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Test/renode can app #211

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Test/renode can app #211

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bc0a3af
Commented Out Non-Can Stuff In Main and Can Handler
dnakhooda Oct 13, 2024
5102a86
Fix Build Issues
dnakhooda Oct 13, 2024
70651d3
Truly Fix Build Issues
dnakhooda Oct 13, 2024
22b1794
Finally Fix Build Issues
dnakhooda Oct 13, 2024
4bad8e0
Fix Small Typo
dnakhooda Oct 13, 2024
a4238b6
Fix Formatting
dnakhooda Oct 13, 2024
8efbb6e
Fix Can Handler
dnakhooda Oct 13, 2024
1668342
Fix Not Used mc
dnakhooda Oct 13, 2024
811a7c8
Fix Typo
dnakhooda Oct 13, 2024
68311ac
Fixed a couple of issues
dnakhooda Oct 20, 2024
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74 changes: 35 additions & 39 deletions Core/Src/can_handler.c
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Original file line number Diff line number Diff line change
Expand Up @@ -77,8 +77,12 @@ void can1_callback(CAN_HandleTypeDef *hcan)
new_msg.len = rx_header.DLC;
new_msg.id = rx_header.StdId;

queue_and_set_flag(can_inbound_queue, &new_msg, can_receive_thread,
NEW_CAN_MSG_FLAG);
//queue_and_set_flag(can_inbound_queue, &new_msg, can_receive_thread,
// NEW_CAN_MSG_FLAG);

/* Print Callback Messages */
if (new_msg.id == 2)
printf("Callback: %s", new_msg.data);
}

int8_t queue_can_msg(can_msg_t msg)
Expand All @@ -102,32 +106,35 @@ void vCanDispatch(void *pv_params)
fault_data_t fault_data = { .id = CAN_DISPATCH_FAULT,
.severity = DEFCON1 };

can_msg_t msg_from_queue;
HAL_StatusTypeDef msg_status;
can_msg_t msg_from_queue = {
.id = 0x002,
.len = 4,
.data = { 69 }
};

HAL_StatusTypeDef msg_status;
CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef *)pv_params;

for (;;) {
osThreadFlagsWait(CAN_DISPATCH_FLAG, osFlagsWaitAny,
osWaitForever);
/* Send CAN message */
while (osMessageQueueGet(can_outbound_queue, &msg_from_queue,
NULL, 0U) == osOK) {
/* Wait if CAN outbound queue is full */
while (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) {
osDelay(1);
}

msg_status = can_send_msg(can1, &msg_from_queue);

if (msg_status == HAL_ERROR) {
fault_data.diag = "Failed to send CAN message";
queue_fault(&fault_data);
} else if (msg_status == HAL_BUSY) {
fault_data.diag = "Outbound mailbox full!";
queue_fault(&fault_data);
}
osDelay(500);

/* Wait if CAN outbound queue is full */
while (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) {
osDelay(1);
}

msg_status = can_send_msg(can1, &msg_from_queue);

if (msg_status == HAL_ERROR) {
fault_data.diag = "Failed to send CAN message";
queue_fault(&fault_data);
} else if (msg_status == HAL_BUSY) {
fault_data.diag = "Outbound mailbox full!";
queue_fault(&fault_data);
}

/* Print Dispatch Messages */
printf("Dispatch: %s", msg_from_queue.data);
}
}

Expand All @@ -140,26 +147,15 @@ const osThreadAttr_t can_receive_attributes = {

void vCanReceive(void *pv_params)
{
dti_t *mc = (dti_t *)pv_params;
//dti_t *mc = (dti_t *)pv_params;

can_msg_t msg;

for (;;) {
osThreadFlagsWait(NEW_CAN_MSG_FLAG, osFlagsWaitAny,
osWaitForever);
while (osOK ==
osMessageQueueGet(can_inbound_queue, &msg, 0U, 0U)) {
switch (msg.id) {
/* Messages Relevant to Motor Controller */
case DTI_CANID_ERPM:
dti_record_rpm(mc, msg);
break;
case BMS_DCL_MSG:
handle_dcl_msg();
break;
default:
break;
}
osThreadFlagsWait(NEW_CAN_MSG_FLAG, osFlagsWaitAny, osWaitForever);
while (osOK == osMessageQueueGet(can_inbound_queue, &msg, 0U, 0U)) {
/* Print Receive Messages */
printf("Recieve: %s", msg.data);
}
}
}
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