can.h

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 *
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/**
 * @file    can.h
 * @author  foxBMS Team
 * @date    2019-12-04 (date of creation)
 * @updated 2023-10-12 (date of last update)
 * @version v1.6.0
 * @ingroup DRIVERS
 * @prefix  CAN
 *
 * @brief   Header for the driver for the CAN module
 *
 * @details Provides the interfaces for initialization, receive
 *          and transmit handling
 *
 */
 
#ifndef FOXBMS__CAN_H_
#define FOXBMS__CAN_H_
 
/*========== Includes =======================================================*/
 
#include "can_cfg.h"
 
#include <stdint.h>
 
/*========== Macros and Definitions =========================================*/
/** Total number of message boxes available for TMS570LC4357 */
#define CAN_TOTAL_NUMBER_OF_MESSAGE_BOXES (64u)
 
/** Half of the 64 message boxes are defined for TX
 * This is used to determined in the CAN interrupt routine if TX or RX case
 */
#define CAN_NR_OF_TX_MESSAGE_BOX (32u)
 
/** Task time slot where the CAN TX function is called. Repetition time of
 * periodic CAN messages must be multiple of this (e.g., 1u, 10u or 100u)
 */
#define CAN_TICK_ms (10u)
 
/** This structure contains variables relevant for the CAN signal module. */
typedef struct {
    bool periodicEnable;                           /*!< defines if periodic transmit and receive should run */
    bool currentSensorPresent[BS_NR_OF_STRINGS];   /*!< defines if a current sensor is detected */
    bool currentSensorCCPresent[BS_NR_OF_STRINGS]; /*!< defines if a CC info is being sent */
    bool currentSensorECPresent[BS_NR_OF_STRINGS]; /*!< defines if a EC info is being sent */
} CAN_STATE_s;
 
/*========== Extern Constant and Variable Declarations ======================*/
 
/*========== Extern Function Prototypes =====================================*/
 
/**
 * @brief   Sends over CAN the data passed in parameters.
 * This function goes over the message boxes and marks the ones that should
 * be sent.
 * @param[in,out]   pNode   CAN interface to use
 * @param           id      ID of message to send
 * @param           idType  standard or extended identifier
 * @param[out]      pData   data to send (8 bytes)
 * @return  #STD_OK if a message box was free to send, #STD_NOT_OK otherwise
 */
extern STD_RETURN_TYPE_e CAN_DataSend(CAN_NODE_s *pNode, uint32_t id, CAN_IDENTIFIER_TYPE_e idType, uint8 *pData);
 
/**
 * @brief Reads messages from TX Queue and sends them via CAN.
*/
extern void CAN_SendMessagesFromQueue(void);
 
/**
 * @brief   Calls the functions to drive the CAN interface.
 * Makes the CAN timing checks and sends the periodic messages.
 */
extern void CAN_MainFunction(void);
 
/**
 * @brief   Checks the data received per CAN.
 * A receive buffer is used because CAN frames are received in an interrupt routine.
 * The TMS570LC4357 does not allow nested interrupts, so interrupts are deactivated during receive.
 * Calls to the database do not work when interrupts are disabled.
 * Receive callbacks are made within this function: as it is not called during an interrupt routine,
 * calls to the database can be made.
 */
extern void CAN_ReadRxBuffer(void);
 
/**
 * @brief   Enables the CAN transceiver..
 * This function sets th pins to enable the CAN transceiver.
 * It must be called before using the CAN interface.
 */
extern void CAN_Initialize(void);
 
/**
 * @brief   Enables periodic sending per CAN.
 * This is used to prevent sending uninitialized data per CAN
 * (e.g., before the first LTC measurement cycle was completed).
 */
extern void CAN_EnablePeriodic(bool command);
 
/**
 * @brief   set flag for presence of current sensor.
 * @return  retval  true if a current sensor is present, false otherwise
 */
extern bool CAN_IsCurrentSensorPresent(uint8_t stringNumber);
 
/**
 * @brief   get flag if CC message from current sensor is received.
 * @param   stringNumber   addressed string
 * @return  true if CC message is being received, false otherwise
 */
extern bool CAN_IsCurrentSensorCcPresent(uint8_t stringNumber);
 
/**
 * @brief   get flag if EC message from current sensor is received
 * @param   stringNumber   addressed string
 * @return  true if EC message is being received, false otherwise
 */
extern bool CAN_IsCurrentSensorEcPresent(uint8_t stringNumber);
 
/*========== Externalized Static Functions Prototypes (Unit Test) ===========*/
#ifdef UNITY_UNIT_TEST
extern CAN_STATE_s *TEST_CAN_GetCANState(void);
extern void TEST_CAN_ValidateConfiguredTxMessagePeriod(void);
extern void TEST_CAN_ValidateConfiguredTxMessagePhase(void);
extern void TEST_CAN_CheckDatabaseNullPointer(CAN_SHIM_s canShim);
extern void TEST_CAN_TxInterrupt(canBASE_t *pNode, uint32 messageBox);
extern void TEST_CAN_RxInterrupt(canBASE_t *pNode, uint32 messageBox);
extern STD_RETURN_TYPE_e TEST_CAN_PeriodicTransmit(void);
extern uint32_t TEST_CAN_CalculateCounterResetValue(void);
extern void TEST_CAN_CheckCanTiming(void);
extern bool TEST_CAN_IsMessagePeriodElapsed(uint32_t ticksSinceStart, uint16_t messageIndex);
#if BS_CURRENT_SENSOR_PRESENT == true
extern void TEST_CAN_SetCurrentSensorPresent(bool command, uint8_t stringNumber);
extern void TEST_CAN_SetCurrentSensorCcPresent(bool command, uint8_t stringNumber);
extern void TEST_CAN_SetCurrentSensorEcPresent(bool command, uint8_t stringNumber);
extern void TEST_CAN_CheckCanTimingOfCurrentSensor(void);
#endif /* BS_CURRENT_SENSOR_PRESENT == true */
extern void TEST_CAN_ConfigureRxMailboxesForExtendedIdentifiers(void);
extern void TEST_CAN_InitializeTransceiver(void);
extern CAN_NODE_s *TEST_CAN_GetNodeConfigurationStructFromRegisterAddress(canBASE_t *pNodeRegister);
extern STD_RETURN_TYPE_e TEST_CAN_PeriodicTransmit(void);
#endif
 
#endif /* FOXBMS__CAN_H_ */