() note right Get the current time endnote Driver --> App: starting_time loop#darkgrey if fifo_level != 1 Note over App #lightyellow: Because one single message is expected, the number of element stored\nin Rx FIFO 0 is 1. App -> FDCAN: HAL_FDCAN_GetRxFifoFillLevel() note right Retrieve the Rx FIFO fill level endnote Driver --> App: fifo_level App -> Driver: HAL_GetTick() Note over App#lightyellow: The timeout will trigger if the elapsed time\n is more than the MAX_TIMEOUT value defined by the application. alt current_time - starting_time < MAX_TIMEOUT Driver --> App: current_time else timeout occured Driver-->App: break destroy App end end App -> FDCAN: HAL_FDCAN_GetReceivedMessage() note right Retrieve an FDCAN frame from the Rx FIFO endnote FDCAN --> App:<color green>HAL_OK note left The application can process the received data or error end note @enduml

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FDCAN Transmission with IT Using Tx Complete/Tx Cancellation Interrupts

@startuml participant "User application" as App#AliceBlue participant "<font color=black><b>HAL FDCAN" as FDCAN #19DD3A participant "FDCAN_IRQHandler" as IRQHandler#AliceBlue == Full FDCAN initialization and configuration sequence == App -> FDCAN: HAL_FDCAN_Start(handle) FDCAN --> App:<color green>HAL_OK == FDCAN HAL Message Transmit on IT == Note over App#lightyellow: This sequence diagram shows how Tx Complete or Tx Abort events from Tx Buffer 0 trigger interrupts on Line 1. Both interrupts are part of HAL_FDCAN_IT_GROUP_STATUS_MSG group. FDCAN --> App:<color green>HAL_OK App -> FDCAN: HAL_FDCAN_EnableInterruptLines(handle, HAL_FDCAN_IT_LINE_1) FDCAN --> App:<color green>HAL_OK App -> FDCAN: HAL_FDCAN_EnableInterrupts(handle, HAL_FDCAN_IT_TX_COMPLETE | HAL_FDCAN_IT_TX_ABORT_COMPLETE) FDCAN --> App:<color green>HAL_OK Note over App#lightgreen: For Transmission Completed and Transmission Cancellation Finished interrupts,\na buffer index must be provided to indicate on which buffer the interrupt will occur:\nHAL_FDCAN_TX_IT_BUFFER_0 in the present example. alt#darkgrey #lightgrey if interrupt = HAL_FDCAN_IT_TX_COMPLETE App -> FDCAN: HAL_FDCAN_EnableTxBufferCompleteInterrupts(handle, HAL_FDCAN_TX_IT_BUFFER_0) FDCAN --> App:<color green>HAL_OK else interrupt = HAL_FDCAN_IT_TX_ABORT_COMPLETE App -> FDCAN: HAL_FDCAN_EnableTxBufferCancellationInterrupts(handle, HAL_FDCAN_TX_IT_BUFFER_0) FDCAN --> App:<color green>HAL_OK end App -> FDCAN: HAL_FDCAN_Start(handle) FDCAN --> App:<color green>HAL_OK Note over App#lightyellow: The TxHeader and TxData are configured. Because there is only a single\ntx message TX BUFFER 0 will be the default buffer used for transmission. App -> FDCAN: HAL_FDCAN_ReqTransmitMsgFromFIFOQ(handle, &TxHeader, &TxData) FDCAN --> App:<color green>HAL_OK alt#darkgrey #lightgrey if interrupt = HAL_FDCAN_IT_TX_COMPLETE App-[hidden]->App activate App Note over IRQHandler#lightgreen: The interrupt Tx complete event from the system can be processed by IRQ Handler. IRQHandler <- : FDCAN interrupt Tx Complete IRQHandler -> FDCAN: HAL_FDCAN_IRQHandler App -> App: wait for an event from Tx Complete callback FDCAN -> App: HAL_FDCAN_TxBufferCompleteCallback() App --> FDCAN: FDCAN --> IRQHandler: IRQHandler --> : App-[hidden]->App deactivate App else interrupt = HAL_FDCAN_IT_TX_ABORT_COMPLETE App-[hidden]->App activate App Note over IRQHandler#lightgreen: The interrupt Tx cancellation finished event from the system can be processed by IRQ Handler. IRQHandler <- : FDCAN interrupt Tx Cancellation Finished IRQHandler -> FDCAN: HAL_FDCAN_IRQHandler App -> App: wait for an event from Tx cancellation finished callback FDCAN -> App: HAL_FDCAN_TxBufferAbortCallback() App --> FDCAN: FDCAN --> IRQHandler: IRQHandler --> : deactivate App App-[hidden]->App end Note over App#lightgreen: The User application must disable the buffer connected to the interrupt. alt#darkgrey #lightgrey if interrupt = HAL_FDCAN_IT_TX_COMPLETE App -> FDCAN: HAL_FDCAN_DisableTxBufferCompleteInterrupts(handle, HAL_FDCAN_TX_IT_BUFFER_0) FDCAN --> App:<color green>HAL_OK else interrupt = HAL_FDCAN_IT_TX_ABORT_COMPLETE App -> FDCAN: HAL_FDCAN_DisableTxBufferCancellationInterrupts(handle, HAL_FDCAN_TX_IT_BUFFER_0) FDCAN --> App:<color green>HAL_OK end App -> FDCAN: HAL_FDCAN_DisableInterrupts(handle, HAL_FDCAN_IT_TX_COMPLETE | HAL_FDCAN_IT_TX_ABORT_COMPLETE) FDCAN --> App:<color green>HAL_OK App -> FDCAN: HAL_FDCAN_DisableInterruptLines(handle, HAL_FDCAN_IT_LINE_1) FDCAN --> App:<color green>HAL_OK @enduml

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FDCAN Receiving Message Using the Rx High-Priority Message Interrupt (HPME)

@startuml participant "User application" as App#AliceBlue participant "<font color=black><b>HAL FDCAN" as FDCAN #19DD3A participant "NVIC" as NVIC#AliceBlue == FDCAN HAL Receive High priority message with IT == hnote over FDCAN <font color=green>Diver state is IDLE end note note over App: Create filters element to select the Rx High Priority message. App->FDCAN: HAL_FDCAN_SetFilter() FDCAN-->App:<color green> HAL_OK note over App The application can create specific acceptance rules for the messages selected by the filters end note App -> FDCAN: HAL_FDCAN_SetGlobalFilter() FDCAN --> App:<color green> HAL_OK App -> FDCAN: HAL_FDCAN_EnableInterrupts(handle, HAL_FDCAN_IT_RX_HIGH_PRIORITY_MSG) FDCAN --> App:<color green> HAL_OK App -> FDCAN: HAL_FDCAN_SetInterruptGroupsToLine(handle, HAL_FDCAN_IT_GROUP_STATUS_MSG, HAL_FDCAN_IT_LINE_[0|1]) Note right Assign the interrupt Status Message Group to an interrupt Line. endnote FDCAN --> App:<color green> HAL_OK App -> FDCAN: HAL_FDCAN_EnableInterruptLines(handle, HAL_FDCAN_IT_LINE_[0|1]) FDCAN --> App:<color green> HAL_OK App -> FDCAN: HAL_FDCAN_Start() FDCAN --> App:<color green> HAL_OK hnote over FDCAN <font color=green>Diver state is ACTIVE end note App[#FFFFFF]-> App activate App #1000DA hnote over App <font color=blue>reception ongoing... end note NVIC <- : FDCAN interrupt High Priority Message received NVIC -> FDCAN: HAL_FDCAN_IRQHandler FDCAN -> App: HAL_FDCAN_HighPriorityMessageCallback() App --> FDCAN: deactivate App FDCAN --> NVIC: NVIC --> : App -> FDCAN: HAL_FDCAN_GetReceivedMessage() note right Retrieve an FDCAN frame from the Rx FIFO endnote FDCAN --> App:<color green> HAL_OK App -> FDCAN: HAL_FDCAN_DisableInterruptLines(handle, HAL_FDCAN_IT_LINE_[0|1]) FDCAN --> App:<color green> HAL_OK App -> FDCAN: HAL_FDCAN_DisableInterrupts(handle, HAL_FDCAN_IT_RX_HIGH_PRIORITY_MSG) FDCAN --> App:<color green> HAL_OK @enduml

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FDCAN Transmit Abort Using Transmission Cancellation Finished Interrupt

@startuml participant "User application" as App#AliceBlue participant "<font color=black><b>HAL FDCAN" as FDCAN #19DD3A participant "NVIC" as NVIC#AliceBlue == FDCAN HAL IT Transmit Cancellation complete == Note over App#lightyellow: The acceptance filters, headers and data structres have been\nconfigured, the driver is initialized and configured hnote over FDCAN <font color=green>Driver state is ACTIVE end note App -> FDCAN: HAL_FDCAN_EnableInterrupts(handle, HAL_FDCAN_IT_TX_ABORT_COMPLETE) FDCAN -->App : <color green>HAL_OK App -> FDCAN: HAL_FDCAN_SetInterruptGroupsToLine(handle, HAL_FDCAN_IT_GROUP_STATUS_MSG, HAL_FDCAN_IT_LINE_[0|1] ) FDCAN -->App : <color green>HAL_OK App -> FDCAN: HAL_FDCAN_EnableInterruptLines(handle, HAL_FDCAN_IT_LINE_[0|1]) FDCAN -->App : <color green>HAL_OK App -> FDCAN: HAL_FDCAN_ReqTransmitMsgFromFIFOQ() FDCAN -->App : <color green>HAL_OK Note over App: <color orange><b>The application wants to abort the last message added to the fifo before being sent</b> App -> FDCAN: HAL_FDCAN_GetLatestTxFifoQRequestBuffer() note right Get the last buffer sent for transmission. endnote FDCAN --> App: <color black>selected buffer App -> FDCAN: HAL_FDCAN_EnableTxBufferCancellationInterrupts(handle, HAL_FDCAN_TX_IT_BUFFER_0) FDCAN -->App : <color green>HAL_OK App -> FDCAN : HAL_FDCAN_ReqAbortOfTxBuffer(handle, HAL_FDCAN_TX_IT_BUFFER_0) FDCAN -->App : <color green>HAL_OK ... NVIC <- : FDCAN interrupt Transmission Cancellation finished note left The cancellation of the selected buffer has just finished endnote NVIC -> FDCAN : HAL_FDCAN_IRQHandler FDCAN -> App : HAL_FDCAN_TxBufferAbortCallback() App --> FDCAN : FDCAN --> NVIC: NVIC --> : App -> FDCAN: HAL_FDCAN_DisableTxBufferCancellationInterrupts(handle, HAL_FDCAN_TX_IT_BUFFER_0) FDCAN -->App : <color green>HAL_OK App -> FDCAN: HAL_FDCAN_DisableInterrupts(handle, HAL_FDCAN_IT_TX_ABORT_COMPLETE) FDCAN -->App : <color green>HAL_OK App -> FDCAN: HAL_FDCAN_DisableInterruptLines(handle, HAL_FDCAN_IT_LINE_[0|1]) FDCAN -->App : <color green>HAL_OK @enduml

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