added wrapper for other CANInterface functions

rover-apps/arm_2021/CMakeLists.txt

@@ -23,6 +23,7 @@ target_link_libraries(arm_2021
         CurrentSensor
         #common-modules
         WatchdogModule
+        CANDriverModule
         #Other
         uwrt-mars-rover-hw-bridge
         Logger

rover-apps/arm_2021/include/AppConfig.h

@@ -4,6 +4,10 @@
 
 #include "Module.h"
 #include "WatchdogModule.h"
+#include "CANDriverModule.h"
+#include "CANConfig.h"
+#include "hw_bridge.h"
+#include "CANInterface.h"
 
 WatchdogModule arm_watchdog;
 

rover-apps/common/CMakeLists.txt

@@ -13,6 +13,7 @@ target_include_directories(CANDriverModule PUBLIC include)
 target_link_libraries(CANDriverModule
         PRIVATE
         CANInterface
+        CANMsg
         mbed-os
         )
 

rover-apps/common/include/CANDriverModule.h

@@ -17,6 +17,27 @@ class CANDriverModule final : public Module {
   void periodic_100ms(void) override;
   void periodic_10ms(void) override;
   void periodic_1ms(void) override;
+  void rxPostman(void);
+  bool sendOneShotMessage(CANMsg &msg, Kernel::Clock::duration_u32 timeout);
+
+  // Update a TX CAN signal
+  bool setTXSignalValue(HWBRIDGE::CANID msgID, HWBRIDGE::CANSIGNAL signalName, HWBRIDGE::CANSignalValue_t signalValue);
+
+  // Read a RX CAN signal
+  bool getRXSignalValue(HWBRIDGE::CANID msgID, HWBRIDGE::CANSIGNAL signalName, HWBRIDGE::CANSignalValue_t &signalValue);
+
+  // Set CAN bus hw filter
+  bool setFilter(HWBRIDGE::CANFILTER filter, CANFormat format = CANStandard,
+                 uint16_t mask = HWBRIDGE::ROVER_CANID_FILTER_MASK, int handle = 0);
+
+  // For diagnostic purposes
+  uint32_t getNumStreamedMsgsReceived(void);
+  uint32_t getNumOneShotMsgsReceived(void);
+  uint32_t getNumStreamedMsgsSent(void);
+  uint32_t getNumOneShotMsgsSent(void);
+
+  uint16_t getNumCANRXFaults(void);
+  uint16_t getNumCANTXFaults(void);
 
  private:
   CANInterface interface;

rover-apps/common/src/CANDriverModule.cpp

@@ -18,4 +18,52 @@ void CANDriverModule::periodic_10ms(void) {
 
     // These functions need to be called every 100 Hz (10ms)
     interface.txProcessorPeriodic();
-}
+}
+
+void CANDriverModule::rxPostman(void) {
+  interface.rxPostman();
+}
+
+bool CANDriverModule::sendOneShotMessage(CANMsg &msg, Kernel::Clock::duration_u32 timeout) {
+  return interface.sendOneShotMessage(msg, timeout);
+}
+
+bool CANDriverModule::setTXSignalValue(HWBRIDGE::CANID msgID, HWBRIDGE::CANSIGNAL signalName,
+                                       HWBRIDGE::CANSignalValue_t signalValue) {
+    return interface.setTXSignalValue(msgID, signalName, signalValue);
+}
+
+bool CANDriverModule::getRXSignalValue(HWBRIDGE::CANID msgID, HWBRIDGE::CANSIGNAL signalName, HWBRIDGE::CANSignalValue_t &signalValue) {
+  return interface.getRXSignalValue(msgID, signalName, signalValue);  
+}
+
+bool CANDriverModule::setFilter(HWBRIDGE::CANFILTER filter, CANFormat format = CANStandard,
+                                uint16_t mask = HWBRIDGE::ROVER_CANID_FILTER_MASK, int handle = 0) {
+  return interface.setFilter(filter, format, mask, handle);
+}
+
+uint32_t CANDriverModule::getNumStreamedMsgsReceived(void) {
+  return interface.getNumStreamedMsgsReceived();
+}
+
+uint32_t CANDriverModule::getNumOneShotMsgsReceived(void) {
+  return interface.getNumOneShotMsgsReceived();
+}
+
+uint32_t CANDriverModule::getNumStreamedMsgsSent(void) {
+  return interface.getNumStreamedMsgsSent();
+}
+
+uint32_t CANDriverModule::getNumOneShotMsgsSent(void) {
+  return interface.getNumOneShotMsgsSent();
+}
+
+uint16_t CANDriverModule::getNumCANRXFaults(void) {
+  return interface.getNumCANRXFaults();
+}
+
+uint16_t CANDriverModule::getNumCANTXFaults(void) {
+  return interface.getNumCANTXFaults();
+}
+
+