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CANModule to fit CAN into app restructure #407

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CANModule to fit CAN into app restructure #407

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b489be4
Create modules skeleton for new app structure (#382)
cindyli-13 Jun 22, 2021
20010f1
Create watchdog module (#389)
jahnavithota2011 Aug 18, 2021
1a488c7
Create PDB monitoring module (#392)
jahnavithota2011 Aug 26, 2021
4de2cff
fix folder structure
cindyli-13 Oct 17, 2021
3f052b1
fix common modules not found
cindyli-13 Oct 17, 2021
d1c8689
created CANModule and fixed txProcessor function
upadhyaydhruv Jan 15, 2022
5de8de9
fixed rxClient function for modular use
upadhyaydhruv Jan 15, 2022
2c23625
made CMake linking changes for CANModule
upadhyaydhruv Jan 15, 2022
541583d
implemented most changes as requested by Melvion and Cindy
upadhyaydhruv Feb 3, 2022
6947dd6
added all changes requested, hw bridge issue persists
upadhyaydhruv Feb 4, 2022
a667ffa
fixed issues preventing compilation
upadhyaydhruv Feb 10, 2022
a0d658b
added wrapper for other CANInterface functions
upadhyaydhruv Feb 14, 2022
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added all changes requested, hw bridge issue persists
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@upadhyaydhruv
upadhyaydhruv committed Feb 4, 2022
commit 6947dd6f63bf0399a849dfa7b028bf7c8d3d424a
72 changes: 36 additions & 36 deletions libs/can/src/CANInterface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,52 +53,52 @@ void CANInterface::rxClientPeriodic(void) {
// Check if a message has arrived:
mail = m_rxMailbox.try_get();

MBED_ASSERT(mail != nullptr);
if (mail != nullptr) {
// Extract message
CANMsg msg = *mail;
MBED_ASSERT(m_rxMailbox.free(mail) == osOK);

// Extract message
CANMsg msg = *mail;
MBED_ASSERT(m_rxMailbox.free(mail) == osOK);

// Check if message is intended to be received by this node
m_rxMutex.lock();
bool validMsgReceived = (m_rxMsgMap != nullptr) && m_rxMsgMap->contains(msg.getID());
m_rxMutex.unlock();

if (validMsgReceived) {
HWBRIDGE::CANMsgData_t msgData;
msg.getPayload(msgData);

// Extract message signals and put into RX message map
// Check if message is intended to be received by this node
m_rxMutex.lock();
bool msgUnpacked = HWBRIDGE::unpackCANMsg(msgData.raw, msg.getID(), m_rxMsgMap);
bool validMsgReceived = (m_rxMsgMap != nullptr) && m_rxMsgMap->contains(msg.getID());
m_rxMutex.unlock();

if (msgUnpacked) {
// If message is one-shot, process message
if ((m_rxOneShotMsgHandler != nullptr) && m_rxOneShotMsgHandler->contains(msg.getID())) {
if (m_rxOneShotMsgHandler->at(msg.getID())() != MBED_SUCCESS) {
MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_FAILED_OPERATION),
"Failed to process CAN message");
if (validMsgReceived) {
HWBRIDGE::CANMsgData_t msgData;
msg.getPayload(msgData);

// Extract message signals and put into RX message map
m_rxMutex.lock();
bool msgUnpacked = HWBRIDGE::unpackCANMsg(msgData.raw, msg.getID(), m_rxMsgMap);
m_rxMutex.unlock();

if (msgUnpacked) {
// If message is one-shot, process message
if ((m_rxOneShotMsgHandler != nullptr) && m_rxOneShotMsgHandler->contains(msg.getID())) {
if (m_rxOneShotMsgHandler->at(msg.getID())() != MBED_SUCCESS) {
MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_FAILED_OPERATION),
"Failed to process CAN message");
}
m_numOneShotMsgsReceived++;
}
m_numOneShotMsgsReceived++;
}
// Otherwise message is streamed
else {
m_numStreamedMsgsReceived++;
// Otherwise message is streamed
else {
m_numStreamedMsgsReceived++;
}
} else {
MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INVALID_DATA_DETECTED),
"CAN RX message unpacking failed");
m_numCANRXFaults++;
}
} else {
}

// Otherwise invalid message was received
else {
MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INVALID_DATA_DETECTED),
"CAN RX message unpacking failed");
"Invalid CAN message received");
m_numCANRXFaults++;
}
}

// Otherwise invalid message was received
else {
MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INVALID_DATA_DETECTED),
"Invalid CAN message received");
m_numCANRXFaults++;
}
}

void CANInterface::txProcessorPeriodic(void) {
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