foxBMS  1.4.0
The foxBMS Battery Management System API Documentation
can_cbs_rx_imd.c
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41 
42 /**
43  * @file can_cbs_rx_imd.c
44  * @author foxBMS Team
45  * @date 2021-04-20 (date of creation)
46  * @updated 2022-07-28 (date of last update)
47  * @version v1.4.0
48  * @ingroup DRIVER
49  * @prefix CAN
50  *
51  * @brief CAN driver Rx callback implementation
52  * @details CAN Rx callback for IMD messages
53  */
54 
55 /*========== Includes =======================================================*/
56 #include "can_cbs.h"
57 #include "can_helper.h"
58 #include "foxmath.h"
59 
60 /*========== Macros and Definitions =========================================*/
61 
62 /*========== Static Constant and Variable Definitions =======================*/
63 
64 /*========== Extern Constant and Variable Definitions =======================*/
65 
66 /*========== Static Function Prototypes =====================================*/
67 
68 /*========== Static Function Implementations ================================*/
69 
70 /*========== Extern Function Implementations ================================*/
71 extern uint32_t CAN_RxImdInfo(
72  uint32_t id,
73  uint8_t dlc,
74  CAN_ENDIANNESS_e endianness,
75  const uint8_t *const kpkCanData,
76  const CAN_SHIM_s *const kpkCanShim) {
77  /* This handler is only implemented for little endian */
78  FAS_ASSERT(endianness == CAN_LITTLE_ENDIAN);
79 
80  FAS_ASSERT(id < CAN_MAX_11BIT_ID); /* Currently standard ID, 11 bit */
81  FAS_ASSERT(dlc <= CAN_MAX_DLC); /* Currently max 8 bytes in a CAN frame */
82  const uint8_t boundedDlc = MATH_MinimumOfTwoUint8_t(dlc, CAN_MAX_DLC);
83  FAS_ASSERT(kpkCanData != NULL_PTR);
84  FAS_ASSERT(kpkCanShim != NULL_PTR);
85  CAN_BUFFERELEMENT_s canMessage = {0};
86  uint32_t retVal = 1u;
87 
88  canMessage.id = id;
89  for (uint8_t i = 0; i < boundedDlc; i++) {
90  canMessage.data[i] = kpkCanData[i];
91  }
92  if (OS_SendToBackOfQueue(*(kpkCanShim->pQueueImd), (void *)&canMessage, 0u) == OS_SUCCESS) {
93  retVal = 0u;
94  }
95  return retVal;
96 }
97 
98 extern uint32_t CAN_RxImdResponse(
99  uint32_t id,
100  uint8_t dlc,
101  CAN_ENDIANNESS_e endianness,
102  const uint8_t *const kpkCanData,
103  const CAN_SHIM_s *const kpkCanShim) {
104  /* This handler is only implemented for little endian */
105  FAS_ASSERT(endianness == CAN_LITTLE_ENDIAN);
106  FAS_ASSERT(id < CAN_MAX_11BIT_ID); /* Currently standard ID, 11 bit */
107  FAS_ASSERT(dlc <= CAN_MAX_DLC); /* Currently max 8 bytes in a CAN frame */
108  FAS_ASSERT(kpkCanData != NULL_PTR);
109  FAS_ASSERT(kpkCanShim != NULL_PTR);
110 
111  const uint8_t boundedDlc = MATH_MinimumOfTwoUint8_t(dlc, CAN_MAX_DLC);
112 
113  CAN_BUFFERELEMENT_s canMessage = {0};
114  uint32_t retVal = 1u;
115 
116  canMessage.id = id;
117  for (uint8_t i = 0; i < boundedDlc; i++) {
118  canMessage.data[i] = kpkCanData[i];
119  }
120  if (OS_SendToBackOfQueue(*(kpkCanShim->pQueueImd), (void *)&canMessage, 0u) == OS_SUCCESS) {
121  retVal = 0u;
122  }
123  return retVal;
124 }
125 
126 /*========== Externalized Static Function Implementations (Unit Test) =======*/
CAN callbacks header.
uint32_t CAN_RxImdResponse(uint32_t id, uint8_t dlc, CAN_ENDIANNESS_e endianness, const uint8_t *const kpkCanData, const CAN_SHIM_s *const kpkCanShim)
can rx callback function for IMD response messages
uint32_t CAN_RxImdInfo(uint32_t id, uint8_t dlc, CAN_ENDIANNESS_e endianness, const uint8_t *const kpkCanData, const CAN_SHIM_s *const kpkCanShim)
can rx callback function for IMD info messages
CAN_ENDIANNESS_e
Definition: can_cfg.h:298
@ CAN_LITTLE_ENDIAN
Definition: can_cfg.h:299
#define CAN_MAX_11BIT_ID
Definition: can_cfg.h:86
#define CAN_MAX_DLC
Definition: can_cfg.h:88
Headers for the helper functions for the CAN module.
#define FAS_ASSERT(x)
Assertion macro that asserts that x is true.
Definition: fassert.h:252
uint8_t MATH_MinimumOfTwoUint8_t(const uint8_t value1, const uint8_t value2)
Returns the minimum of the passed uint8_t values.
Definition: foxmath.c:138
math library for often used math functions
#define NULL_PTR
Null pointer.
Definition: fstd_types.h:76
@ OS_SUCCESS
Definition: os.h:78
OS_STD_RETURN_e OS_SendToBackOfQueue(OS_QUEUE xQueue, const void *const pvItemToQueue, uint32_t ticksToWait)
Post an item to the back the provided queue.
Definition: os_freertos.c:170
uint8_t data[CAN_MAX_DLC]
Definition: can_cfg.h:307
OS_QUEUE * pQueueImd
Definition: can_cfg.h:312