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    DriveWorks SDK Reference
    5.10.90 Release
    For Test and Development only

    •All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
    Data Structures | Typedefs | Functions
    CAN Plugin
    Sensors Interface » Plugins (Full)

    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_parseDataBuffer) (dwCANMessage *output, dwSensorPluginSensorHandle_t sensor)
     Processes the data previously passed via the 'dwSensorPlugin_pushData' interface. 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_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...
     

    Functions

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

    Data Structure Documentation

    ◆ dwSensorCANPluginFunctionTable

    struct dwSensorCANPluginFunctionTable
    Data Fields
    dwSensorCANPlugin_clearFilter clearFilter
    dwSensorCommonPluginFunctions common
    dwSensorCANPlugin_parseDataBuffer parseDataBuffer
    dwSensorCANPlugin_send send
    dwSensorCANPlugin_setFilter setFilter
    dwSensorCANPlugin_setUseHwTimestamps setUseHwTimestamps

    Typedef Documentation

    ◆ dwSensorCANPlugin_clearFilter

    typedef dwStatus(* dwSensorCANPlugin_clearFilter) (dwSensorPluginSensorHandle_t sensor)

    Reset the filter set by 'dwSensorCANPlugin_setFilter' interface.

    Parameters
    [in]sensorSpecifies the sensor.
    Returns
    DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
    DW_SUCCESS

    Definition at line 67 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]outputPointer to decoded CAN message
    [in]sensorSpecifies 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 147 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]msgA pointer to the message to be sent.
    [in]timeout_usSpecifies the timeout, in microseconds, to wait at most before giving up.
    [in]sensorSpecifies 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 131 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]canIDsA pointer to an array of CAN IDs to be filtered. Any matching CAN ID is used together with the mask to filter.
    [in]masksA 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]numCanIDsSpecifies the number of elements passed in the array. To remove the filter, pass 0.
    [in]sensorSpecifies 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 87 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]useSpecifies either 'true' or 'false' to enable or disable hardware timestamping.
    [in]sensorSpecifies 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 109 of file CANPlugin.h.

    Function Documentation

    ◆ dwSensorCANPlugin_getFunctionTable()

    dwStatus dwSensorCANPlugin_getFunctionTable ( dwSensorCANPluginFunctionTable *  functions)

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

    Parameters
    [out]functionsA pointer to the function table
    Returns
    DW_INVALID_ARGUMENT - if pointer to the function table is NULL.
    DW_SUCCESS
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