CANRX fixup

components/bms_boss/FeatureDefs.yaml

@@ -2,3 +2,5 @@ config:
   prefix: feature
   description: Feature definitions for the BMS Boss
 defs:
+  canrx_swi:
+  cantx_swi: 

components/bms_boss/FeatureSels.yaml

@@ -1,2 +1,4 @@
 featureDefs: "#/components/bms_boss/FeatureDefs.yaml"
 features:
+  feature_cantx_swi:
+  feature_canrx_swi:

components/bms_boss/HW/HW_can.c

@@ -123,6 +123,14 @@ void HW_CAN_init(void)
     HAL_CAN_ActivateNotification(&hcan, CAN_ENABLED_INTERRUPTS);
 }
 
+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);
+    HAL_CAN_ActivateNotification(&hcan, itFull);
+}
 
 /**
  * CAN_checkMbFree
@@ -144,7 +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;
 
@@ -206,16 +214,17 @@ static HAL_StatusTypeDef CAN_sendMsg(CAN_HandleTypeDef* canHandle, CAN_TxMessage
  * @param len TODO
  * @return TODO
  */
-bool CAN_sendMsgBus0(CAN_TX_Priorities_E priority, 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     = (CAN_TxMailbox_E)priority;
+    msg.mailbox     = mailbox;
     msg.lengthBytes = len;
 
-    return CAN_sendMsg(&hcan, msg) == HAL_OK;
+    return CAN_sendMsgOnPeripheral(&hcan, msg) == HAL_OK;
 }
 
 
@@ -227,8 +236,9 @@ bool CAN_sendMsgBus0(CAN_TX_Priorities_E priority, CAN_data_T data, uint16_t id,
  * @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
@@ -271,14 +281,15 @@ bool CAN_getRxMessageBus0(CAN_RxFifo_E rxFifo, CAN_RxMessage_T* rx)
     rx->IDE = (CAN_IdentifierLen_E)(CAN_RI0R_IDE & hcan.Instance->sFIFOMailBox[rxFifo].RIR);
     rx->RTR = (CAN_RemoteTransmission_E)(CAN_RI0R_RTR & hcan.Instance->sFIFOMailBox[rxFifo].RIR);
 
-    rx->id          = ((CAN_RI0R_EXID | CAN_RI0R_STID) & hcan.Instance->sFIFOMailBox[rxFifo].RIR) >> CAN_RI0R_EXID_Pos;
+    rx->id = (uint16_t)(((CAN_RI0R_EXID | CAN_RI0R_STID) & hcan.Instance->sFIFOMailBox[rxFifo].RIR) >> (rx->IDE == CAN_IDENTIFIER_STD ? CAN_RI0R_STID_Pos : CAN_RI0R_EXID_Pos));
     rx->lengthBytes = (CAN_RDT0R_DLC & hcan.Instance->sFIFOMailBox[rxFifo].RDTR) >> CAN_RDT0R_DLC_Pos;
 
     rx->timestamp        = (CAN_RDT0R_TIME & hcan.Instance->sFIFOMailBox[rxFifo].RDTR) >> CAN_RDT0R_TIME_Pos;
     rx->filterMatchIndex = (CAN_RDT0R_FMI & hcan.Instance->sFIFOMailBox[rxFifo].RDTR) >> CAN_RDT0R_FMI_Pos;
 
     // Get the data
-    rx->data.u64 = hcan.Instance->sFIFOMailBox[rxFifo].RDLR;
+    rx->data.u32[0U] = hcan.Instance->sFIFOMailBox[rxFifo].RDLR;
+    rx->data.u32[1U] = hcan.Instance->sFIFOMailBox[rxFifo].RDHR;
     // aData[0] = (uint8_t)((CAN_RDL0R_DATA0 & hcan.Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA0_Pos);
     // aData[1] = (uint8_t)((CAN_RDL0R_DATA1 & hcan.Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA1_Pos);
     // aData[2] = (uint8_t)((CAN_RDL0R_DATA2 & hcan.Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA2_Pos);
@@ -318,8 +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
@@ -353,8 +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
@@ -392,26 +405,8 @@ bool CAN_getRxFifoEmptyBus0(CAN_RxFifo_E rxFifo)
 static void CAN_TxComplete_ISR(CAN_HandleTypeDef* canHandle, CAN_TxMailbox_E mailbox)
 {
     UNUSED(canHandle);
-    switch ((CAN_TX_Priorities_E)mailbox)
-    {
-        case CAN_TX_PRIO_1HZ:
-            // not yet implemented
-            // SWI_invokeFromISR(CANTX_BUS_A_1ms_swi);
-            break;
-
-        case CAN_TX_PRIO_100HZ:
-            // SWI_invokeFromISR(CANTX_BUS_A_10ms_swi);
-            break;
-
-        case CAN_TX_PRIO_10HZ:
-            // not yet implemented
-            // SWI_invokeFromISR(CANTX_BUS_A_100ms_swi);
-            break;
-
-        default:
-            // should never reach here
-            break;
-    }
+    UNUSED(mailbox);
+    HAL_CAN_DeactivateNotification(canHandle, CAN_IER_TMEIE);
 }
 
 
@@ -423,11 +418,14 @@ static void CAN_TxComplete_ISR(CAN_HandleTypeDef* canHandle, CAN_TxMailbox_E mai
  */
 static void CAN_RxMsgPending_ISR(CAN_HandleTypeDef* canHandle, CAN_RxFifo_E fifoId)
 {
+#if FEATURE_IS_DISABLED(FEATURE_CANRX_SWI)
     CAN_data_T          data = {0U};
     CAN_RxHeaderTypeDef header = {0U};
+#endif // FEATURE_CANRX_SWI == FEATURE_DISABLED
 
     if (canHandle == &hcan)
     {
+#if FEATURE_CANRX_SWI == FEATURE_DISABLED
         HAL_CAN_GetRxMessage(canHandle, fifoId, &header, (uint8_t*)&data);
         CANRX_VEH_unpackMessage(header.StdId, &data);
 
@@ -441,6 +439,9 @@ static void CAN_RxMsgPending_ISR(CAN_HandleTypeDef* canHandle, CAN_RxFifo_E fifo
             udsSrv_processMessage(data.u8, (uint8_t)header.DLC);
         }
 #endif // FEATURE_UDS
+#else // FEATURE_CANRX_SWI == FEATURE_DISABLED
+        CANRX_notify(CAN_BUS_VEH, fifoId);
+#endif // FEATURE_CANRX_SWI
     }
 }
 
@@ -524,6 +525,9 @@ void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef* canHandle)
  */
 void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef* canHandle)
 {
+#if FEATURE_IS_ENABLED(FEATURE_CANRX_SWI)
+    HAL_CAN_DeactivateNotification(canHandle, CAN_IER_FMPIE0);
+#endif // FEATURE_CANRX_SWI
     CAN_RxMsgPending_ISR(canHandle, CAN_RX_FIFO_0);
 }
 
@@ -534,6 +538,9 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef* canHandle)
  */
 void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef* canHandle)
 {
+#if FEATURE_IS_ENABLED(FEATURE_CANRX_SWI)
+    HAL_CAN_DeactivateNotification(canHandle, CAN_IER_FMPIE1);
+#endif // FEATURE_CANRX_SWI
     CAN_RxMsgPending_ISR(canHandle, CAN_RX_FIFO_1);
 }
 
@@ -544,9 +551,11 @@ void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef* canHandle)
  */
 void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef* canHandle)
 {
-    UNUSED(canHandle);
-    /* HAL_CAN_DeactivateNotification(canHandle, CAN_IER_FFIE1); */
     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_swi);
+#endif // FEATURE_CANRX_SWI
 }
 
 
@@ -556,9 +565,11 @@ void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef* canHandle)
  */
 void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef* canHandle)
 {
-    UNUSED(canHandle);
-    /* HAL_CAN_DeactivateNotification(canHandle, CAN_IER_FFIE1); */
     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_swi);
+#endif // FEATURE_CANRX_SWI
 }
 
 /**

components/bms_boss/HW/HW_tim.c

@@ -214,6 +214,21 @@ uint64_t HW_TIM_getBaseTick()
     return ((uint64_t)HW_getTick() * 1000) + htim2.Instance->CNT;
 }
 
+/**
+ * @brief  Get the number of ticks since clock start
+ *
+ * @retval Number of ticks
+ */
+uint32_t HW_TIM_getTick(void)
+{
+    return HAL_GetTick();
+}
+
+uint32_t HW_TIM_getTimeMS()
+{
+    return HW_TIM_getTick();
+}
+
 /**
  * HAL_InitTick
  * This function configures the TIM4 as a time base source.

components/bms_boss/HW/include/HW_can.h

@@ -29,7 +29,8 @@
 
 void    HW_CAN_start(void);
 void    HW_CAN_init(void);
-bool    CAN_sendMsgBus0(CAN_TX_Priorities_E priority, 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/HW/include/HW_tim.h

@@ -19,6 +19,8 @@
 
 HAL_StatusTypeDef HW_TIM_init(void);
 void              HW_TIM_configureRunTimeStatsTimer(void);
+uint32_t          HW_TIM_getTick(void);
+uint32_t          HW_TIM_getTimeMS(void);
 void              HW_TIM_incBaseTick(void);
 uint64_t          HW_TIM_getBaseTick(void);
 

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_A_swi;
-RTOS_swiHandle_T* CANTX_BUS_A_swi;
+RTOS_swiHandle_T* CANRX_swi;
+RTOS_swiHandle_T* CANTX_swi;
 
 // task definitions
 RTOS_taskDesc_t ModuleTasks[] = {
@@ -238,7 +238,8 @@ void RTOS_createResources(void)
     /*
      * create SWI handles
      */
-    CANTX_BUS_A_swi = SWI_create(RTOS_SWI_PRI_0, &CANTX_BUS_A_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/CANIO_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"