Repo setup (#2)

* Testing YAML * Install libncurses * Install libncurses * everything * can hw initial draft. Comments r soon to come * Master tasks setup * added interrupts, can comments, notify, flash library * Formatting * mastker tasks implementation * Updated UART * Updated master tasks to use 1000hz 10 hz and 1hz * FWXVI --------- Co-authored-by: vagrant <vagrant@midsunbox>
uw-midsun · Nov 24, 2024 · e7d92ab · e7d92ab
1 parent 57991e1
commit e7d92ab
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diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -75,6 +75,10 @@ jobs:
         id: build-stm32
         run: |
           scons --platform=arm --define="${DEFINES}"
+      - name: Build x86
+        id: build-x86
+        run: |
+          scons --platform=x86 --define="${DEFINES}"
 #       - name: Build and test
 #         id: build-test
 #         run: |

diff --git a/can/inc/can.h b/can/inc/can.h
@@ -0,0 +1,107 @@
+#pragma once
+
+/************************************************************************************************
+ * @file   can.h
+ *
+ * @brief  Header file for CAN Application code
+ *
+ * @date   2024-11-23
+ * @author Midnight Sun Team #24 - MSXVI
+ ************************************************************************************************/
+
+/* Standard library headers */
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+/* Inter-component Headers */
+#include "status.h"
+
+/* Intra-component Headers */
+#include "can_hw.h"
+#include "can_queue.h"
+
+typedef struct CanStorage {
+  volatile CanQueue rx_queue;
+  uint16_t device_id;
+} CanStorage;
+
+/**
+ * @brief   Initialize the CAN interface
+ * @param   storage Pointer to the CAN storage
+ * @param   settings Pointer to the CAN settings
+ * @return  STATUS_CODE_OK if initialization succeeded
+ *          STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect
+ *          STATUS_CODE_INTERNAL_ERROR if initialization fails
+ */
+StatusCode can_init(CanStorage *storage, const CanSettings *settings);
+
+/**
+ * @brief   Initialize the CAN interface
+ * @param   rx_queue Pointer to the CAN RX queue
+ * @param   settings Pointer to the CAN settings
+ * @return  STATUS_CODE_OK if initialization succeeded
+ *          STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect
+ *          STATUS_CODE_INTERNAL_ERROR if HAL initialization fails
+ */
+StatusCode can_add_filter_in();
+
+/**
+ * @brief   Initialize the CAN interface
+ * @param   rx_queue Pointer to the CAN RX queue
+ * @param   settings Pointer to the CAN settings
+ * @return  STATUS_CODE_OK if initialization succeeded
+ *          STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect
+ *          STATUS_CODE_INTERNAL_ERROR if HAL initialization fails
+ */
+StatusCode can_transmit();
+
+/**
+ * @brief   Initialize the CAN interface
+ * @param   rx_queue Pointer to the CAN RX queue
+ * @param   settings Pointer to the CAN settings
+ * @return  STATUS_CODE_OK if initialization succeeded
+ *          STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect
+ *          STATUS_CODE_INTERNAL_ERROR if HAL initialization fails
+ */
+StatusCode can_receive();
+
+/**
+ * @brief   Initialize the CAN interface
+ * @param   rx_queue Pointer to the CAN RX queue
+ * @param   settings Pointer to the CAN settings
+ * @return  STATUS_CODE_OK if initialization succeeded
+ *          STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect
+ *          STATUS_CODE_INTERNAL_ERROR if HAL initialization fails
+ */
+StatusCode cache_can_tx();
+
+/**
+ * @brief   Initialize the CAN interface
+ * @param   rx_queue Pointer to the CAN RX queue
+ * @param   settings Pointer to the CAN settings
+ * @return  STATUS_CODE_OK if initialization succeeded
+ *          STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect
+ *          STATUS_CODE_INTERNAL_ERROR if HAL initialization fails
+ */
+StatusCode cache_can_rx();
+
+/**
+ * @brief   Initialize the CAN interface
+ * @param   rx_queue Pointer to the CAN RX queue
+ * @param   settings Pointer to the CAN settings
+ * @return  STATUS_CODE_OK if initialization succeeded
+ *          STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect
+ *          STATUS_CODE_INTERNAL_ERROR if HAL initialization fails
+ */
+StatusCode clear_rx_cache();
+
+/**
+ * @brief   Initialize the CAN interface
+ * @param   rx_queue Pointer to the CAN RX queue
+ * @param   settings Pointer to the CAN settings
+ * @return  STATUS_CODE_OK if initialization succeeded
+ *          STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect
+ *          STATUS_CODE_INTERNAL_ERROR if HAL initialization fails
+ */
+StatusCode clear_tx_cache();
diff --git a/can/inc/can_hw.h b/can/inc/can_hw.h
@@ -1,12 +1,12 @@
 #pragma once
 
 /************************************************************************************************
- * can_hw.h
+ * @file   can_hw.h
  *
- * Header file for CAN HW Interface
+ * @brief  Header file for CAN HW Interface
  *
- * Created: 2024-11-03
- * Midnight Sun Team #24 - MSXVI
+ * @date   2024-11-03
+ * @author Midnight Sun Team #24 - MSXVI
  ************************************************************************************************/
 
 /* Standard library headers */
@@ -20,8 +20,6 @@
 
 /* Intra-component Headers */
 #include "can_queue.h"
-#include "gpio.h"
-#include "uart_mcu.h"
 
 #ifdef CAN_HW_DEV_USE_CAN0
 #define CAN_HW_DEV_INTERFACE "can0"
@@ -43,12 +41,6 @@ typedef enum {
   NUM_CAN_HW_BITRATES
 } CanHwBitrate;
 
-typedef enum {
-  CAN_CONTINUOUS = 0,
-  CAN_ONE_SHOT_MODE,
-  NUM_CAN_MODES
-} CanMode;
-
 typedef struct CanSettings {
   uint16_t device_id;
   CanHwBitrate bitrate;
@@ -70,9 +62,9 @@ StatusCode can_hw_init(const CanQueue* rx_queue, const CanSettings *settings);
 
 /**
  * @brief   Sets a filter on the CAN interface
- * @param   mask
- * @param   filter
- * @param   extended
+ * @param   mask Determines which bits in the received ID are considered during filtering
+ * @param   filter Specifies the pattern the CAN ID must adhere to
+ * @param   extended Boolean to use CAN extended ID feature
  * @return  STATUS_CODE_OK if initialization succeeded
  *          STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect
  */
@@ -92,16 +84,19 @@ CanHwBusStatus can_hw_bus_status(void);
  * @param   extended Boolean to use CAN extended ID feature
  * @param   data Pointer to the data to transmit
  * @param   len Size of the data to transfer
- * @return  STATUS_CODE_OK if data is retrieved succesfully
+ * @return  STATUS_CODE_OK if data is transmitted succesfully
+ *          STATUS_CODE_RESOURCE_EXHAUSTED if CAN mailbox is full
+ *          STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect
  */
 StatusCode can_hw_transmit(uint32_t id, bool extended, const uint8_t *data, size_t len);
 
 /**
  * @brief   Receives CAN data from the bus
- * @param   id
- * @param   extended
+ * @param   id Pointer to store the CAN ID received
+ * @param   extended Pointer to a flag to indicate CAN extended ID feature
  * @param   data Pointer to a buffer to store data
- * @param   len Number of CAN messages to retrieve in 8-bytes
- * @return
+ * @param   len Pointer to the number of CAN messages received
+ * @return  true if data is retrieved succesfully
+ *          false if one of the parameters are incorrect or internal error occurred
  */
 bool can_hw_receive(uint32_t *id, bool *extended, uint64_t *data, size_t *len);
diff --git a/can/inc/can_msg.h b/can/inc/can_msg.h
@@ -1,12 +1,12 @@
 #pragma once
 
 /************************************************************************************************
- * can_msg.h
+ * @file   can_msg.h
  *
- * CAN message definitions
+ * @brief  CAN message definitions
  *
- * Created: 2024-11-02
- * Midnight Sun Team #24 - MSXVI
+ * @date   2024-11-02
+ * @author Midnight Sun Team #24 - MSXVI
  ************************************************************************************************/
 
 /* Standard library headers */
@@ -37,7 +37,7 @@ typedef union CanId {
   CanMessageId raw;
   struct {
     uint16_t source_id : 4;
-    uint16_t type : 1; // Currently unused
+    uint16_t type : 1;
     uint32_t msg_id : 24;
   };
 } CanId;

diff --git a/can/inc/can_queue.h b/can/inc/can_queue.h
@@ -1,12 +1,12 @@
 #pragma once
 
 /************************************************************************************************
- * can_queue.h
+ * @file   can_queue.h
  *
- * Wrappers for CAN queues to reduce instruction jumps
+ * @brief  Wrappers for CAN queues to reduce instruction jumps
  *
- * Created: 2024-11-02
- * Midnight Sun Team #24 - MSXVI
+ * @date   2024-11-02
+ * @author Midnight Sun Team #24 - MSXVI
  ************************************************************************************************/
 
 /* Standard library headers */

diff --git a/can/src/arm/can_hw.c b/can/src/arm/can_hw.c
@@ -1,10 +1,10 @@
 /************************************************************************************************
- * can_hw.c
+ * @file   can_hw.c
  *
- * Source file for CAN HW Interface
+ * @brief  Source file for CAN HW Interface
  *
- * Created: 2024-11-03
- * Midnight Sun Team #24 - MSXVI
+ * @date   2024-11-03
+ * @author Midnight Sun Team #24 - MSXVI
  ************************************************************************************************/
 
 /* Standard library headers */
@@ -50,7 +50,7 @@ typedef struct CanHwTiming {
 } CanHwTiming;
 
 /* Generated settings using http://www.bittiming.can-wiki.info/ */
-/* For 80 MHz APB1 clock */
+/* For 80 MHz APB1 clock. CAN Sampling occurs at ~87.5% of the frame */
 static CanHwTiming s_timing[NUM_CAN_HW_BITRATES] = {
   [CAN_HW_BITRATE_125KBPS] = { .prescaler = 40, .bs1 = CAN_BS1_12TQ, .bs2 = CAN_BS2_1TQ },
   [CAN_HW_BITRATE_250KBPS] = { .prescaler = 20, .bs1 = CAN_BS1_12TQ, .bs2 = CAN_BS2_1TQ },
@@ -70,7 +70,7 @@ static bool s_tx_full = false;
 static int s_can_filter_en = 0;
 static uint32_t can_filters[CAN_HW_NUM_FILTER_BANKS];
 
-static void prv_add_filter_in(uint8_t filter_num, uint32_t mask, uint32_t filter) {
+static void s_add_filter_in(uint8_t filter_num, uint32_t mask, uint32_t filter) {
   CAN_FilterTypeDef filter_cfg = {
     .FilterBank = filter_num,
     .FilterMode = CAN_FILTERMODE_IDMASK,
@@ -88,6 +88,10 @@ static void prv_add_filter_in(uint8_t filter_num, uint32_t mask, uint32_t filter
 }
 
 StatusCode can_hw_init(const CanQueue *rx_queue, const CanSettings *settings) {
+  if (rx_queue == NULL || settings == NULL) {
+    return STATUS_CODE_INVALID_ARGS;
+  }
+
   gpio_init_pin_af(&settings->tx, GPIO_ALTFN_PUSH_PULL, GPIO_ALT9_CAN1);
   gpio_init_pin_af(&settings->rx, GPIO_ALTFN_PUSH_PULL, GPIO_ALT9_CAN1);
 
@@ -104,15 +108,15 @@ StatusCode can_hw_init(const CanQueue *rx_queue, const CanSettings *settings) {
   s_can_handle.Instance = CAN_HW_BASE;
   s_can_handle.Init.Prescaler = s_timing[settings->bitrate].prescaler;
   s_can_handle.Init.Mode = can_mode;
-  s_can_handle.Init.SyncJumpWidth = CAN_SJW_1TQ;
-  s_can_handle.Init.TimeSeg1 = s_timing[settings->bitrate].bs1;
-  s_can_handle.Init.TimeSeg2 = s_timing[settings->bitrate].bs2;
-  s_can_handle.Init.TimeTriggeredMode = DISABLE;
-  s_can_handle.Init.AutoBusOff = ENABLE;
-  s_can_handle.Init.AutoWakeUp = DISABLE;
-  s_can_handle.Init.AutoRetransmission = ENABLE;
-  s_can_handle.Init.ReceiveFifoLocked = DISABLE;
-  s_can_handle.Init.TransmitFifoPriority = DISABLE;
+  s_can_handle.Init.SyncJumpWidth = CAN_SJW_1TQ;                  /* Maximum time quantum jumps for resynchronization of bus nodes */
+  s_can_handle.Init.TimeSeg1 = s_timing[settings->bitrate].bs1;   /* Time permitted before sample point (Prop + Phase seg) */
+  s_can_handle.Init.TimeSeg2 = s_timing[settings->bitrate].bs2;   /* Time permitted after sample point */
+  s_can_handle.Init.TimeTriggeredMode = DISABLE;                  /* Traditional CAN behaviour based on priority and arbitration */
+  s_can_handle.Init.AutoBusOff = ENABLE;                          /* Auto error handling. Turns bus off when many errors detected */
+  s_can_handle.Init.AutoWakeUp = DISABLE;                         /* Node stays in sleep until explicitly woken  */
+  s_can_handle.Init.AutoRetransmission = DISABLE;                 /* We use one-shot transmission since auto retransmit can cause timing issues */  
+  s_can_handle.Init.ReceiveFifoLocked = DISABLE;                  /* Ensures latest data is always available */
+  s_can_handle.Init.TransmitFifoPriority = DISABLE;               /* Message priority is driven off ID rather than order in FIFO */
 
   if (HAL_CAN_Init(&s_can_handle) != HAL_OK) {
     return STATUS_CODE_INTERNAL_ERROR;
@@ -130,7 +134,7 @@ StatusCode can_hw_init(const CanQueue *rx_queue, const CanSettings *settings) {
   interrupt_nvic_enable(CAN1_SCE_IRQn, INTERRUPT_PRIORITY_HIGH);
 
   /* Allow all messages by default, but reset the filter count so it's overwritten on the first filter */
-  prv_add_filter_in(0, 0, 0);
+  s_add_filter_in(0, 0, 0);
   s_num_filters = 0;
 
   /* Initialize CAN queue */
@@ -165,7 +169,7 @@ StatusCode can_hw_add_filter_in(uint32_t mask, uint32_t filter, bool extended) {
   uint32_t mask_val = (mask << offset) | (1 << 2);
   uint32_t filter_val = (filter << offset) | ((uint32_t)extended << 2);
 
-  prv_add_filter_in(s_num_filters, mask_val, filter_val);
+  s_add_filter_in(s_num_filters, mask_val, filter_val);
   s_num_filters++;
   return STATUS_CODE_OK;
 }
@@ -183,6 +187,15 @@ CanHwBusStatus can_hw_bus_status(void) {
 }
 
 StatusCode can_hw_transmit(uint32_t id, bool extended, const uint8_t *data, size_t len) {
+  if (data == NULL) {
+    return STATUS_CODE_INVALID_ARGS;
+  }
+
+  if (len > 8U) {
+    return STATUS_CODE_INVALID_ARGS;
+  }
+
+
   CAN_TxHeaderTypeDef tx_header = {
     .StdId = id,
     .ExtId = id,
@@ -210,6 +223,10 @@ StatusCode can_hw_transmit(uint32_t id, bool extended, const uint8_t *data, size
 }
 
 bool can_hw_receive(uint32_t *id, bool *extended, uint64_t *data, size_t *len) {
+  if (id == NULL || extended == NULL || data == NULL || len == NULL) {
+    return false;
+  }
+
   CAN_RxHeaderTypeDef rx_header;
   uint8_t rx_data[8];
 
@@ -291,4 +308,5 @@ void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {
 
 void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan) {
   /* TODO: Add error notifications/handling */
+  /* Aryan - Maybe reinitialize bus? */
 }