CAN Bus Adapter

import can.api.CANService.*
import can.platform.Stm32CANService.*

ActorRef can1: AStm32CANService1
ActorRef can2: AStm32CANService2

DCanParams params = {
    .baudRate_kbs = 40,
    .baudRate_kbs_fd = 125
};
// CANctl bound to ctl port of CAN service actor
CANctl.open(&params);

   CANMessage msg;
	msg.id = 0x00;
	msg.isExtendedFrame = false;
	//Length has to be a value of {1,2,3,4,5,6,7,8,12,16,20,24,32}
	msg.length = 16;
	msg.data[0] = 0x00;
	msg.data[1] = 0x01;
	//...
	msg.data[15] = 0x0f;
	msg.isRemoteFrame = false;
	msg.isBitRateSwitched = true;
	msg.isFDFrame = true;

   CANdata.send(&msg);

RoomModel MiniHilProject {

	import can.api.CANService.*
	import can.platform.Stm32CANService.*
	import etrice.api.timer.PTimer

	ActorClass Application {
		Structure {

			conjugated Port CANctl: PCANCtrl
			conjugated Port CANdata: PCANData

			ActorRef can1: AStm32CANService1
			ActorRef can2: AStm32CANService2

			Binding CANdata and can1.bus
			Binding CANctl and can1.ctl

			SAP timer: PTimer
		}
		Behavior {
			StateMachine {
				State Active {
				}
				State Initializing
				State FatalError
				Transition init0: initial -> Initializing {
					action '''
						//initialize CAN with Nominal Bitrate = 40kb and Data Bitrate = 125kb
						DCanParams params = {
						    .baudRate_kbs = 40,
						    .baudRate_kbs_fd = 125
						};
						CANctl.open(&params);
					'''
				}
				Transition tr0: Initializing -> Active {
					triggers {
						<opened: CANctl>
					}
					action '''
						timer.startTimer(1000);
					'''
				}
				Transition tr1: Initializing -> FatalError {
					triggers {
						<errorOpen: CANctl>
					}
					action '''
						etLogger_logError("Failed to initialize CANServiceTest!");
					'''
				}
				Transition tr2: Active -> Active {
					triggers {
						<received: CANdata>
					}
					action '''
						// received CAN Message
						uint8 * d = transitionData->data;
					'''
				}
				Transition tr3: Active -> Active {
					triggers {
						<errorRecv: CANctl>
					}
					action '''// received incorrect CAN Message'''
				}
				Transition tr4: Active -> Active {
					triggers {
						<errorSend: CANctl>
					}
					action '''// sending CAN Message failed'''
				}
				Transition tr5: Active -> Active {
					triggers {
						<timeout: timer>
					}
					action '''
						// send CAN Message on timer timeout
						CANMessage msg;
						msg.id = 0x00;
						msg.isExtendedFrame = 0;
						//Length has to be a value of {1,2,3,4,5,6,7,8,12,16,20,24,32}
						msg.length = 16;
						msg.data[0] = 0x00;
						msg.data[1] = 0x01;
						//...
						msg.data[15] = 0x0f;
						msg.isRemoteFrame = 0;
						msg.isBitRateSwitched = true;
						msg.isFDFrame = true;

						CANdata.send(&msg);
					'''
				}
			}
		}
	}
}

VERSION ""

NS_ :
	NS_DESC_
	CM_
	BA_DEF_
	BA_
	VAL_
	CAT_DEF_
	CAT_
	FILTER
	BA_DEF_DEF_
	EV_DATA_
	ENVVAR_DATA_
	SGTYPE_
	SGTYPE_VAL_
	BA_DEF_SGTYPE_
	BA_SGTYPE_
	SIG_TYPE_REF_
	VAL_TABLE_
	SIG_GROUP_
	SIG_VALTYPE_
	SIGTYPE_VALTYPE_
	BO_TX_BU_
	BA_DEF_REL_
	BA_REL_
	BA_DEF_DEF_REL_
	BU_SG_REL_
	BU_EV_REL_
	BU_BO_REL_
	SG_MUL_VAL_

BS_:

BU_: testbench ecu

BO_ 256 ecu_tx1: 3 ecu
 SG_ sw_version : 0|8@1+ (1,0) [0|255] "" Vector__XXX
 SG_ temp1 : 16|8@1+ (1,-25) [-25|215] "deg C" testbench

BO_ 250 ecu_tx2: 8 ecu
 SG_ err_bool : 0|1@1+ (1,0) [0|1] "" testbench
 SG_ float_val : 8|8@1- (0.125,0) [-5|26] "floats" testbench

BO_ 100 ecu_rx1: 2 testbench
 SG_ temp_min : 0|8@1+ (1,-25) [-25|215] "deg C" ecu
 SG_ temp_max : 8|8@1+ (1,-25) [-25|215] "deg C" ecu

generate Example from "example.dbc" {

    adapter ecu {
        nodes = ecu
    }

    adapter testbench {
        nodes = testbench
    }
    adapter FullBus {
         nodes = ecu, testbench
    }
	portmapper ecu {
		adapter = ecu
        generateContainer {
            canservice = can.platform.Stm32CANService.AStm32CANService1
        }
    }
}