can_cbs_rx_imd.c

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/**
 * @file    can_cbs_rx_imd.c
 * @author  foxBMS Team
 * @date    2021-04-20 (date of creation)
 * @updated 2022-10-27 (date of last update)
 * @version v1.4.1
 * @ingroup DRIVER
 * @prefix  CANRX
 *
 * @brief   CAN driver Rx callback implementation
 * @details CAN Rx callback for IMD messages
 */
 
/*========== Includes =======================================================*/
#include "can_cbs_rx.h"
#include "can_cfg_rx-message-definitions.h"
#include "can_helper.h"
#include "foxmath.h"
 
/*========== Macros and Definitions =========================================*/
 
/*========== Static Constant and Variable Definitions =======================*/
 
/*========== Extern Constant and Variable Definitions =======================*/
 
/*========== Static Function Prototypes =====================================*/
 
/*========== Static Function Implementations ================================*/
 
/*========== Extern Function Implementations ================================*/
extern uint32_t CANRX_ImdInfo(
    CAN_MESSAGE_PROPERTIES_s message,
    const uint8_t *const kpkCanData,
    const CAN_SHIM_s *const kpkCanShim) {
    /* This handler is only implemented for little endian */
    FAS_ASSERT(message.endianness == CAN_LITTLE_ENDIAN);
    FAS_ASSERT(message.id == CANRX_IMD_INFO_ID);
    FAS_ASSERT(message.dlc <= CAN_MAX_DLC); /* Currently max 8 bytes in a CAN frame */
    FAS_ASSERT(kpkCanData != NULL_PTR);
    FAS_ASSERT(kpkCanShim != NULL_PTR);
    CAN_BUFFER_ELEMENT_s canMessage = {0};
    uint32_t retVal                 = 1u;
    const uint8_t boundedDlc        = MATH_MinimumOfTwoUint8_t(message.dlc, CAN_MAX_DLC);
 
    canMessage.id = message.id;
    for (uint8_t i = 0; i < boundedDlc; i++) {
        canMessage.data[i] = kpkCanData[i];
    }
    if (OS_SendToBackOfQueue(*(kpkCanShim->pQueueImd), (void *)&canMessage, 0u) == OS_SUCCESS) {
        retVal = 0u;
    }
    return retVal;
}
 
extern uint32_t CANRX_ImdResponse(
    CAN_MESSAGE_PROPERTIES_s message,
    const uint8_t *const kpkCanData,
    const CAN_SHIM_s *const kpkCanShim) {
    /* This handler is only implemented for little endian */
    FAS_ASSERT(message.endianness == CAN_LITTLE_ENDIAN);
    FAS_ASSERT(message.id == CANRX_IMD_RESPONSE_ID);
    FAS_ASSERT(message.dlc <= CAN_MAX_DLC); /* Currently max 8 bytes in a CAN frame */
    FAS_ASSERT(kpkCanData != NULL_PTR);
    FAS_ASSERT(kpkCanShim != NULL_PTR);
 
    const uint8_t boundedDlc = MATH_MinimumOfTwoUint8_t(message.dlc, CAN_MAX_DLC);
 
    CAN_BUFFER_ELEMENT_s canMessage = {0};
    uint32_t retVal                 = 1u;
 
    canMessage.id = message.id;
    for (uint8_t i = 0; i < boundedDlc; i++) {
        canMessage.data[i] = kpkCanData[i];
    }
    if (OS_SendToBackOfQueue(*(kpkCanShim->pQueueImd), (void *)&canMessage, 0u) == OS_SUCCESS) {
        retVal = 0u;
    }
    return retVal;
}
 
/*========== Externalized Static Function Implementations (Unit Test) =======*/