Create shared CANIO layer. Port BMSB/BMSW to use this layer

components/bms_boss/HW/HW_can.c

@@ -123,8 +123,9 @@ void HW_CAN_init(void)
     HAL_CAN_ActivateNotification(&hcan, CAN_ENABLED_INTERRUPTS);
 }
 
-void HW_CAN_activateFifoNotifications(CAN_RxFifo_E rxFifo)
+void HW_CAN_activateFifoNotifications(CAN_bus_E bus, CAN_RxFifo_E rxFifo)
 {
+    UNUSED(bus);
     uint32_t it = rxFifo == CAN_RX_FIFO_0 ? CAN_IER_FMPIE0 : CAN_IER_FMPIE1;
     uint32_t itFull = rxFifo == CAN_RX_FIFO_0 ? CAN_IER_FFIE0 : CAN_IER_FFIE1;
     HAL_CAN_ActivateNotification(&hcan, it);
@@ -151,7 +152,7 @@ static bool CAN_checkMbFree(CAN_HandleTypeDef* canHandle, CAN_TxMailbox_E mailbo
  * @param msg message data
  * @return exit code
  */
-static HAL_StatusTypeDef CAN_sendMsg(CAN_HandleTypeDef* canHandle, CAN_TxMessage_T msg)
+static HAL_StatusTypeDef CAN_sendMsgOnPeripheral(CAN_HandleTypeDef* canHandle, CAN_TxMessage_T msg)
 {
     HAL_CAN_StateTypeDef state = canHandle->State;
 
@@ -213,16 +214,17 @@ static HAL_StatusTypeDef CAN_sendMsg(CAN_HandleTypeDef* canHandle, CAN_TxMessage
  * @param len TODO
  * @return TODO
  */
-bool CAN_sendMsgBus0(CAN_TxMailbox_E mailbox, CAN_data_T data, uint16_t id, uint8_t len)
+bool CAN_sendMsg(CAN_bus_E bus, CAN_TxMailbox_E mailbox, CAN_data_T data, uint16_t id, uint8_t len)
 {
+    UNUSED(bus);
     CAN_TxMessage_T msg = {0};
 
     msg.id          = id;
     msg.data        = data;
     msg.mailbox     = mailbox;
     msg.lengthBytes = len;
 
-    return CAN_sendMsg(&hcan, msg) == HAL_OK;
+    return CAN_sendMsgOnPeripheral(&hcan, msg) == HAL_OK;
 }
 
 
@@ -234,8 +236,9 @@ bool CAN_sendMsgBus0(CAN_TxMailbox_E mailbox, CAN_data_T data, uint16_t id, uint
  * @param  rx pointer to a CAN_RxMessage_T where the message will be stored
  * @retval HAL status
  */
-bool CAN_getRxMessageBus0(CAN_RxFifo_E rxFifo, CAN_RxMessage_T* rx)
+bool CAN_getRxMessage(CAN_bus_E bus, CAN_RxFifo_E rxFifo, CAN_RxMessage_T* rx)
 {
+    UNUSED(bus);
     if ((hcan.State != HAL_CAN_STATE_READY) && (hcan.State != HAL_CAN_STATE_LISTENING))
     {
         // Update error code
@@ -326,8 +329,9 @@ bool CAN_getRxMessageBus0(CAN_RxFifo_E rxFifo, CAN_RxMessage_T* rx)
  *         This parameter can be a value of @arg CAN_receive_FIFO_number.
  * @retval Number of messages available in Rx FIFO.
  */
-uint8_t CAN_getRxFifoFillLevelBus0(CAN_RxFifo_E rxFifo)
+uint8_t CAN_getRxFifoFillLevel(CAN_bus_E bus, CAN_RxFifo_E rxFifo)
 {
+    UNUSED(bus);
     if ((hcan.State != HAL_CAN_STATE_READY) && (hcan.State != HAL_CAN_STATE_LISTENING))
     {
         // CAN peripheral is not ready
@@ -361,8 +365,9 @@ uint8_t CAN_getRxFifoFillLevelBus0(CAN_RxFifo_E rxFifo)
  *         This parameter can be a value of @arg CAN_receive_FIFO_number.
  * @retval Number of messages available in Rx FIFO.
  */
-bool CAN_getRxFifoEmptyBus0(CAN_RxFifo_E rxFifo)
+bool CAN_getRxFifoEmpty(CAN_bus_E bus, CAN_RxFifo_E rxFifo)
 {
+    UNUSED(bus);
     if ((hcan.State != HAL_CAN_STATE_READY) && (hcan.State != HAL_CAN_STATE_LISTENING))
     {
         // CAN peripheral is not ready
@@ -435,7 +440,7 @@ static void CAN_RxMsgPending_ISR(CAN_HandleTypeDef* canHandle, CAN_RxFifo_E fifo
         }
 #endif // FEATURE_UDS
 #else // FEATURE_CANRX_SWI == FEATURE_DISABLED
-        CANRX_BUS_VEH_notify(fifoId);
+        CANRX_notify(CAN_BUS_VEH, fifoId);
 #endif // FEATURE_CANRX_SWI
     }
 }
@@ -549,7 +554,7 @@ void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef* canHandle)
     CAN_RxMsgPending_ISR(canHandle, CAN_RX_FIFO_0);
 #if FEATURE_IS_ENABLED(FEATURE_CANRX_SWI)
     HAL_CAN_DeactivateNotification(canHandle, CAN_IER_FFIE0);
-    SWI_invokeFromISR(CANRX_BUS_VEH_swi);
+    SWI_invokeFromISR(CANRX_swi);
 #endif // FEATURE_CANRX_SWI
 }
 
@@ -563,7 +568,7 @@ void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef* canHandle)
     CAN_RxMsgPending_ISR(canHandle, CAN_RX_FIFO_1);
 #if FEATURE_IS_ENABLED(FEATURE_CANRX_SWI)
     HAL_CAN_DeactivateNotification(canHandle, CAN_IER_FFIE1);
-    SWI_invokeFromISR(CANRX_BUS_VEH_swi);
+    SWI_invokeFromISR(CANRX_swi);
 #endif // FEATURE_CANRX_SWI
 }
 

components/bms_boss/HW/include/HW_can.h

@@ -29,8 +29,8 @@
 
 void    HW_CAN_start(void);
 void    HW_CAN_init(void);
-void    HW_CAN_activateFifoNotifications(CAN_RxFifo_E rxFifo);
-bool    CAN_sendMsgBus0(CAN_TxMailbox_E mailbox, CAN_data_T data, uint16_t id, uint8_t len);
-bool    CAN_getRxMessageBus0(CAN_RxFifo_E rxFifo, CAN_RxMessage_T* rx);
-uint8_t CAN_getRxFifoFillLevelBus0(CAN_RxFifo_E rxFifo);
-bool    CAN_getRxFifoEmptyBus0(CAN_RxFifo_E rxFifo);
+void    HW_CAN_activateFifoNotifications(CAN_bus_E bus, CAN_RxFifo_E rxFifo);
+bool    CAN_sendMsg(CAN_bus_E bus, CAN_TxMailbox_E mailbox, CAN_data_T data, uint16_t id, uint8_t len);
+bool    CAN_getRxMessage(CAN_bus_E bus, CAN_RxFifo_E rxFifo, CAN_RxMessage_T* rx);
+uint8_t CAN_getRxFifoFillLevel(CAN_bus_E bus, CAN_RxFifo_E rxFifo);
+bool    CAN_getRxFifoEmpty(CAN_bus_E bus, CAN_RxFifo_E rxFifo);

components/bms_boss/RTOS/FreeRTOSResources.c

@@ -73,8 +73,8 @@ extern void Module_1Hz_TSK(void);
 extern void Module_ApplicationIdleHook(void);
 
 // SWIs
-RTOS_swiHandle_T* CANRX_BUS_VEH_swi;
-RTOS_swiHandle_T* CANTX_BUS_VEH_swi;
+RTOS_swiHandle_T* CANRX_swi;
+RTOS_swiHandle_T* CANTX_swi;
 
 // task definitions
 RTOS_taskDesc_t ModuleTasks[] = {
@@ -238,8 +238,8 @@ void RTOS_createResources(void)
     /*
      * create SWI handles
      */
-    CANTX_BUS_VEH_swi = SWI_create(RTOS_SWI_PRI_0, &CANTX_BUS_VEH_SWI);
-    CANRX_BUS_VEH_swi = SWI_create(RTOS_SWI_PRI_0, &CANRX_BUS_VEH_SWI);
+    CANTX_swi = SWI_create(RTOS_SWI_PRI_0, &CANTX_SWI);
+    CANRX_swi = SWI_create(RTOS_SWI_PRI_0, &CANRX_SWI);
 
     /*
      * Create tasks

components/bms_boss/SConscript

@@ -24,6 +24,7 @@ UDS_DIR = LIBS_DIR.Dir("uds")
 ISOTP_DIR = LIBS_DIR.Dir("isotp")
 SHARED_CODE = Dir("#/components/shared/code")
 SHARED_LIBS = SHARED_CODE.Dir("libs")
+SHARED_APP = SHARED_CODE.Dir("app")
 
 env = PLATFORM_ENV.Clone(
     tools=[
@@ -128,6 +129,7 @@ LIBS_INCLUDE_DIRS = [
     UDS_DIR.Dir("include"),
     ISOTP_DIR.Dir("include"),
     SHARED_LIBS,
+    SHARED_APP,
 ]
 
 PROJECT_INCLUDE_DIRS = [
@@ -139,8 +141,9 @@ PROJECT_INCLUDE_DIRS = [
 project_source_files = [
     SRC_DIR.File("SystemManager.c"),
     SRC_DIR.File("Module.c"),
-    SRC_DIR.File("CAN/CANIO-tx.c"),
-    SRC_DIR.File("CAN/CANIO-rx.c"),
+    SRC_DIR.File("CAN/CANRX_componentSpecific.c"),
+    SHARED_APP.File("CAN/CANIO-tx.c"),
+    SHARED_APP.File("CAN/CANIO-rx.c"),
     SRC_DIR.File("IO.c"),
     SRC_DIR.File("ENV.c"),
     SRC_DIR.File("Sys.c"),

components/bms_boss/include/BMS.h

@@ -3,6 +3,8 @@
  * @brief  Header file for BMS manager
  */
 
+#pragma once
+
 #include "stdbool.h"
 #include "stdint.h"
 

components/bms_boss/include/CAN/CANRX_componentSpecific.h

@@ -0,0 +1,48 @@
+/**
+ RX_config* CAN.h
+ * Header file for CANRX configuration
+ */
+
+#pragma once
+
+
+/******************************************************************************
+ *                             I N C L U D E S
+ ******************************************************************************/
+
+#include "HW_tim.h"
+#include "SigTx.c"
+// imports for data access
+#include "IO.h"
+#include "BMS.h"
+#include "Sys.h"
+#include "IMD.h"
+#include "ENV.h"
+
+/******************************************************************************
+ *          P R I V A T E  F U N C T I O N  P R O T O T Y P E S
+ ******************************************************************************/
+
+uint8_t CANIO_tx_getNLG513ControlByte(void);
+CAN_prechargeContactorState_E CANIO_tx_getContactorState(void);
+
+/******************************************************************************
+ *                              D E F I N E S
+ ******************************************************************************/
+
+#define CANIO_UDS_BUFFER_LENGTH 8U
+#define CANIO_getTimeMs() (HW_TIM_getTimeMS())
+
+#define set_criticalDataCounter(m,b,n,s) set(m,b,n,s, cantx_counter.counter_100Hz)
+#define set_packChargeLimit(m,b,n,s) set(m,b,n,s, BMS.pack_charge_limit)
+#define set_packDischargeLimit(m,b,n,s) set(m,b,n,s, BMS.pack_discharge_limit)
+#define set_packVoltage(m,b,n,s) set(m,b,n,s, BMS.pack_voltage)
+#define set_packCurrent(m,b,n,s) set(m,b,n,s, BMS.pack_current)
+#define set_packContactorState(m,b,n,s) set(m,b,n,s, CANIO_tx_getContactorState())
+#define set_nlg513ControlByte(m,b,n,s) set(m,b,n,s, CANIO_tx_getNLG513ControlByte())
+#define set_nlg513MaxMainsCurrent(m,b,n,s) set(m,b,n,s, 16.0f)
+#define set_nlg513MaxChargeVoltage(m,b,n,s) set(m,b,n,s, BMS_CONFIGURED_PACK_MAX_VOLTAGE)
+#define set_nlg513MaxChargeCurrent(m,b,n,s) set(m,b,n,s, BMS.pack_charge_limit)
+#define transmit_BMSB_brusaChargeCommand (SYS_SFT_checkChargerTimeout() == false)
+
+#include "TemporaryStubbing.h"

components/bms_boss/include/IMD.h

@@ -3,6 +3,8 @@
  * @brief  Header file for IMD manager
  */
 
+#pragma once
+
 #include <stdbool.h>
 
 #include "FloatTypes.h"