can.c

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/**
 *
 * @copyright © 2010 - 2021, Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V.
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 *
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 * modification, are permitted provided that the following conditions are met:
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/**
 * @file    can.c
 * @author  foxBMS Team
 * @date    2019-12-04 (date of creation)
 * @updated 2021-07-23 (date of last update)
 * @ingroup DRIVERS
 * @prefix  CAN
 *
 * @brief   Driver for the CAN module
 *
 * @details Implementation of the CAN Interrupts, initialization, buffers,
 *          receive and transmit interfaces.
 */
 
/*========== Includes =======================================================*/
#include "can.h"
 
#include "version_cfg.h"
 
#include "HL_het.h"
#include "HL_reg_system.h"
 
#include "bender_iso165c.h"
#include "can_helper.h"
#include "database.h"
#include "diag.h"
#include "foxmath.h"
#include "ftask.h"
#include "io.h"
#include "mcu.h"
 
/*========== Macros and Definitions =========================================*/
/** lower limit of timestamp counts for a valid CAN timing */
#define CAN_TIMING_LOWER_LIMIT_COUNTS (95u)
 
/** upper limit of timestamp counts for a valid CAN timing */
#define CAN_TIMING_UPPER_LIMIT_COUNTS (105u)
 
/** maximum distance from release that can be encoded in the boot message */
#define CAN_BOOT_MESSAGE_MAXIMUM_RELEASE_DISTANCE (31u)
#if CAN_BOOT_MESSAGE_MAXIMUM_RELEASE_DISTANCE > UINT8_MAX
#error "This code assumes that the define is smaller or equal to UINT8_MAX")
#endif
 
/** bit position of boot message byte 3 version control flag */
#define CAN_BOOT_MESSAGE_BYTE_3_BIT_VERSION_CONTROL (0u)
 
/** bit position of boot message byte 3 dirty flag */
#define CAN_BOOT_MESSAGE_BYTE_3_BIT_DIRTY_FLAG (1u)
 
/** bit position of boot message byte 3 release distance overflow flag */
#define CAN_BOOT_MESSAGE_BYTE_3_BIT_DISTANCE_OVERFLOW_FLAG (2u)
 
/** bit position of boot message byte 3 release distance counter */
#define CAN_BOOT_MESSAGE_BYTE_3_BIT_DISTANCE_COUNTER (3u)
 
/*========== Static Constant and Variable Definitions =======================*/
 
/** tracks the local state of the can module */
static CAN_STATE_s can_state = {
    .periodicEnable         = false,
    .currentSensorPresent   = {REPEAT_U(false, STRIP(BS_NR_OF_STRINGS))},
    .currentSensorCCPresent = {REPEAT_U(false, STRIP(BS_NR_OF_STRINGS))},
    .currentSensorECPresent = {REPEAT_U(false, STRIP(BS_NR_OF_STRINGS))},
};
 
/*========== Extern Constant and Variable Definitions =======================*/
 
/*========== Static Function Prototypes =====================================*/
 
/**
 * @brief   Called in case of CAN TX interrupt.
 * @param   pNode        CAN interface on which message was sent
 * @param   messageBox   message box on which message was sent
 */
static void CAN_TxInterrupt(canBASE_t *pNode, uint32 messageBox);
 
/**
 * @brief   Called in case of CAN RX interrupt.
 * @param   pNode        CAN interface on which message was received
 * @param   messageBox   message box on which message was received
 */
static void CAN_RxInterrupt(canBASE_t *pNode, uint32 messageBox);
 
/**
 * @brief    Handles the processing of messages that are meant to be transmitted.
 * This function looks for the repetition times and the repetition phase of
 * messages that are intended to be sent periodically. If a comparison with
 * an internal counter (i.e., the counter how often this function has been called)
 * states that a transmit is pending, the message is composed by call of CANS_ComposeMessage
 * and transferred to the buffer of the CAN module. If a callback function
 * is declared in configuration, this callback is called after successful transmission.
 * @return   #STD_OK if a CAN transfer was made, #STD_NOT_OK otherwise
 */
static STD_RETURN_TYPE_e CAN_PeriodicTransmit(void);
 
/**
 * @brief   Checks if the CAN messages come in the specified time window
 * If the (current time stamp) - (previous time stamp) > 96ms and < 104ms,
 * the check is true, false otherwise. The result is reported via flags
 * in the DIAG module.
 */
static void CAN_CheckCanTiming(void);
 
#if CURRENT_SENSOR_PRESENT == true
/**
 * @brief   Sets flag to indicate current sensor is present.
 *
 * @param command        true if current sensor present, otherwise false
 * @param stringNumber   string addressed
 *
 * @return  none
 */
static void CAN_SetCurrentSensorPresent(bool command, uint8_t stringNumber);
 
/**
 * @brief   Sets flag to indicate current sensor sends C-C values.
 *
 * @param command        true if coulomb counting message detected, otherwise false
 * @param stringNumber   string addressed
 *
 * @return  none
 */
static void CAN_SetCurrentSensorCcPresent(bool command, uint8_t stringNumber);
 
/**
 * @brief   Sets flag to indicate current sensor sends C-C values.
 *
 * @param command        true if energy counting message detected, otherwise false
 * @param stringNumber   string addressed
 *
 * @return  none
 */
static void CAN_SetCurrentSensorEcPresent(bool command, uint8_t stringNumber);
#endif /* CURRENT_SENSOR_PRESENT == true */
 
/** initialize the SPI interface to the CAN transceiver */
static void CAN_InitializeTransceiver(void);
 
/*========== Static Function Implementations ================================*/
 
static void CAN_InitializeTransceiver(void) {
    /* set EN and STB pins to output */
    SETBIT(CAN_HET1_GIO->DIR, CAN_HET1_EN_PIN);
    SETBIT(CAN_HET1_GIO->DIR, CAN_HET1_STB_PIN);
 
    /* first set EN and STB pins to 0 */
    IO_PinReset(&CAN_HET1_GIO->DOUT, CAN_HET1_EN_PIN);
    IO_PinReset(&CAN_HET1_GIO->DOUT, CAN_HET1_STB_PIN);
    /* wait after pin toggle */
    MCU_delay_us(CAN_PIN_TOGGLE_DELAY_US);
 
    /* set EN pin to 1 */
    IO_PinSet(&CAN_HET1_GIO->DOUT, CAN_HET1_EN_PIN);
    /* wait after pin toggle */
    MCU_delay_us(CAN_PIN_TOGGLE_DELAY_US);
 
    /* set STB pin to 1 */
    IO_PinSet(&CAN_HET1_GIO->DOUT, CAN_HET1_STB_PIN);
    /* wait after pin toggle */
    MCU_delay_us(CAN_PIN_TOGGLE_DELAY_US);
}
 
/*========== Extern Function Implementations ================================*/
 
extern void CAN_Initialize(void) {
    CAN_InitializeTransceiver();
}
 
extern STD_RETURN_TYPE_e CAN_DataSend(canBASE_t *pNode, uint32_t id, uint8 *pData) {
    FAS_ASSERT(pNode != NULL_PTR);
    FAS_ASSERT(pData != NULL_PTR);
 
    STD_RETURN_TYPE_e result = STD_NOT_OK;
 
    /**
     *  Parse all TX message boxes until we find a free one,
     *  then use it to send the CAN message.
     *  In the HAL, message box numbers start from 1, not 0.
     */
    for (uint8_t messageBox = 1u; messageBox <= CAN_NR_OF_TX_MESSAGE_BOX; messageBox++) {
        if (canIsTxMessagePending(pNode, messageBox) == 0u) {
            /* id shifted by 18 to use standard frame */
            /* standard frame: bits [28:18] */
            /* extended frame: bits [28:0] */
            /* bit 29 set to 1: to set direction Tx in IF2ARB register */
            canUpdateID(pNode, messageBox, ((id << 18) | (1U << 29)));
            canTransmit(pNode, messageBox, pData);
            result = STD_OK;
            break;
        }
    }
    return result;
}
 
extern void CAN_MainFunction(void) {
    CAN_CheckCanTiming();
    if (true == can_state.periodicEnable) {
        CAN_PeriodicTransmit();
    }
}
 
static STD_RETURN_TYPE_e CAN_PeriodicTransmit(void) {
    STD_RETURN_TYPE_e retVal     = STD_NOT_OK;
    static uint32_t counterTicks = 0;
    uint8_t data[8]              = {0};
 
    for (uint16_t i = 0u; i < can_txLength; i++) {
        if (((counterTicks * CAN_TICK_MS) % (can_txMessages[i].repetitionTime)) == can_txMessages[i].repetitionPhase) {
            if (can_txMessages[i].callbackFunction != NULL_PTR) {
                OS_EnterTaskCritical();
                can_txMessages[i].callbackFunction(
                    can_txMessages[i].id,
                    can_txMessages[i].dlc,
                    can_txMessages[i].endianness,
                    data,
                    can_txMessages[i].pMuxId,
                    &can_kShim);
                OS_ExitTaskCritical();
                /* CAN messages are currently discarded if all message boxes
                 * are full. They will not be retransmitted within the next
                 * call of CAN_PeriodicTransmit() */
                CAN_DataSend(CAN0_NODE, can_txMessages[i].id, data);
                retVal = STD_OK;
            }
        }
    }
 
    counterTicks++;
    return retVal;
}
 
static void CAN_CheckCanTiming(void) {
    uint32_t current_time;
    DATA_BLOCK_ERRORSTATE_s errorFlagsTab     = {.header.uniqueId = DATA_BLOCK_ID_ERRORSTATE};
    DATA_BLOCK_STATEREQUEST_s staterequestTab = {.header.uniqueId = DATA_BLOCK_ID_STATEREQUEST};
#if CURRENT_SENSOR_PRESENT == true
    DATA_BLOCK_CURRENT_SENSOR_s currentTab = {.header.uniqueId = DATA_BLOCK_ID_CURRENT_SENSOR};
#endif /* CURRENT_SENSOR_PRESENT == true */
 
    current_time = OS_GetTickCount();
    DATA_READ_DATA(&staterequestTab, &errorFlagsTab);
 
    /* Is the BMS still getting CAN messages? */
    if ((current_time - staterequestTab.header.timestamp) <= CAN_TIMING_UPPER_LIMIT_COUNTS) {
        if (((staterequestTab.header.timestamp - staterequestTab.header.previousTimestamp) >=
             CAN_TIMING_LOWER_LIMIT_COUNTS) &&
            ((staterequestTab.header.timestamp - staterequestTab.header.previousTimestamp) <=
             CAN_TIMING_UPPER_LIMIT_COUNTS)) {
            DIAG_Handler(DIAG_ID_CAN_TIMING, DIAG_EVENT_OK, DIAG_SYSTEM, 0u);
        } else {
            DIAG_Handler(DIAG_ID_CAN_TIMING, DIAG_EVENT_NOT_OK, DIAG_SYSTEM, 0u);
        }
    } else {
        DIAG_Handler(DIAG_ID_CAN_TIMING, DIAG_EVENT_NOT_OK, DIAG_SYSTEM, 0u);
    }
 
#if CURRENT_SENSOR_PRESENT == true
    /* check time stamps of current measurements */
    DATA_READ_DATA(&currentTab);
 
    for (uint8_t stringNumber = 0u; stringNumber < BS_NR_OF_STRINGS; stringNumber++) {
        /* Current has been measured at least once */
        if (currentTab.timestampCurrent[stringNumber] != 0u) {
            /* Check time since last received string current data */
            if ((current_time - currentTab.timestampCurrent[stringNumber]) >
                BS_CURRENT_MEASUREMENT_RESPONSE_TIMEOUT_MS) {
                DIAG_Handler(DIAG_ID_CURRENT_SENSOR_RESPONDING, DIAG_EVENT_NOT_OK, DIAG_STRING, stringNumber);
            } else {
                DIAG_Handler(DIAG_ID_CURRENT_SENSOR_RESPONDING, DIAG_EVENT_OK, DIAG_STRING, stringNumber);
                if (can_state.currentSensorPresent[stringNumber] == false) {
                    CAN_SetCurrentSensorPresent(true, stringNumber);
                }
            }
        }
 
        /* check time stamps of CC measurements */
        /* if timestamp_cc != 0, this means current sensor cc message has been received at least once */
        if (currentTab.timestampCurrentCounting[stringNumber] != 0) {
            if ((current_time - currentTab.timestampCurrentCounting[stringNumber]) >
                BS_COULOMB_COUNTING_MEASUREMENT_RESPONSE_TIMEOUT_MS) {
                DIAG_Handler(DIAG_ID_CAN_CC_RESPONDING, DIAG_EVENT_NOT_OK, DIAG_STRING, stringNumber);
            } else {
                DIAG_Handler(DIAG_ID_CAN_CC_RESPONDING, DIAG_EVENT_OK, DIAG_STRING, stringNumber);
                if (can_state.currentSensorCCPresent[stringNumber] == false) {
                    CAN_SetCurrentSensorCcPresent(true, stringNumber);
                }
            }
        }
 
        /* check time stamps of EC measurements */
        /* if timestamp_ec != 0, this means current sensor ec message has been received at least once */
        if (currentTab.timestampEnergyCounting[stringNumber] != 0) {
            if ((current_time - currentTab.timestampEnergyCounting[stringNumber]) >
                BS_ENERGY_COUNTING_MEASUREMENT_RESPONSE_TIMEOUT_MS) {
                DIAG_Handler(DIAG_ID_CAN_EC_RESPONDING, DIAG_EVENT_NOT_OK, DIAG_STRING, stringNumber);
            } else {
                DIAG_Handler(DIAG_ID_CAN_EC_RESPONDING, DIAG_EVENT_OK, DIAG_STRING, stringNumber);
                if (can_state.currentSensorECPresent[stringNumber] == false) {
                    CAN_SetCurrentSensorEcPresent(true, stringNumber);
                }
            }
        }
    }
#endif /* CURRENT_SENSOR_PRESENT == true */
}
 
extern void CAN_ReadRxBuffer(void) {
    CAN_BUFFERELEMENT_s can_rxBuffer = {0};
    if (ftsk_allQueuesCreated == true) {
        while (pdPASS == xQueueReceive(ftsk_canRxQueue, (void *)&can_rxBuffer, 0u)) {
            /* data queue was no empty */
            for (uint16_t i = 0u; i < can_rxLength; i++) {
                if (can_rxBuffer.id == can_rxMessages[i].id) {
                    if (can_rxMessages[i].callbackFunction != NULL_PTR) {
                        can_rxMessages[i].callbackFunction(
                            can_rxMessages[i].id,
                            can_rxMessages[i].dlc,
                            can_rxMessages[i].endianness,
                            can_rxBuffer.data,
                            NULL_PTR,
                            &can_kShim);
                    }
                }
            }
        }
    }
}
 
/**
 * @brief   enable/disable the periodic transmit/receive.
 */
extern void CAN_EnablePeriodic(bool command) {
    if (command == true) {
        can_state.periodicEnable = true;
    } else {
        can_state.periodicEnable = false;
    }
}
 
#if CURRENT_SENSOR_PRESENT == true
static void CAN_SetCurrentSensorPresent(bool command, uint8_t stringNumber) {
    if (command == true) {
        OS_EnterTaskCritical();
        can_state.currentSensorPresent[stringNumber] = true;
        OS_ExitTaskCritical();
    } else {
        OS_EnterTaskCritical();
        can_state.currentSensorPresent[stringNumber] = false;
        OS_ExitTaskCritical();
    }
}
 
static void CAN_SetCurrentSensorCcPresent(bool command, uint8_t stringNumber) {
    if (command == true) {
        OS_EnterTaskCritical();
        can_state.currentSensorCCPresent[stringNumber] = true;
        OS_ExitTaskCritical();
    } else {
        OS_EnterTaskCritical();
        can_state.currentSensorCCPresent[stringNumber] = false;
        OS_ExitTaskCritical();
    }
}
 
static void CAN_SetCurrentSensorEcPresent(bool command, uint8_t stringNumber) {
    if (command == true) {
        OS_EnterTaskCritical();
        can_state.currentSensorECPresent[stringNumber] = true;
        OS_ExitTaskCritical();
    } else {
        OS_EnterTaskCritical();
        can_state.currentSensorECPresent[stringNumber] = false;
        OS_ExitTaskCritical();
    }
}
#endif /* CURRENT_SENSOR_PRESENT == true */
 
extern bool CAN_IsCurrentSensorPresent(uint8_t stringNumber) {
    FAS_ASSERT(stringNumber < BS_NR_OF_STRINGS);
    return can_state.currentSensorPresent[stringNumber];
}
 
extern bool CAN_IsCurrentSensorCcPresent(uint8_t stringNumber) {
    FAS_ASSERT(stringNumber < BS_NR_OF_STRINGS);
    return can_state.currentSensorCCPresent[stringNumber];
}
 
extern bool CAN_IsCurrentSensorEcPresent(uint8_t stringNumber) {
    FAS_ASSERT(stringNumber < BS_NR_OF_STRINGS);
    return can_state.currentSensorECPresent[stringNumber];
}
 
static void CAN_TxInterrupt(canBASE_t *pNode, uint32 messageBox) {
}
 
static void CAN_RxInterrupt(canBASE_t *pNode, uint32 messageBox) {
    FAS_ASSERT(pNode != NULL_PTR);
    CAN_BUFFERELEMENT_s can_rxBuffer = {0};
    uint8_t data[8]                  = {0};
    /* Read even if queues are not created, otherwise message boxes get full */
    canGetData(pNode, messageBox, (uint8 *)&data[0]); /* copy to RAM */
 
    /* Check that CAN RX queue is started before using it */
    if (ftsk_allQueuesCreated == true) {
        if (pNode == CAN0_NODE) {
            /* id shifted by 18 to use standard frame from IF2ARB register*/
            /* standard frame: bits [28:18] */
            /* extended frame: bits [28:0] */
            uint32_t id          = canGetID(pNode, messageBox) >> 18;
            can_rxBuffer.id      = id;
            can_rxBuffer.data[0] = data[0];
            can_rxBuffer.data[1] = data[1];
            can_rxBuffer.data[2] = data[2];
            can_rxBuffer.data[3] = data[3];
            can_rxBuffer.data[4] = data[4];
            can_rxBuffer.data[5] = data[5];
            can_rxBuffer.data[6] = data[6];
            can_rxBuffer.data[7] = data[7];
            if (pdPASS == xQueueSendToBackFromISR(ftsk_canRxQueue, (void *)&can_rxBuffer, NULL)) {
                /* queue is not full */
                DIAG_Handler(DIAG_ID_CAN_RX_QUEUE_FULL, DIAG_EVENT_OK, DIAG_SYSTEM, 0u);
            } else {
                /* queue is full */
                DIAG_Handler(DIAG_ID_CAN_RX_QUEUE_FULL, DIAG_EVENT_NOT_OK, DIAG_SYSTEM, 0u);
            }
        }
    }
}
 
/** called in case of CAN interrupt, defined as weak in HAL */
void UNIT_TEST_WEAK_IMPL canMessageNotification(canBASE_t *node, uint32 messageBox) {
    if (messageBox <= CAN_NR_OF_TX_MESSAGE_BOX) {
        CAN_TxInterrupt(node, messageBox);
    } else {
        CAN_RxInterrupt(node, messageBox);
    }
}
 
extern STD_RETURN_TYPE_e CAN_TransmitBootMessage(void) {
    uint8_t data[] = {REPEAT_U(0u, STRIP(CAN_MAX_DLC))};
 
    /* Set major number */
    data[CAN_BYTE_0_POSITION] = foxbmsVersionInfo.major;
    /* Set minor number */
    data[CAN_BYTE_1_POSITION] = foxbmsVersionInfo.minor;
    /* Set patch number */
    data[CAN_BYTE_2_POSITION] = foxbmsVersionInfo.patch;
 
    /* intermediate variable for message byte 3 */
    uint8_t versionControlByte = 0u;
 
    /* Set version control flags */
    if (true == foxbmsVersionInfo.underVersionControl) {
        versionControlByte |= (0x01u << CAN_BOOT_MESSAGE_BYTE_3_BIT_VERSION_CONTROL);
    }
    if (true == foxbmsVersionInfo.isDirty) {
        versionControlByte |= (0x01u << CAN_BOOT_MESSAGE_BYTE_3_BIT_DIRTY_FLAG);
    }
    /* Set overflow flag (if release distance is larger than 31) */
    if (foxbmsVersionInfo.distanceFromLastRelease > CAN_BOOT_MESSAGE_MAXIMUM_RELEASE_DISTANCE) {
        /* we need to set the overflow flag */
        versionControlByte |= (0x01u << CAN_BOOT_MESSAGE_BYTE_3_BIT_DISTANCE_OVERFLOW_FLAG);
    }
 
    /* Set release distance (capped to maximum value) */
    const uint8_t distanceCapped = (uint8_t)MATH_MinimumOfTwoUint16_t(
        foxbmsVersionInfo.distanceFromLastRelease, (uint16_t)CAN_BOOT_MESSAGE_MAXIMUM_RELEASE_DISTANCE);
    versionControlByte |= (distanceCapped << CAN_BOOT_MESSAGE_BYTE_3_BIT_DISTANCE_COUNTER);
 
    /* assign assembled byte to databyte */
    data[CAN_BYTE_3_POSITION] = versionControlByte;
 
    /* Read out device register with unique ID */
    uint32_t deviceRegister = systemREG1->DEVID;
 
    /* Set unique ID */
    data[CAN_BYTE_4_POSITION] = (uint8_t)((deviceRegister >> 24u) & 0xFFu);
    data[CAN_BYTE_5_POSITION] = (uint8_t)((deviceRegister >> 16u) & 0xFFu);
    data[CAN_BYTE_6_POSITION] = (uint8_t)((deviceRegister >> 8u) & 0xFFu);
    data[CAN_BYTE_7_POSITION] = (uint8_t)(deviceRegister & 0xFFu);
 
    STD_RETURN_TYPE_e retval = CAN_DataSend(CAN0_NODE, CAN_ID_BOOT_MESSAGE, &data[0]);
 
    return retval;
}
 
/*========== Getter for static Variables (Unit Test) ========================*/
#ifdef UNITY_UNIT_TEST
extern CAN_STATE_s *TEST_CAN_GetCANState(void) {
    return &can_state;
}
#endif
 
/*========== Externalized Static Function Implementations (Unit Test) =======*/