HAL FDCAN use cases ¶

Prerequisite ¶

@startuml

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'autonumber

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participant "User Application" as part1

participant "HAL GENERIC" as part2

participant "HAL RCC" as part3

== Prerequisite ==

part1 -> part2 : HAL_Init

part2 --> part1

part1 -> part3 : Configure system clock

part3 --> part1

@enduml

Full FDCAN Initialization Sequence ¶

$@startuml participant App as "User application"#AliceBlue participant "HAL FDCAN" as FDCAN#AliceBlue participant "HAL CORTEX\n (NVIC)" as NVIC#AliceBlue participant "HAL RCC" as RCC#AliceBlue participant "HAL GPIO" as GPIO#AliceBlue == FDCAN HAL Initialization == App -> FDCAN : HAL_FDCAN_Init alt#darkgrey #lightgrey If USE_HAL_FDCAN_ENABLE_MODEL > HAL_CLK_ENABLE_NO FDCAN -> RCC : Enable the FDCAN clock RCC --> FDCAN end App <-- FDCAN : HAL_OK == FDCAN System Initialization== Note over FDCAN#lightyellow: FDCAN System initialization can be called before\nFDCAN HAL initialization alt#darkgrey #lightgrey If Interrupts needed App-> NVIC : Enable needed Interrupts NVIC-->App end alt#darkgrey #lightgrey If GPIO(s) needed App-> GPIO : Initialization of GPIOs GPIO-->App end alt#darkgrey #lightgrey If USE_HAL_FDCAN_ENABLE_MODEL > HAL_CLK_ENABLE_NO App -> RCC : Enable the FDCAN clock RCC --> App end == FDCAN Configuration== App -> FDCAN : HAL_FDCAN_SetConfig App <-- FDCAN :HAL_OK Note over App#lightyellow: Driver state is IDLE. The application can start the process\n or execute any configuration @enduml$

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Full FDCAN Initialization and Configuration Sequence ¶

$@startuml participant App as "User application"#AliceBlue participant "HAL FDCAN" as FDCAN#AliceBlue participant "System Driver" as Driver#AliceBlue == FDCAN HAL Initialization == App -> FDCAN: HAL_FDCAN_Init FDCAN --> App: HAL_OK == FDCAN Gloabal cand unitary configuration == App -> FDCAN: HAL_FDCAN_SetConfig App <-- FDCAN: HAL_OK Note over App#lightyellow: At this point, the init and global config have successfully\npassed. Unitary configurations may be executed. App-> FDCAN: HAL_FDCAN_SetConfigXXX FDCAN --> App: HAL_OK App-> FDCAN: HAL_FDCAN_EnableXXX FDCAN --> App: HAL_OK @enduml$

Functions called:

HAL_FDCAN_Init()
HAL_FDCAN_SetConfig()
HAL_FDCAN_SetConfigXXX()
HAL_FDCAN_EnableXXX()

Full FDCAN Deinitialization Sequence ¶

Functions called:

HAL_FDCAN_DeInit()

FDCAN Transmit Message Polling Mode Using HAL_FDCAN_GetTxFifoFreeLevel ¶

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

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FDCAN Transmit Message Polling Mode Using HAL_FDCAN_GetTxBufferMessageStatus ¶

$@startuml participant "User application" as App#AliceBlue participant "HAL FDCAN" as FDCAN#AliceBlue == Full FDCAN initialization and configuration sequence == App -> FDCAN: HAL_FDCAN_Start(&hfdcan) FDCAN --> App: HAL_OK Note over App#lightyellow: The application builds the header and data structures\n of the message to be transmitted. One message is sent. App-> FDCAN: HAL_FDCAN_ReqTransmitMsgFromFIFOQ(&hfdcan, &TxHeader, TxData) FDCAN --> App: HAL_OK loop#darkgrey #lightgrey While HAL_FDCAN_BUFFER_PENDING App -> FDCAN: HAL_FDCAN_GetTxBufferMessageStatus(&hfdcan, HAL_FDCAN_TX_BUFFER0) Note over App#lightyellow: Because it is the first sent message, the user must check the\n right used buffer (HAL_FDCAN_TX_BUFFER0) in that case. FDCAN --> App: HAL_FDCAN_BUFFER_NOT_PENDING else message not yet sent FDCAN --> App: HAL_FDCAN_BUFFER_PENDING end @enduml$

Functions called:

FDCAN Reading Message Polling Mode Using HAL_FDCAN_GetRxFifoFillLevel ¶

$@startuml participant "User application" as App#AliceBlue participant "HAL FDCAN" as FDCAN#AliceBlue participant "System Driver" as Driver#AliceBlue == Full FDCAN initialization and configuration sequence == App -> FDCAN: HAL_FDCAN_Start(&hfdcan) FDCAN --> App: HAL_OK == FDCAN HAL Message Receive == Note over App#lightyellow: One single filter has been set by the user via HAL_FDCAN_SetFilter() so that\nthe correct message is correctly delivered toHAL_FDCAN_RX_FIFO0. The\nuser configures a timeout to avoid an endless reading loop. App -> Driver: HAL_GetTick() Driver --> App: tick_value0 loop#darkgrey until fifo_level != 1 Note over App#lightyellow: Because one single message is expected, the number of element stored\nin Rx FIFO 0 is 1. App -> FDCAN: HAL_FDCAN_GetRxFifoFillLevel(&hfdcan, HAL_FDCAN_RX_FIFO0) Driver --> App: fifo_level alt#darkgrey #lightgrey while tick_value - tick_value0 < TX_FAST_TIMEOUT Note over App#lightyellow: The timeout will trigger if the elapsed time is more than\nthe TX_FAST_TIMEOUT value set by user. App -> Driver: HAL_GetTick() Driver --> App: tick_value else timeout occured App-> Driver: break end end alt#darkgrey #lightgrey until status = HAL_OK App -> FDCAN: HAL_FDCAN_GetReceivedMessage(&hfdcan1, FDCAN_RX_FIFO0, &RxHeader, RxData) FDCAN --> App: HAL_OK else status != HAL_OK FDCAN --> App: HAL_ERROR App -> FDCAN: HAL_FDCAN_GetLastErrorCodes() FDCAN --> App: (HAL_FDCAN_ERROR_XXX | HAL_FDCAN_ERROR_YYY) end @enduml$

Functions called:

FDCAN Transmission with IT Using Tx Complete/Tx Cancellation Interrupts ¶

$@startuml participant "User application" as App#AliceBlue participant "HAL FDCAN" as FDCAN#AliceBlue participant "FDCAN_IRQHandler" as IRQHandler#AliceBlue == Full FDCAN initialization and configuration sequence == App -> FDCAN: HAL_FDCAN_Start(&hfdcan) FDCAN --> App: HAL_OK == FDCAN HAL Message Transmit on IT == Note over App#lightyellow: This sequence diagram represents the mechanism for interrupt\non Tx complete or Tx Abort event linked to Tx buffer 0 and redirect it to\nInterrupt Line1 (group and IT's are set for fdcan2). The interrupt can be\n HAL_FDCAN_IT_TX_COMPLETE or HAL_FDCAN_IT_TX_ABORT_COMPLETE. App -> FDCAN: HAL_FDCAN_SetInterruptGroupsToLine(&hfdcan1, interrupt_group, HAL_FDCAN_ENABLE_IT_LINE1) FDCAN --> App: HAL_OK Note over App#lightyellow: Enable Interrupt Line 1 (ILE - EINT1) App -> FDCAN: HAL_FDCAN_EnableInterruptLines(&hfdcan1, HAL_FDCAN_ENABLE_IT_LINE1) FDCAN --> App: HAL_OK Note over App#lightyellow: Enable the Transmission Completed interrupt (IE - TCE) App -> FDCAN: HAL_FDCAN_EnableInterrupts(&hfdcan1, interrupt) FDCAN --> App: 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(&hfdcan1, HAL_FDCAN_TX_IT_BUFFER_0) FDCAN --> App: HAL_OK else interrupt = HAL_FDCAN_IT_TX_ABORT_COMPLETE App -> FDCAN: HAL_FDCAN_EnableTxBufferCancellationInterrupts(&hfdcan1, HAL_FDCAN_TX_IT_BUFFER_0) FDCAN --> App: HAL_OK end App -> FDCAN: HAL_FDCAN_Start(&hfdcan1) FDCAN --> App: 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(&hfdcan1, &TxHeader, &TxData) FDCAN --> App: HAL_OK activate App Note over IRQHandler#lightgreen: Depending of the configured interrupt TX_COMPLETE or\nTX_ABORT_COMPLETE, the right event will come from\nsystem and be processed by IRQ Handler. IRQHandler <- : FDCAN interrupt Tx Complete/\nFDCAN interrupt Tx Cancellation Finished IRQHandler -> FDCAN: HAL_FDCAN_IRQHandler App -> App: wait for an event from Tx Complete callback Note over FDCAN#lightgreen:The IRQ handler calls the right callback according to the\nappropriate configured interrupt source. FDCAN -> App: HAL_FDCAN_TxBufferCompleteCallback()/\nHAL_FDCAN_TxBufferAbortCallback() App --> FDCAN: deactivate App FDCAN --> IRQHandler: IRQHandler --> : Note over App#lightgreen: For Transmission Completed and Transmission Cancellation Finished interrupts,\na buffer index must be provided to indicate on which buffer to disable the interrupt:\nHAL_FDCAN_TX_IT_BUFFER_0 in the present example. alt#darkgrey #lightgrey if interrupt = HAL_FDCAN_IT_TX_COMPLETE App -> FDCAN: HAL_FDCAN_DisableTxBufferCompleteInterrupts(&hfdcan1, HAL_FDCAN_TX_IT_BUFFER_0) FDCAN --> App: HAL_OK else interrupt = HAL_FDCAN_IT_TX_ABORT_COMPLETE App -> FDCAN: HAL_FDCAN_DisableTxBufferCancellationInterrupts(&hfdcan1, HAL_FDCAN_TX_IT_BUFFER_0) FDCAN --> App: HAL_OK end App -> FDCAN: HAL_FDCAN_DisableInterrupts(&hfdcan1, interrupt) FDCAN --> App: HAL_OK App -> FDCAN: HAL_FDCAN_DisableInterruptLines(&hfdcan1, HAL_FDCAN_ENABLE_IT_LINE1) FDCAN --> App: HAL_OK @enduml$

Functions called:

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

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FDCAN Transmit Abort Using Transmission Cancellation Finished Interrupt ¶

Functions called: