GR26 ECU CUBEMX Migration

ECU/Application/Inc/CANdler.h

@@ -1,6 +1,7 @@
 #include <stdbool.h>
 #include <stdint.h>
 
+#include "CubeCAN.h"
 #include "GRCAN_BUS_ID.h"
 #include "GRCAN_CUSTOM_ID.h"
 #include "GRCAN_MSG_ID.h"
@@ -10,6 +11,8 @@
 #ifndef CANDLER_H
 #define CANDLER_H
 
+void CANdler_Callback(const CubeCAN_Config_Context *const context, const CAN_Identifier *const identifier, const uint8_t *const data, const uint8_t size);
+
 void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id, uint8_t *data, uint32_t data_length);
 
 void ECU_CAN_DTI_MessageHandler(ECU_StateData *state_data, GRCAN_CUSTOM_ID id, uint8_t *data, uint32_t data_length);

ECU/Application/Inc/CANutils.h

@@ -12,7 +12,7 @@
 #define ECU_STATE_DATA_SEND_INTERVAL_MS 20
 void ECU_CAN_Send(GRCAN_BUS_ID bus, GRCAN_NODE_ID destNode, GRCAN_MSG_ID messageID, void *data, uint32_t size);
 void ECU_CAN_Send_DTI(GRCAN_CUSTOM_ID msgID, void *data, uint32_t size);
-void SendECUStateDataOverCAN(const ECU_StateData *stateData);
-void SendECUAnalogDataOverCAN(const ECU_StateData *stateData);
-void SendECUConfigOverCAN(const ECU_StateData *stateData);
+// void SendECUStateDataOverCAN(const ECU_StateData *stateData);
+// void SendECUAnalogDataOverCAN(const ECU_StateData *stateData);
+// void SendECUConfigOverCAN(const ECU_StateData *stateData);
 #endif

ECU/Application/Inc/CubeCAN_Config.h

@@ -0,0 +1,8 @@
+#ifndef CUBE_CAN_CONFIG_H
+#define CUBE_CAN_CONFIG_H
+
+#define CUBEMX_CAN_TX_QUEUE_SIZE 16U
+#define CUBEMX_CAN_MAX_INSTANCES 3U
+#define ECU_CAN_MAX_DATA_BYTES 64 // Replacing FDCAN_MAX_DATA_BYTES macro since can.h doesnt exist anymore
+
+#endif

ECU/Application/Inc/StateData.h

@@ -1,9 +1,9 @@
 #include <stdbool.h>
 #include <stdint.h>
 
+#include "CubeCAN.h"
 #include "GRCAN_MSG_DATA.h"
 #include "StateMachine.h"
-#include "can.h"
 
 #ifndef _STATEDATA_H_
 #define _STATEDATA_H_
@@ -124,8 +124,8 @@ typedef volatile struct ECU_StateData {
 
 	GR_ECU_State ecu_state;
 
-	CANHandle *primary_can;
-	CANHandle *data_can;
+	CubeCAN_Handle *data_can;
+	CubeCAN_Handle *primary_can;
 } ECU_StateData;
 
 #endif

ECU/Application/Inc/StateTicks.h

@@ -1,13 +1,13 @@
+#include "CubeCAN.h"
 #include "StateData.h"
 #include "StateMachine.h"
 #include "adc.h"
-#include "can.h"
 
 #ifndef _STATE_TICKS_H_
 #define _STATE_TICKS_H_
 
-extern CANHandle *primary_can;
-extern CANHandle *data_can;
+extern CubeCAN_Handle *primary_can;
+extern CubeCAN_Handle *data_can;
 
 /**
  * @brief Tick function for the ECU state machine.

ECU/Application/Src/CANdler.c

@@ -3,6 +3,7 @@
 #include <math.h>
 #include <stdint.h>
 
+#include "CubeCAN.h"
 #include "GRCAN_BUS_ID.h"
 #include "GRCAN_CUSTOM_ID.h"
 #include "GRCAN_MSG_ID.h"
@@ -12,6 +13,8 @@
 #include "StateData.h"
 #include "bitManipulations.h"
 
+extern ECU_StateData stateLump;
+
 #define WHEEL_RADIUS_INCHES 8.0f
 #define WHEEL_CIRCUMFERENCE_INCHES (2.0f * (float)M_PI * WHEEL_RADIUS_INCHES)
 #define WHEEL_RPM_TO_MPH_RATIO (WHEEL_CIRCUMFERENCE_INCHES / 63360.0f * 60.0f)
@@ -24,7 +27,7 @@ void ReportBadMessageLength(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE
 {
 	// TODO Ideally change some state data to note a bad message, ie if ACU
 	// that can be a comms error
-	LOGOMATIC("Bad ECU CAN Rx length! Bus: %d, Msg: %X, Sender: %X\n", bus_id, msg_id, sender_id);
+	LOGOMATIC_ERROR("Bad ECU CAN Rx length! Bus: %d, Msg: %X, Sender: %X\n", bus_id, msg_id, sender_id);
 }
 
 void ReportUnhandledMessage(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id)
@@ -33,7 +36,7 @@ void ReportUnhandledMessage(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE
 	UNUSED(bus_id);
 	UNUSED(msg_id);
 	UNUSED(sender_id);
-	// LOGOMATIC("Unhandled ECU CAN Rx msg! Bus: %d, Msg: %X, Sender: %X\n", bus_id, msg_id, sender_id);
+	LOGOMATIC_ERROR("Unhandled ECU CAN Rx msg! Bus: %d, Msg: %X, Sender: %X\n", bus_id, msg_id, sender_id);
 }
 
 void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id, uint8_t *data, uint32_t data_length)
@@ -44,15 +47,15 @@ void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCA
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			LOGOMATIC("Received from %02X on bus %d: %.*s\n", sender_id, bus_id, (int)data_length, data);
+			LOGOMATIC_INFO("Received from %02X on bus %d: %.*s\n", sender_id, bus_id, (int)data_length, data);
 			break;
 
 		case GRCAN_DEBUG_FD:
 			if (data_length > 64) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			LOGOMATIC("Received from %02X on bus %d: %.*s\n", sender_id, bus_id, (int)data_length, data);
+			LOGOMATIC_ERROR("Received from %02X on bus %d: %.*s\n", sender_id, bus_id, (int)data_length, data);
 			break;
 
 		case GRCAN_PING:
@@ -112,8 +115,8 @@ void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCA
 			}
 			GRCAN_DASH_STATUS_MSG *dash_data = (GRCAN_DASH_STATUS_MSG *)data;
 
-			LOGOMATIC("Dash button flags: TS Press %d | TS Hold %d | RTD Press %d | RTD Hold %d\n", dash_data->button_flags & 1, (dash_data->button_flags >> 2) & 1,
-				  (dash_data->button_flags >> 1) & 1, (dash_data->button_flags >> 3) & 1);
+			LOGOMATIC_INFO("Dash button flags: TS Press %d | TS Hold %d | RTD Press %d | RTD Hold %d\n", dash_data->button_flags & 1, (dash_data->button_flags >> 2) & 1,
+				       (dash_data->button_flags >> 1) & 1, (dash_data->button_flags >> 3) & 1);
 
 			// LET IT BE KNOWN: these things are LSB FIRST, TODO: I'll get it right later
 			if (state_data->ecu_state == GR_GLV_ON) {
@@ -183,3 +186,24 @@ void ECU_CAN_DTI_MessageHandler(ECU_StateData *state_data, GRCAN_CUSTOM_ID id, u
 			break;
 	}
 }
+
+void CANdler_Callback(const CubeCAN_Config_Context *const context, const CAN_Identifier *const identifier, const uint8_t *const data, const uint8_t size)
+{
+
+	if (context == NULL || identifier == NULL || data == NULL || size == 0) {
+		LOGOMATIC_ERROR("CANdler_Callback: Invalid parameters received. context: %p, identifier: %p, data: %p, size: %u\n", (void *const)context, (void *const)identifier, (void *const)data,
+				size);
+		return;
+	}
+
+	const GRCAN_BUS_ID bus_id = context->busid_user_context;
+	const GRCAN_NODE_ID sender_id = identifier->tx_node_id;
+	const GRCAN_MSG_ID msg_id = identifier->msg_id;
+
+	if (msg_id == (GRCAN_MSG_ID)DTI_DATA_1_CAN_ID) {
+		ECU_CAN_DTI_MessageHandler(&stateLump, (GRCAN_CUSTOM_ID)msg_id, (uint8_t *)data, size);
+		return;
+	}
+
+	ECU_CAN_MessageHandler(&stateLump, bus_id, msg_id, sender_id, (uint8_t *)data, size);
+}