can fixes and add error queue

Core/Inc/can.h

@@ -1,5 +1,10 @@
+#ifndef CAN_H
+#define CAN_H
+
 #include <stdint.h>
 #include "stm32g4xx_hal.h"
 #include "fdcan.h"
 
-HAL_StatusTypeDef receive_msg(can_t *hcan);
+void init_iroh_can(FDCAN_HandleTypeDef *hcan);
+
+#endif

Core/Inc/queues.h

@@ -12,4 +12,13 @@ typedef struct {
 
 extern osMessageQueueId_t bms_data_queue;
 
+#define ERROR_QUEUE_SIZE 8
+
+typedef struct {
+	uint8_t code;
+	char msg[20];
+} iroh_error_t;
+
+extern osMessageQueueId_t error_queue;
+
 #endif

Core/Src/can.c

@@ -1,43 +1,52 @@
 #include "can.h"
 #include "queues.h"
+#include "string.h"
 
-//Arbitrary CAN IDs
-#define CAN_ID 0x69
-
-bms_data_t bms_data;
+#define BMS_DATA_CAN_ID 0x80
 
+void receive_msg(FDCAN_HandleTypeDef *hfdcan) 
+{
 
-void init_iroh_can(FDCAN_HandleTypeDef *hcan) {
-    can_t fdcan;
-    fdcan.callback = receive_msg;
-    fdcan.id_list = 0;
-    fdcan.id_list_len = 0;
-    fdcan.hcan = hcan;
+    bms_data_t bms_data;
+    iroh_error_t e;
 
-    can_init(&fdcan);
-}    
+    FDCAN_RxHeaderTypeDef *rx_header;
+    uint8_t *rx_data;
 
-HAL_StatusTypeDef receive_msg(can_t *can) 
-{
+    if (!HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO0)) {
+        e.code = 1;
+        strcpy(e.msg, "No msg Recieved");
+        osMessageQueuePut(error_queue, &e, 0, 2000);
+        return;
+    } 
 
-    FDCAN_RxHeaderTypeDef rx_header;
-    uint8_t rx_data[8]; //array of 8 bytes
-
-    if (HAL_FDCAN_GetRxFifoFillLevel(can->hcan, FDCAN_RX_FIFO0) > 0) { //Check if messages are available
-        if (HAL_FDCAN_GetRxMessage(can->hcan,FDCAN_RX_FIFO0,&rx_header,rx_data) == HAL_OK) {
-            uint32_t message_id = rx_header.Identifier;
-            if (message_id == CAN_ID) {
-                bms_data.SoC = (uint8_t) rx_data[0];
-                bms_data.current = (uint8_t) rx_data[1];
-                if (osStatus_t osMessageQueuePut(bms_data_queue *bms_data, 0, 2000) == osOK) //timeout is 2000 ms
-                    return HAL_OK;
-                else
-                    return HAL_ERROR
-			}
+    if (!HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, rx_header, rx_data)) {
+        e.code = 2;
+        strcpy(e.msg, "Cannot get msg");
+        osMessageQueuePut(error_queue, &e, 0, 2000);
+        return;
+    }
+
+    uint32_t message_id = rx_header->Identifier;
+
+    if (message_id == BMS_DATA_CAN_ID) {
+        bms_data.SoC = rx_data[0];
+        bms_data.current = rx_data[1];
+        if (!osMessageQueuePut(bms_data_queue, &bms_data, 0, 2000)) {
+            e.code = 3;
+            strcpy(e.msg, "BMS data MQ err");
+            osMessageQueuePut(error_queue, &e, 0, 2000);
+            return;
         }
-		return HAL_ERROR;
-    } 
-	return HAL_BUSY;
+    }
 }
 
-
+void init_iroh_can(FDCAN_HandleTypeDef *hcan) {
+    can_t *fdcan;
+    fdcan->callback = receive_msg;
+    fdcan->id_list = 0;
+    fdcan->id_list_len = 0;
+    fdcan->hcan = hcan;
+
+    can_init(fdcan);
+}   

Core/Src/main.c

@@ -24,6 +24,7 @@
 /* USER CODE BEGIN Includes */
 #include "queues.h"
 #include "iroh_tasks.h"
+#include "can.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -59,6 +60,7 @@ const osThreadAttr_t defaultTask_attributes = {
 };
 /* USER CODE BEGIN PV */
 osMessageQueueId_t bms_data_queue;
+osMessageQueueId_t error_queue;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -110,7 +112,7 @@ int main(void)
   MX_USART2_UART_Init();
   MX_FDCAN1_Init();
   /* USER CODE BEGIN 2 */
-
+  init_iroh_can(&hfdcan1);
   /* USER CODE END 2 */
 
   /* Init scheduler */
@@ -130,6 +132,7 @@ int main(void)
 
   /* USER CODE BEGIN RTOS_QUEUES */
   bms_data_queue = osMessageQueueNew(BMS_DATA_QUEUE_SIZE, sizeof(bms_data_t), NULL);
+  error_queue = osMessageQueueNew(ERROR_QUEUE_SIZE, sizeof(iroh_error_t), NULL);
   /* USER CODE END RTOS_QUEUES */
 
   /* Create the thread(s) */

Makefile

@@ -43,6 +43,7 @@ Core/Src/stm32g4xx_hal_msp.c \
 Core/Src/seven_segment.c \
 Core/Src/switch.c \
 Core/Src/iroh_tasks.c \
+Core/Src/can.c \
 Drivers/Embedded-Base/platforms/stm32g431/src/fdcan.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c \