Ho7000 Series Communication Manual
Contents
1. Register Argument number R4 First argument R5 Second argument R6 Third argument R7 Fourth argument General register RO is used for the return value The values of general registers RO R7 PR FRO FR11 FPUL and FPSCR cannot be guaranteed before and after calling the communication service If you use these registers they must be saved before the call and restored after the call 5 9 Notes on Assembler Use When the COM is initialised from an assembler routine call each initialisation processing of a MA Init PFC function etc by JSR Although assembly language can describe Evb and Mcs groups of a configuration file be sure to describe Hcan Msg and Net groups in the C language 38 6 API DESCRIPTION The interface of the communication service is described below Refer to section 5 8 on an assembler interface 6 1 Standard Interface 6 1 1 StartCOM Syntax StatusType StartCOM void Parameter In None Parameter Out None Description COM is initialised In the end this service calls call back function Messagelnit Error Status Standard No error E OK Extended Code added as extended status None 39 6 1 2 Messagelnit Syntax StatusType Messagelnit void Parameter In None Parameter Out None Description COM calls this function automatically by StartCOM service This function is provided by the occallb c file Rewrite if needed Error Status Stan2. sssssssssssssssesesessssssssssssesssecasssscscsssssssssccscasscscsssssssecessasacssssssssssessseseassoessasasssssssssessseasasessssssseee 33 5 3 jn C 34 5 3 1 iG NOI RREREH Q 34 5 3 2 Interr pt Priority Eeve A eeitn cortar oitastkestsest ta tre EE ERE ERE I ERR ERR ERR RR RED 34 5 4 User Code 5 4 1 Initialisation processing 5 4 2 Call Back Functions 5 5 Interface to OS 37 5 5 1 Interrupt Py 5 5 2 PAL EUaMEL dnm 37 5 6 Resistens e 37 5 7 Nr 37 5 8 Calling a Communication Service From an Assembler Routine eee eee eerte tenente tata tanus 38 5 9 Notes on Assembler M 8 S M 38 6 API DESCRIPTION sc soci sccedseceiescocscaesdsecessscavsceesdeccessaceesaeddecceectderscceedeccesescnreceestaees 39 6 1 Standard Interface 6 1 1 StartCOM 39 6 1 2 Messagelnit 6 1 3 SendMessage 6 1 4 ReceiveMessage 42 6 1 5 GEMES SAES tats ri Ea a ene ean an ane una aia o noes 42 6 2 Original Interface Functions 6 2 1 OC SendMsgToNetPer 6 2 2 OC Mixed LxEVal te tee EYE EYE NEXT VY EYE SEEKS E NEN SET ER NS EEK SEXE RUE R oe Y a eva ad VE BPPENDIX em E 45 7 1 Communication Service Return Codes eerie eee esee e eese eee ee etna sensns tasas tns tos tse ta stats t
3. OS Operating System OSEK Open systems and the corresponding interfaces for automotive electronics SW Software VDX Vehicle Distributed eXecutive 1 3 COM Overview The OSEK COM is one of SW components specified by the OSEK Standard The other components are the operating system OS and the network management module NM All three components provide functionality common to automotive applications Figure 1 1 shows a system concept for automotive applications In a car there are a number of ECUs exchanging information over a CAN network Each ECU is dedicated to the control of a certain mechanical component or subsystem in the car For instance ECU 1 may be the Engine Management Controller ECU 2 the Gearbox Controller etc Higher level functionality in the car may be distributed over several ECUs Network Figure 1 1 System Concept for Automotive Applications The internal structure of an ECU is shown in Figure 1 2 APPLICATION COM API OS NM IF NM COM IF COM Driver IF HW Drivers Communication HW Drivers rivers A Other Peripheral HW Communication HW Other Peripheral HW Network Figure 1 2 Internal SW Structure of an ECU The COM controls the communication both within the ECU and between ECUs It provides the application with services for sending and receiving messages The API is uniform for services exchanging messages within a node and between nodes The COM component can be implemented with compa
4. There are two kinds of notification methods e COM sets an event when the operation is finished e COM activates a task when the operation is finished 15 3 2 4 Transmission Modes The COM offers the following transmission modes e Direct Periodical only CCC1 e Mixed only CCC1 Table 3 2 Message Transmission Modes Direct Message transmission is requested by each call by issuing SendMessage Periodical Message transmission is requested by a dedicated task activated by a cyclic alarm only CCCI Mixed Message transmission is requested by a dedicated task activated by a cyclic alarm only CCC1 In addition message transmission is conditionally The condition is user defined 3 2 1 4 Direct A transmitted message is unconditionally transmitted by issuing SendMessage Direct transmission is available for messages of types Local and To Net 3 2 4 2 Periodical When CCC1 is used periodic transmission using alarm can be performed by combining with OS A transmission message is transmitted periodically In this mode the communication service SendMessage does not initiate the transmission to the net It only updates the message data The transmission to net is initiated by a periodically activated task The task and the alarm must be defined by the user The periodic task initiates transmission through a special Send service that is not a formal part of the COM API This service is named OC SendMsgToNetPer T
5. COM configuration files and sample files generated by the COM Configurator Os Sample OS configuration files generated by the OS Configurator The Com group may be further subdivided into Evb Sample files related to the target HW set up Hcan HCAN driver files Mes Sample CPU initialisation and section initialisation files Msg Message package files Net Net package files 30 If required rewrite the following files Note that they are overwritten whenever these files generate a COM configuration file by COM Configurator 4 2 1 Evb Table 4 1 Evb Group File Description int_hndl c Interrupt handler ma_cpu c Hardware initialisation processing ma_cpu h Hardware initialisation header ma_int c Interrupt initialisation ma_int h Interrupt initialisation header ma_io c Port setting ma_io h Port setting header ma pfc c Pin function controller PFC setting ma pfc h Pin function controller PFC setting header makeapp h Macro 4 2 2 Hcan Table 4 2 Hcan Group File Description ma hcanl c HCAN channel 0 processing ma hcanl h HCAN channel 0 header ma hcan2 c HCAN channel 1 processing ma hcan2 h HCAN channel 1 header mac h HCAN macro macanl h HCAN channel 0 macro macan2 h HCAN channel 1 macro 31 4 2 3 Mcs Table 4 3 Mcs Group File Description dbsct src Section initialisation definition hwsetup src Hardw
6. The ISR returns 3 5 3 Shut Down The COM cannot be shut down When initialising COM issue the StartCOM communication service again 26 3 5 4 Error Handling The following error mechanisms are provided e Error codes returned from communication service e Error interrupts related to the HCAN device e Exceptions 3 5 4 1 Error Codes The COM can operate in one of the following two error modes e Standard Status Mode e Extended Status Mode The COM with extended status is used in the development and debugging of applications the COM with standard status is used in fully debugged systems Section 7 1 gives a summary of the error codes returned by COMMUNICATION services 27 3 5 4 2 Error Interrupt The HCAN module may generate interrupts as described below Table 3 3 Interrupts from the HCAN Module Interrupt Cause Default Setting Configurator Setting Received message Available reserved for COM Impossible Unread mail Available reserved for COM user Impossible code can be added Transmission mailbox empty Available reserved for COM Impossible Reset Available can be changed by the Impossible user Overload frame Unavailable Possible Bus off Unavailable Possible Error passive Unavailable Possible Bus receive overload warning Unavailable Possible Bus transmit overload warning Unavailable Possible Remote frame request Unavailable Possible Bus operation request Unavailab
7. level e HCAN Interrupt Level Both channels 0 and 1 of the HCAN module should be set to the same interrupt priority level The HCAN interrupt level should be set to the same COM interrupt level Refer to ma_int c provided as a sample for the setting method 5 4 User Code The COM configuration file is generated by the COM Configurator However the user can add some user codes to the following processing e nitialisation processing e Call back functions e HCAN interrupts that are not reserved by COM 5 4 1 Initialisation processing MA Init PFC This function exists in ma pfc c This function is called from main c provided as a sample MA Init CPU This function exists in ma cpu c This function is called from main c provided as a sample MA Init IOQ This function exists in ma io c This function is called from main c provided as a sample MA Init INT This function exists in ma int c This function is called from main c provided as a sample 5 4 2 Call Back Functions Messagelnit This function exists in occallb c This function is called from the StartCOM service Refer to section 6 1 2 for details OC MixedTxEval This function exists in occallb c This function is called from within COM when a message is transmitted in the mixed transmission mode Refer to section 6 2 2 for details 35 5 4 8 HCAN ISR The user can add codes that handle interrupts from the HCAN For details on interrupt causes refer t
8. the message for periodical or mixed transmission can be used This service must be called from task activated periodically The SendMessage service must be issued before transmitting to a network periodically by this service Message data transmitted by SendMessage communication service is transmitted periodically When not issuing SendMessage service this service does not return an error but transmits undefined data to a network Error Status Standard No error OC ILOpResOK Message is locked OC ILOpResMsgDsInUse Alarm for deadline monitoring could not be OC ILOpResError started Transmission was denied by the net package OC ILOpResNetTxDenied Extended Code added as extended status Invalid message OC ILOpResError 43 6 2 2 OC MixedTxEval Syntax OC CallbStatusT OC MixedTxEval OC SymbolicNameT lt pMsgH gt Parameter In pMsgH Message name Parameter Out None Description The purpose is to evaluate a condition that tells COM whether to initiate or not a transmission to network Only the message for mixed transmission can be used This function is automatically called within COM at the time of the message transmission by SendMessage service Since this function is provided by the occallb c file the application programmer is responsible for adding the code that evaluates the transmission condition Since pMsgH is not an integer a judgement by the switch statement cannot be performed It can judge by the if
9. D Transmission was denied by the net 64 H 40 package E COM SYS EVENT SETTING DENIED An event could not be set as notification 65 H 41 E COM SYS TASK ACTIVATION DENIED A task could not be started as notification 66 H 42 E COM SYS ALARM START DENIED An alarm for deadline monitoring could 67 H 43 not be started E COM SYS UNEXPECTED STATE Reserved not used 68 H 44 E COM SYS MSG INIT FAILED Initialise failed 69 H 45 OC ILOpResOK No error 256 H 100 OC ILOpResError Invalid message 257 H 101 Alarm for deadline monitoring could not be started OC ILOpResMsgDsInUse Message is locked 258 H 102 OC ILOpResNetTxDenied Transmission was denied by the net 259 H 103 package OC ILOpResMsgUnexpectedState Reserved not used 260 H 104 OC_ILOpResToNetMsgNotSupported Reserved not used 261 H 105 OC_ILOpResFrNetMsgNotSupported Reserved not used 262 H 106 OC_TxCondIsSendD Initiate a transmission to net 1 H 1 OC_TxCondIsNoSendD Do NOT initiate a transmission to net 2 H 2 Note Original function 46 7 3 Communication Service Calls In calling a program Yes shows communication service which can be issued means that operation is not guaranteed Table 7 3 Communication Service Calls Communication Before CCCO CCC1 service COM Task ISR Error PreTask PostTas Startu Shutdown ini
10. DX Message transmission modes and deadline monitoring 2 2 Conformance Class The function corresponding to the conformance class of OSEK Communication specification is shown by W Table 2 1 Conformance Classes Functions and Services Conformance Classes CCCO CCCI1 Transmission Direct v v concept Periodical v Mixed v Communication deadline monitoring v Messages Unqueued v v Protocols UUDT undivided v v message Services SendMessage v v ReceiveMessage v v GetMessageStatus v v Notification Task activation v Event setting v CCCO Provides the minimum services and functions to ECU internal and inter ECU communication The OS is not indispensable CCCI Provides periodical transmission mixed transmission deadline monitoring and notification mechanism The OS is indispensable 2 3 Communication Bus The COM is implemented for a communication bus of CAN hereafter referred to as a bus The COM uses HCAN as communication HW The COM does not operate on other communication HW and buses 11 2 4 Operating System The COM can be used with the OS of corresponding Ho7000 series The COM cannot be used by combining with other OSs 2 5 Notes 1 The COM includes drivers for the HCAN devices that are built in the CPU The drivers are not parts of the OSEK COM standard but do not remove them because they are required for the COM operation 2 Refer to the he
11. S Configurator Table 5 3 Category Rule Interrupt CCCO CCCI HCAN interrupt Category 1 Category 2 Other interrupts Category 1 or2 Category 1 or2 5 5 2 Alarm and Task Cyclic alarm and task for a periodic and the mixed transmission modes must be prepared by user application The task needs to be registered into OS Configurator 5 6 Registers The values of general registers RO R7 FRO FR11 FPUL and FPSCR cannot be guaranteed in the communication service If you use these registers after a communication service call they must be saved beforehand 5 7 Stack The COM never changes the stack Therefore add stack size of each service to the stack of the program which calls communication service Moreover add the interrupt stack size of each interrupt to the interrupt stack Refer to the Ho7000 Series Release Notes for details on stack size The FRO FR11 FPUL and FPSCR registers are only valid for the processor with Floating Point Unit FPU 37 5 8 Calling a Communication Service From an Assembler Routine Communication services may be called from assembler routines In this case the application programmer must branch to the start address of each communication service by the JSR command Follow the rules governing parameter area allocation For the type of a parameter refer to Table 7 4 Data Types and C language header file of Msg group of configuration files Table 5 4 Argument Convention
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13. are initialisation initsct c Section initialisation intprg src Common interrupt program resetprg src Reset processing stacksct src Reset stack definition vect inc Vector table include file vecttbl src Vector table definition 4 2 4 Msg Table 4 4 Msg Group File Description occallb c Call function for message initialisation and mixed transmission ocos h COM interrupt level setting 32 5 PROGRAMMING The programming method of COM application is shown below 5 1 COM Initialisation For COM initialisation call services and functions according to the procedure shown below COM interrupt level must be maintained until COM initialisation is completed If not using OS StartOS system service call is not required HW Init MA Init PFC Pin function controller PFC initialisation MA Init CPUQ Hardware initialisation MA Init IOQ Port initialisation COM Init StartCOM COM initialisation MA Init INT nterrupt initialisation OS Init StartOS application mode OS initialisation 5 2 Include Files The program which uses a message must include the ocmsg h file 33 5 3 Interrupts 5 3 1 HCAN Interrupts There are four vectors in each HCAN as follows and each interrupt is divided into groups Each ISR must be defined in a vector table In CCCO with OS register as category 1 i
14. arisesuserusenivens 14 3 2 3 Notification to Application WAS 3 2 4 Transmission MOSS ertet tete v ESSERE EREREEEEREP E en ta ea ete ea ooa Lee en eva Ce MODE TETTE YEYURUS 16 3 2 5 Deadline MONON sere c Y O 7E O 20 3 2 6 SESSEL t 21 3 3 3 3 1 HCAN Related Parameters n 3 3 2 uuu P P 3 4 COM Architect r n 24 3 5 COM Control 3 5 1 Start Up 3 5 2 Normal Operations E 26 3 5 3 Shut Down T 3 5 4 Brror Handling AAAA ESEE EE eA OOOO OO OOO RM ee RENS NN N Eva Yan 27 4 SYSTEM CONFIGURATION cec ce cere e eene e entre nnne nnne nenne anne nnne nnnm 29 4 1 COM Application Building eere reete esee eere tete nenne terna tata tn tatnen esto tata tatnen enean ene e tata tn tasa enean 29 4 2 COM Configuration Files sscscsssssssssssssscscssssssssssssssssscsessssssesssssssssessssssesesssssssssssessassosssasesesssssssesesees 30 4 2 1 ByDeet s 4 2 2 Hcan 31 4 2 3 MESAS 32 4 2 4 DSS e M X 32 5 PROGRAMMING iore esent Pata c teen aaaeei asada nadaa esie Du n udcee 33 5 1 COM Tint alist Oh ssicsiccicccccciccsicessesssssssssesssssrenranransnnsansinssnsinsinsinsdnsssssssssssssssssassasssscsscsscassanasseeacsacsnesaesaeeaeseeeness 33 5 2 Include Filles
15. as ta sensu 45 7 2 Return Code TIS Re TT 46 7 3 Communication Service Calls 7 4 jUn 47 7 5 Maximum Parameters 47 1 INTRODUCTION 1 1 Document Overview This document defines the operation of the Ho7000 series Communication V1 hereafter referred to as COM which conforms to the OSEK VDX hereafter referred to as OSEK open standard for communication Specification Version 2 0a This document is described on the assumption that OSEK specification is understood Read this document carefully and understand the contents of the following documents before using this product OSEK VDX Operating System Version 2 0 revision 1 OSEK VDX steering committee OSEK VDX Communication Version 2 0a OSEK VDX steering committee OSEK VDX Communication Version 2 1 revision 1 OSEK VDX steering committee Release Notes of this product SuperH RISC engine C C Compiler Package Manual Programming Manual and Hardware Manual of the target SH microprocessor 1 2 Definitions and Acronyms API Application Program Interface CAN Controller Area Network CCC Communication Conformance Class COM Communication for Hitachi Vehicle Operating System DLL Data Link Layer ECU Electronic Control Unit HCAN Hitachi Controller Area Network or Hitachi Controller Area Network 2 HW Hardware NM Network Management
16. communication service Interrupt initialisation Call StartOS system service if OS is used DAS Ge N The application must provide the code for steps 2 and 4 This product provides those codes as sample see section 4 2 During start up no messages may be transmitted or received 3 5 2 Normal Operation COM runs in normal mode after start up is finished Message transmission and reception can be performed in this state The flow of transmission and reception is shown below 3 5 2 1 Message Transmission Application calls SendMessage SendMessage copies message data from application to data area in COM For a net message SendMessage starts net transmission SendMessage returns The message is sent from the HCAN to the CAN bus When transmission is finished a Slot Empty interrupt occurs The ISR performs a call to the message package and net package of COM This transmission confirmation makes COM aware that the transmission operation is finished 8 The ISR returns SDN AGE OD p c 3 5 2 2 Message Reception in Application 1 Application calls ReceiveMessage 2 ReceiveMessage copies message data from data area in COM to application 3 ReceiveMessage returns 3 5 2 3 Message Reception from Network 1 When message is received from the bus a received message interrupt occurs 2 The ISR performs a call to the message package and net package of COM 3 The COM copies message data from the HCAN to the data area in COM 4
17. dard No error E OK Initialise failed E COM SYS MSG INIT FAILED Extended Code added as extended status None 40 6 1 3 SendMessage Syntax StatusType SendMessage OC_SymbolicNameT lt Msg gt OC_DataRefT lt Data gt Parameter In Msg Message name Data The address of the area where transmitting data was stored Parameter Out None Description The transmit data is copied from the data area specified by application to the message data area in COM In the case of a network message transmission is started for a network In this case this service returns before the completion of transmission When the periodic message which can be used by periodic transmission or mixed transmission is transmitted transmission to a network is not started Transmission to a network is performed by calling OC_SendMsgToNetPer service from periodic task Moreover in mixed transmission it is possible to start transmission to a network by conditioning Error Status Standard No error E_OK Message is locked E_COM_LOCKED An event could not be set as notification E COM SYS EVENT SETTING DENIED A task could not be started as notification E COM SYS TASK ACTIVATION DENIED An alarm for deadline monitoring could E COM SYS ALARM START DENIED not be started Transmission was denied by the net E COM SYS NET TX DENIED package Extended Code added as extended status Invalid message E COM ID 41 6 1 4 ReceiveMessa
18. e message or not See section 6 for details Transmissions to net are initiated by a periodically activated task The task and the alarm must be defined by the user The periodic task initiates transmission through a special Send service that is not a formal part of the COM API This service is named OC SendMsgToNetPer The user must add a call to this service in the periodic task Do not start periodical transmission until COM initialisation is complete This means that the earliest point in time to start the alarm is from the Messagelnit function Mixed transmission is available for messages of type To Net 18 Application Task A Periodic task B SendMessage Foo OC_SendMsgToNetPer Foo OC_MixedTxEval Foo User processing COM Net Tx request Yes Return value Transmission request flag Register Net Tx No Tx periodic request Figure 3 3 Mixed Transmission 19 Task A runs independently from the periodic task B Task A calls SendMessage that conditionally requests a transmission to the network Task B requests a transmission to the network each time it is activated The message named Foo is configured for mixed transmission mode 3 2 5 Deadline Monitoring When CCC1 is used the deadline monitoring using alarm can be performed by combining with OS Deadline monitoring means that a deadline is monitored It can be applied regardless of whether the message is configured for transmission
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20. ge Syntax StatusType ReceiveMessage OC SymbolicNameT Msg OC DataRefT lt Data gt Parameter In Msg Message name Data The area and address for received data Parameter Out Data Received data Description Received data is copied from the message data area in COM to the data area specified by the application This service does not wait for reception of message data Message data received last which exists in COM is only copied Error Status Standard No error E OK After initialising message data it has not updated E COM NOMSG Extended Code added as extended status Invalid message E COM ID 6 1 5 GetMessageStatus Syntax StatusType GetMessageStatus OC SymbolicNameT lt Msg gt Parameter In Msg Message name Parameter Out None Description Returns the status of the message Error Status Standard No error E OK Message is locked E COM LOCKED After initialising message data it has not updated E COM NOMSG Extended Code added as extended status Invalid message E COM ID 42 6 2 Original Interface Functions In addition to the communication services defined by the OSEK COM specification the original interface is provided 6 2 1 OC SendMsgToNetPer Syntax enum OC ILOpResultE OC SendMsgToNetPer OC SymbolicNameT lt Msg gt Parameter In Msg Message name Parameter Out None Description Transmission to the network of a periodic message is started Only
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22. he user must add a call to this service in the periodic task See chapter 6 for details Do not start periodical transmission until COM initialisation is complete This means that the earliest point in time to start the alarm is from the Messagelnit function Periodical transmission is available for messages of type To Net 16 Application Periodic Task B SendMessage Foo OC_SendMsgToNetPer Foo COM Net Tx Periodic message registration request Figure 3 2 Periodical Transmission The Task A runs independently from the periodic task B The latter requests a transmission to the network each time it is activated The message named Foo is configured for periodical transmission mode 17 3 2 1 3 Mixed When CCC1 is used mixed transmission using alarm can be performed by combining with OS A transmission message is transmitted periodically In addition SendMessage conditionally initiates a transmission to the network A condition is evaluated each time SendMessage is called If the condition evaluates to Send a transmission is initiated otherwise not In this mode the communication service SendMessage 1 Updates the message data 2 Calls the evaluation original function OC MixedTxEval 3 Requests a transmission to network if the evaluation function returned Send The evaluation performed in OC MixedTxEval is defined by application The function must return a value that tells COM whether to send th
23. ilbox This is a data area within the HCAN device that holds message data and control information Each net message must use a mailbox The following mailboxes exist in an HCAN device e Mailbox for either transmission or reception mailboxes 1 15 e Mailbox only for reception mailbox 0 Mailboxes 1 15 These mailboxes can be used for To Net or From Net Multiple messages must not be assigned to the same mailbox Mailbox 0 Only messages of type From Net may use this mailbox It is intended to receive a group of messages During reception processing reception of two or more messages in the mailbox 0 causes as an error and is not processed Mail box number 16 or above cannot be used 2 CAN ID Each message has a unique identifier CAN ID that is used to identify the message on the CAN bus The CAN ID may consist of either 11 or 29 bits 11 bits mean that 11 standard ID bits are used in the CAN bus frame 29 bits mean that 18 extended and 11 standard ID bits are used 3 3 2 Channel COM can treat two separate HCAN buses by one ECU HCAN has the following parameters All configurations are done with the COM Configurator Please see the Hardware Manual and the COM Configurator Help File for details e Mailbox 0 Bit length of CAN ID 11 or 29 bits CANID LAFM local acceptance filter mask for mailbox 0 Operation Transmission priority mailbox order or ID order Bit sample point 1 point or 3 points Bit c
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25. l property rights owned by Hitachi or any third party for the use of the PRODUCT unless otherwise expressly granted to you by Hitachi in a contract or other document including without limitation any warranty or license included in the user s manual for the PRODUCT hereinafter referred to as CONTRACTS Please be further advised that Hitachi bears no responsibility for problems that may arise with third party s rights including intellectual property rights in connection with the use of the PRODUCT The PRODUCT its specifications and or its description in the user s manual are subject to change in the future without any prior notice Confirm that you have received the latest standards and or specification for the PRODUCT including the user s manual before you make your final design purchase or use Please be advised that Hitachi will not have any liability whatsoever for damages including indirect or consequential damages arising out of your use of the PRODUCT including the use based on the descriptions of the user s manual Hitachi shall not be liable for any damages caused by any equipment or media used for delivery of the PRODUCT The PRODUCT is not designed for and you may not use the PRODUCT for applications that demand especially high quality and reliability or where its failure or malfunction may directly threaten human life or cause risk of bodily injury such as equipment used for aerospace aeronautics nuclear power combustio
26. le Possible All interrupts that are not reserved by COM may be used by the application The COM provides default handlers for all these interrupts If required it is possible to add codes Refer to section 5 3 for details 3 5 4 3 Exception COM does not include any exception handling features If OS is not used exceptions must be handled by the application If OS is used exceptions will be handled by the OS Please refer to the Operating System Manual for details 28 4 SYSTEM CONFIGURATION 4 4 COM Application Building Figure 4 1 shows the building process of a COM application User input COM Configurator C D file E tool OS Configurator User code addition See section 5 4 Compiler Assembler Linkage editor Figure 4 1 Building Process of a COM Application The configurator generates the configuration files and the library files determined by the user input or configuration definition file Along with the application program files these files are compiled assembled and linked to generate the load module Refer to help files of OS and COM Configurator for information on how to generate configuration files Please refer to the Operating System Manual on the details of OS configuration file 4 2 COM Configuration Files Configuration files are divided into the following file groups App Sample application files Com COM libraries COM objects
27. lp file of the COM configurator for details on COM configuration 3 Cannot be used in little endian The COM must be used in big endian 12 3 FUNCTIONS 3 4 Function Overview The overview of the COM function is shown in Figure 3 1 ECU add 5 Local Message Transmission and Reception Notification Activate Task SetEvent Transmission Completion Notification ActivateTask SetEvent To Net Message Transmission From Net Message Reception Direct Condition Periodical Notification ActivateTask Deadline Monitoring SetEvent Deadline Monitoring Network Figure 3 1 COM Function Overview 3 2 Messages 3 2 1 Message Types There are three types of messages as follows e Local messages e To Net messages e From Net messages 13 3 2 1 1 Local The Local messages are sent and received within a single ECU without being transmitted over the network They are used to exchange information between different parts of a single application 3 2 1 2 To Net The To Net messages are transmitted from the ECU to the network They are received from the network by other ECUs These messages may be received locally by the sending the ECU 3 2 1 3 From Net The From Net messages are received in the ECU from the network They are transmitted from another ECU 3 2 2 Message Operations The following message operations are possible e Sending a message e Receiving a message e Reading the status of a me
28. ment but Renesas Electronics does not warrant that such information is error free Renesas Electronics assumes no liability whatsoever for any damages incurred by you resulting from errors in or omissions from the information included herein Renesas Electronics products are classified according to the following three quality grades Standard High Quality and Specific The recommended applications for each Renesas Electronics product depends on the product s quality grade as indicated below You must check the quality grade of each Renesas Electronics product before using it in a particular application You may not use any Renesas Electronics product for any application categorized as Specific without the prior written consent of Renesas Electronics Further you may not use any Renesas Electronics product for any application for which it is not intended without the prior written consent of Renesas Electronics Renesas Electronics shall not be in any way liable for any damages or losses incurred by you or third parties arising from the use of any Renesas Electronics product for an application categorized as Specific or for which the product is not intended where you have failed to obtain the prior written consent of Renesas Electronics The quality grade of each Renesas Electronics product is Standard unless otherwise expressly specified in a Renesas Electronics data sheets or data books etc Standard Compu
29. n cannot access the message when the status is locked If the application calls a communication service no action that alters the message will be performed and an error code indicating Locked will be returned When the message can be used the status is unlocked Data Value At COM start up the status of all messages is Never Updated When a message has been sent from the application or received from the network at least once the status is changed into Update Henceforth it does not become Never Updated 3 2 3 Notification to Application This function can use only CCC1 Operations on messages are performed asynchronous to the application A transmission to the network is requested by the application but the transmission operation is not finished before the communication service returns to the application In CCC1 the notification mechanism makes it possible for the COM to inform the application when the transmission has been completed A reception from the network is performed entirely without intervention of the application The COM receives a new message from the communication bus and stores it internally These operations are Table 3 1 Notification Timing Operation Timing Applies to Message of Type Transmission of When issuing Local message SendMessage When transmission of To Net the message to a bus is completed Reception of message When the reception From Net of a message from bus is completed
30. n control transportation traffic safety equipment or medical equipment for life support If you have any questions regarding whether or not your intended use of the PRODUCT is permitted by Hitachi please contact your local Hitachi s sales office At the time of designing or planning your system using the PRODUCT please consider normally foreseeable failure rates or failure modes and employ sufficient systematic measures such as fail safe systems so that the equipment incorporating the PRODUCT does not cause any accident or other consequential damage due to operation of the PRODUCT This manual and the PRODUCT are copyrighted by Hitachi Under any circumstances you may not copy analyze reverse engineer and or modify in whole or in part the PRODUCT except to the extent expressly provided in the CONTRACTS You may not use or copy in whole or in part the user s manual for the PRODUCT without the prior written consent of Hitachi except to the extent expressly provided in the CONTRACTS 10 You may use the PRODUCT on just one 1 computer You may not transfer lease or otherwise assign the PRODUCT to any third party or parties except to the extent expressly provided in the CONTRACTS Please contact your local Hitachi s sales office for any questions regarding the PRODUCT any Hitachi semiconductor products or any related products Select the items you want to know from the following flowchart before reading thi
31. nesas Electronics products or if you have any other inquiries Note 1 Renesas Electronics as used in this document means Renesas Electronics Corporation and also includes its majority owned subsidiaries Note 2 Renesas Electronics product s means any product developed or manufactured by or for Renesas Electronics To all our customers Regarding the change of names mentioned in the document such as Hitachi Electric and Hitachi XX to Renesas Technology Corp The semiconductor operations of Mitsubishi Electric and Hitachi were transferred to Renesas Technology Corporation on April 1st 2003 These operations include microcomputer logic analog and discrete devices and memory chips other than DRAMs flash memory SRAMs etc Accordingly although Hitachi Hitachi Ltd Hitachi Semiconductors and other Hitachi brand names are mentioned in the document these names have in fact all been changed to Renesas Technology Corp Thank you for your understanding Except for our corporate trademark logo and corporate statement no changes whatsoever have been made to the contents of the document and these changes do not constitute any alteration to the contents of the document itself Renesas Technology Home Page http www renesas com Renesas Technology Corp Customer Support Dept April 1 2003 34 NESAS Renesas Technology Corp Cautions Keep safety first in your circuit designs 1 Renesas Technolo
32. nterrupt In CCCII register as category 2 interrupt In CCC1 add ISR at the end of ISR name because HCAN interrupt handler is called via interrupt preamble of OS HCAN ISR name is shown in Table 5 1 e ERS vector Error passive interrupt Bus off interrupt e OVR vector Reset interrupt Remote frame request interrupt Bus transmit overload warning interrupt Bus receive overload warning interrupt Overload frame interrupt Unread mail interrupt Bus operation request interrupt e RM vector Received message interrupt e SLE vector Transmission mailbox empty interrupt Table 5 1 HCAN ISR Name vector CCCO CCC1 ERS MA IntHandler ERS HCANx MA IntHandler ERS HCANx ISR OVR MA_IntHandler OVR_HCAN x MA IntHandler OVR_HCANx_ISR RM MA IntHandler RM HCANx MA IntHandler RM HCANx ISR SLE MA IntHandler SLE HCANx MA IntHandler SLE HCANx ISR Note x is 1 for HCAN channel 0 or 2 for HCAN channel 1 5 3 2 Interrupt Priority Levels e COM Interrupt Level The highest interrupt priority level in the program which uses communication service must be set as a COM interrupt level When the OS is used by CCCO the COM interrupt level must be set higher than the OS interrupt level In CCC1 the OS interrupt level is set to the COM interrupt 34 level Communication service must not be issued from a program higher than the COM interrupt level Refer to ocos h for the setting method of COM interrupt
33. o start the alarm is from the Messagelnit function The alarm is restarted each time COM receives a reception indication from the network If an indication does not occur within the alarm time the alarm will expire 20 3 2 6 Message Attributes The following attributes must be configured for each message All configurations are done with the COM Configurator Please see the COM Configurator Help File for details e Message Name The character string which starts with an alphabetic character or an underline followed by zero or more alphabetic characters underlines or numbers A maximum of 32 characters e Data Length A maximum of 8 bytes e Message Type Local To Net From Net e Notification Function None Event Mask Event setting Task ID Task ID for task activation or event setting e Transmission Mode Direct Periodic only CCC1 Mixed only CCC1 e Deadline Monitoring Alarm ID Expiration Time e HCAN Mailbox Number 0 to 15 Bit Length of CAN ID 11 or 29 bits CANID Please note the following 1 Do not set up multiple messages of the same name 2 Do not set up multiple same CAN IDs 3 Mail box number 16 or above cannot be used 21 3 3 Networks 3 3 1 HCAN Related Parameters Each net message has the following settings related to the HCAN e Mailbox e CANID 1 Mailbox Data exchange between a message and the CAN net is done through a ma
34. o the Hardware Manual Table 5 2 User Code Placement for HCAN Interrupts Interrupt Cause Add User Code In Unread mail int hndl c MY UnReadMailHandlerl for HCAN channel 0 MY UnReadMailHandler2 for HCAN channel 1 Reset int hndl c MY PowerUpHandlerl for HCAN channel 0 MY PowerUpHandlerX for HCAN channel 1 Overload frame macan1 h MA_OVERLOAD_FRAME_USERCODE1 macro for HCAN channel 0 macan2 h MA OVERLOAD FRAME USERCODE2 macro for HCAN channel 1 Bus off macan1 h MA_BUS_OFF_USERCODE1 macro for HCAN channel 0 macan2 h MA BUS OFF USERCODE2 macro for HCAN channel 1 Error passive macan1 h MA ERROR PASSIVE USERCODEI macro for HCAN channel 0 macan2 h MA ERROR PASSIVE USERCODE2 macro for HCAN channel 1 Bus receive overload warning macan1 h MA_REC_WARNING_USERCODE1 macro for HCAN channel 0 macan2 h MA REC WARNING USERCODE2 macro for HCAN channel 1 Bus transmit overload warning macan1 h MA_TEC_WARNING_USERCODE1 macro for HCAN channel 0 macan2 h MA TEC WARNING USERCODE2 macro for HCAN channel 1 Bus operation request macan1 h MA_WU_BUS_ACTIF_USERCODE1 macro for HCAN channel 0 macan2 h MA WU BUS ACTIF USERCODE2 macro for HCAN channel 1 36 5 5 Interface to OS 5 5 1 Interrupt According to the following category rule interrupt which uses COM communication service must be registered into O
35. onfiguration Baud rate prescaler BRP Time segment TSEG1 Time segment 2 TESG2 22 Maximum bit synchronisation width STW e Interrupts For each HCAN interrupt source Enabled disabled Restriction of a setting of a bit configuration is shown below TSEGI gt TSEG2 gt SJW SJW 1 to 4 3 TSEGI TSEG 2 8 to25 Time Quanta TSEG2 gt B 001 BRP B 000000 TSEG2 gt B 000 BRP gt B 000000 Refer to the Hardware Manual for details 23 3 4 COM Architecture The COM is divided into two main parts that are termed packages e Message Package e Net Package The Message Package provides the COM API The Net Package transmits and receives the HCAN network To Net and From Net Messages require both packages Application Message Package cm 1 Net Package Bus HW Figure 3 4 COM Architecture 24 3 5 COM Control The processing procedure of COM is shown below Initialisation processing Application Task Hardware initialisation StartCOM calling Interrupt initialisation StartOS calling OS in use Message transmission Message reception ECU internal and external ECU internal and external Figure 3 5 COM Processing Procedure 25 3 5 1 Start Up The start up method of COM is HW Reset HW initialisation with interrupts disabled Call StartCOM
36. ons under certain use conditions Further Renesas Electronics products are not subject to radiation resistance design Please be sure to implement safety measures to guard them against the possibility of physical injury and injury or damage caused by fire in the event of the failure of a Renesas Electronics product such as safety design for hardware and software including but not limited to redundancy fire control and malfunction prevention appropriate treatment for aging degradation or any other appropriate measures Because the evaluation of microcomputer software alone is very difficult please evaluate the safety of the final products or system manufactured by you Please contact a Renesas Electronics sales office for details as to environmental matters such as the environmental compatibility of each Renesas Electronics product Please use Renesas Electronics products in compliance with all applicable laws and regulations that regulate the inclusion or use of controlled substances including without limitation the EU RoHS Directive Renesas Electronics assumes no liability for damages or losses occurring as a result of your noncompliance with applicable laws and regulations This document may not be reproduced or duplicated in any form in whole or in part without prior written consent of Renesas Electronics Please contact a Renesas Electronics sales office if you have any questions regarding the information contained in this document or Re
37. or reception For transmission this means that an initiated transmission to the net must be completed within a certain time frame If not an alarm expires and as a consequence a task is activated or an event is set For reception a message must be received within a certain time frame The start of this time frame is the point in time when the previous message was received If the deadline is broken an alarm expires and as a consequence a task is activated or an event is set User must define the alarm the task and the event Deadline monitoring is applicable to messages of type To Net or From Net 1 Transmission An alarm is started just before COM issues a transmission request to the network Depending on the transmission mode this is done in either of e SendMessage e OC SendMsgToNetPer The alarm is cancelled automatically when COM receives a transmission confirmation from the network If a confirmation does not occur within the alarm time the alarm will expire Deadline monitoring may be used in both direct periodical and mixed transmission modes 2 Reception Start of the deadline monitoring of reception is possible by starting the alarm from a task or by receiving the message that had once specified deadline monitoring In reception monitoring the alarm is never cancelled only restarted automatically Do not start reception monitoring until COM initialisation is complete This means that the earliest point in time t
38. s manual Chapter 1 INTRODUCTION Operating environments Chapter 2 OPERATING ENVIRONMENTS Message function Section 3 2 Messages Section 3 3 Networks Network settings Section 3 4 COM Architecture COM architecture COM operation Section 3 5 COM Control System Chapter 4 SYSTEM CONFIGURATION configuration Chapter 5 PROGRAMMING Programming Yes System services Chapter 6 API DESCRIPTION No Section 7 1 Communication Service Return Codes Section 7 2 Return Code IDs Table of Contents 1 INTRODUCTION eiue neon petere Arenao Aona ea Erene Eaei 7 11 Document Overview 1 2 Definitions and ACronyis sasosisa ss 7 13 Uln 7 14 CC Y 9 2 OPERATING ENVIRONMENTS eene enne enne nnn nnnnn nennen 11 2 1 UAn MH O 11 2 2 Conformance BIPr Mee 11 2 3 Communication Bus 2 4 Operating 12 2 5 j M 12 34 FUNCTIONS innert anes sodce steutsctecueetsteceetauce 13 3 1 Function Overview n 13 3 2 Messages 3 2 1 Message Types 3 2 2 Messag OO CR abnwasueanbueasbtenvetensvsenevaeneeansagetisostentya
39. ssage 3 2 2 1 Send A message is transmitted via the SendMessage communication service The transmission operation differs depending on the message types Local For Local messages transmission means copying message data from the application to a data area within the COM To Net For To Net messages message data is copied from the application as for Local messages In addition the message data is sent to the network The above description is relevant for a message that is transmitted in Direct mode Please see section 3 2 4 for details on other transmission modes 3 2 2 2 Receive Local This service copies the message data from a data stored within COM message data area to the application From Net When receiving a message from a bus the message data domain in COM is immediately updated at the time Message data is copied to application from the message data in COM at the time of ReceiveMessage communication service call Reception from a bus is asynchronously processed with ReceiveMessage communication service call 14 3 2 2 3 Get Status The status of a message is obtained via the communication service GetMessageStatus The operation is applicable to messages of all types The status expresses the following conditions of the message e Tn use status Locked in use or unlocked not used e Data value status Updated at least once or never updated In Use The status is locked if COM is using the message The applicatio
40. statement The evaluation must result in either of the following return values Error Status Standard Initiate a transmission to net OC TxCondIsSendD Do NOT initiate a transmission to net OC TxCondIsNoSendD Extended Code added as extended status None 44 7 APPENDIX 7 4 Communication Service Return Codes Table 7 1 Communication Service Return Codes Communication Service Standard Error Status Code Added in Extended Error Status StartCOM E OK Messagelnit E OK E COM SYS MSG INIT FAILED SendMessage E OK E COM LOCKED E COM SYS EVENT SETTING DENIED E COM SYS TASK ACTIVATION DENIED E COM SYS ALARM START DENIED E COM SYS NET TX DENIED E COM ID ReceiveMessage E OK E COM NOMSG E COM ID GetMessageStatus E_OK E_COM_NOMSG E_COM_LOCKED E_COM_ID OC_SendMsgToNetPer OC_ILOpResOK OC_ILOpResMsgDsInUse OC ILOpResError OC ILOpResNetTxDenied OC ILOpResError OC MixedTxEval OC_TxCondIsSendD OC TxCondIsNoSendD Note Original function 45 7 2 Return Code IDs Table 7 2 Return Code IDs Return Code Description ID E OK No error 0 H 0 E COM ID Invalid message 1 H 1 E COM LIMIT Reserved not used 2 H2 E COM NOMSG After initialising message data it has not 3 H3 updated E COM LOCKED Message is locked 4 H4 E COM SYS NET TX DENIE
41. ters office equipment communications equipment test and measurement equipment audio and visual equipment home electronic appliances machine tools personal electronic equipment and industrial robots High Quality Transportation equipment automobiles trains ships etc traffic control systems anti disaster systems anti crime systems safety equipment and medical equipment not specifically designed for life support Specific Aircraft aerospace equipment submersible repeaters nuclear reactor control systems medical equipment or systems for life support e g artificial life support devices or systems surgical implantations or healthcare intervention e g excision etc and any other applications or purposes that pose a direct threat to human life You should use the Renesas Electronics products described in this document within the range specified by Renesas Electronics especially with respect to the maximum rating operating supply voltage range movement power voltage range heat radiation characteristics installation and other product characteristics Renesas Electronics shall have no liability for malfunctions or damages arising out of the use of Renesas Electronics products beyond such specified ranges Although Renesas Electronics endeavors to improve the quality and reliability of its products semiconductor products have specific characteristics such as the occurrence of failure at a certain rate and malfuncti
42. tial hook hook k p hook isation hook hook Indispens able CCC0 CCC1 StartCOM Yes eee a mm EXE pe pre SendMessage Yes Yes Yes EA re dam ES ReceiveMessage e Yes Yes Yes Yes pec m ee ee GetMessageStatus Yes Yes Yes Yes De mut sas zs OC SendMsgToNetPer Er cen Yes e en a ESSE Note Original function 7 4 Data Types Table 7 4 Data Types Name Type size Description StatusType unsigned long 4 bytes Return value OC SymbolicNameT struct OC MsgHandleS 4 bytes Message name OC DataRefT void 4 bytes Address or pointer for message data OC ILOpResultE enum 4 bytes Return value OC CallbStatusT unsigned char 1 byte Return value 7 5 Maximum Parameters Table 7 5 Maximum Parameters Item Limit Max number of Nets per COM 2 Max number of Local messages 1000 Max number of To Net messages per Net 15 Max number of From Net messages per Net 31 Max number of messages for mailbox 0 16 Max number of messages for mailboxes 1 15 1 Max number of messages per Net 31 47 Ho7000 Series Communication Manual Publication date 1 Edition June 2002 Copyright c Hitachi Ltd 2002 All rights reserved Printed in Japan 48
43. tibility which is reflected by its Communication Conformance Class CCC With this product the CCCO and CCC1 conformance classes are supported CCCO is the least resource demanding class and may be implemented without any OS support CCC1 requires the OS The CCCs are provided in order to allow the communication component capabilities to be adapted to the communication need of the application In order to gain access to the communication HW the COM makes use of the device drivers provided by the COM driver interface This interface is not specified by the OSEK standard The CAN device is used in this product 1 4 Features of This Product The features of this product are shown below e The COM supports portability of application by providing a standardised application program interface that is defined according to the ANSI C standard e An OSEK COM implementation provides the following features for message exchange in applications Task Task communication ECU ECU communication Different transmission concepts Direct Periodical Mixed Communication deadline monitoring Notification by event setting and task activation Note Periodical transmission and mixed transmission is provided by an original interface Please refer to section 3 2 4 for details 10 2 OPERATING ENVIRONMENTS 2 4 Conformity Version The COM conforms to version 2 0a of the OSEK VDX Communication specification and version 2 1 revision 1 of the OSEK V
44. ystems for transportation vehicular medical aerospace nuclear or undersea repeater use The prior written approval of Renesas Technology Corporation is necessary to reprint or reproduce in whole or in part these materials If these products or technologies are subject to the Japanese export control restrictions they must be exported under a license from the Japanese government and cannot be imported into a country other than the approved destination Any diversion or reexport contrary to the export control laws and regulations of Japan and or the country of destination is prohibited Please contact Renesas Technology Corporation for further details on these materials or the products contained therein C 7 D m on lt D c D tENESAS Ho7000 Series Communication Manual nenesa ec LROMICS Rev 1 0 2002 06 Cautions PLEASE READ THE FOLLOWING CAREFULLY BEFORE YOU USE THIS PRODUCT 1 If you use the enclosed software product and any related software products hereafter referred to as PRODUCT before exporting or taking such PRODUCT to other countries or states you must comply with applicable export control laws and regulations of Japan and other countries with jurisdiction and the applicable states and provinces within Japan and such other countries Please be advised that Hitachi neither warrants nor grants licenses of any rights to the patents copyrights trademarks or other intellectua
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