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Refactor

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This commit is contained in:
Stefano Calabretti
2022-02-17 18:55:16 +01:00
parent 607817389c
commit 2e4a409a92
7 changed files with 160 additions and 198 deletions
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Inc/mmr_can.h
+1 -3
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@@ -8,7 +8,7 @@
#include "mmr_can_types.h"
#include "mmr_can_optimize.h"
#include "mmr_can_binary_literals.h"
#include "mmr_can_timer_scs.h"
#include "mmr_can_scs_manager.h"
#ifndef MMR_CAN_RX_FIFO
#define MMR_CAN_RX_FIFO CAN_RX_FIFO0
@@ -163,6 +163,4 @@ MmrCanFilterSettings MMR_CAN_GetDefaultFilterSettings();
HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet);
HalStatus MMR_CAN_Receive(CanHandle *hcan, MmrCanMessage *result);
HalStatus MMR_CAN_SendSCS(CanHandle *hcan, MmrCanMessageId scsId, CanMailbox *mailbox, CanId senderId);
#endif /* INC_MMR_CAN_H_ */
Inc/mmr_can_header.h
+1 -1
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@@ -18,7 +18,7 @@
* Constants with lower values have an higher priority.
*/
typedef enum {
MMR_CAN_MESSAGE_ACK = B_(0001),
MMR_CAN_MESSAGE_TYPE_ACK = B_(0001),
MMR_CAN_MESSAGE_TYPE_MULTI_FRAME = B_(0010),
MMR_CAN_MESSAGE_TYPE_MULTI_FRAME_END = B_(0011),
MMR_CAN_MESSAGE_TYPE_NORMAL = B_(0100),
Inc/mmr_can_scs_manager.h
+39 -17
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@@ -2,15 +2,32 @@
#define INC_MMR_CAN_SCS_MANAGER_H_
#include "mmr_can.h"
#include "mmr_can_timer_scs.h"
/**
* TODO:
* - GetCurrentTime
* - ACK
* - Reset timer
* - Setup method
* Scs_timer represents the max number of counter
* that need to checked w/current time
*/
#ifndef MMR_CAN_SCS_ENTRIES_COUNT
#define MMR_CAN_SCS_ENTRIES_COUNT 5
#endif
/**
* @brief
* Maximum timeout before first retransmission,
* in milliseconds
*/
#ifndef MMR_CAN_MAX_TIMEOUT
#define MMR_CAN_MAX_TIMEOUT 500
#endif
/**
* It depends on how many bits the board devotes to the timer
* Check the datasheet
*/
typedef uint32_t TimerRange;
/**
@@ -18,20 +35,25 @@
* and allows to interface with the associated SCS's timer
*/
typedef struct {
MmrCanMessageId scsId;
CanId receiverId;
MmrCanHeader header;
TimerRange counter;
int rtr;
} RTRresponse;
} MmrCanScsEntry;
/**
* It is used to iterate the RTRresponse array in the CheckSCS function
*/
static int counter;
typedef enum {
MMR_CAN_SCS_CHECK_OK,
MMR_CAN_SCS_CHECK_RTR,
MMR_CAN_SCS_CHECK_ERROR,
} MmrCanScsCheckResult;
bool MMR_CAN_SetRTRresponse(MmrCanMessageId scsId, CanId receiverId, int rtr);
TimerRange MMR_CAN_GetCurrentTime();
void MMR_CAN_CheckSCS(); // What is necessary to do ritrasmission (mmr_can_send_scs)
bool MMR_CAN_MaybeHandleACK(MmrCanHeader header);
HalStatus MMR_CAN_HandleNextScs(CanHandle *hcan);
HalStatus MMR_CAN_SendSCS(
CanHandle *hcan,
MmrCanMessageId scsId,
CanId senderId
);
#endif // !INC_MMR_CAN_SCS_MANAGER_H_
#endif // !INC_MMR_CAN_SCS_MANAGER_H_
Inc/mmr_can_timer_scs.h
-45
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@@ -1,45 +0,0 @@
#ifndef INC_MMR_CAN_TIMER_SCS_H_
#define INC_MMR_CAN_TIMER_SCS_H_
#include "mmr_can_message_id.h"
#include "mmr_can_types.h"
/**
* Scs_timer represents the max number of counter
* that need to checked w/current time
*/
#ifndef MMR_SCS_NR_TIMERS
#define MMR_SCS_NR_TIMERS 5
#endif
/**
* It depends on how many bits the board devotes to the timer
* Check the datasheet
*/
typedef uint32_t TimerRange;
typedef struct {
MmrCanMessageId scsId;
CanId receiverId;
TimerRange counter;
} MmrTimerSCS;
/**
* All time units are to be considered as milliseconds (1ms)
*/
bool MMR_CAN_ClearTimerSCS(MmrCanMessageId scsId, CanId receiverId);
bool MMR_CAN_SetTimerSCS(MmrCanMessageId scsId, CanId receiverId, TimerRange currentTime);
/**
* @brief The delay is taken individually so that the 'manager'
* can first check the ACK and eventually reset the associated arr_timer
*
* @param rtrResponse the 'manager' will have to manage an array of struct RTRresponse
* @param currentTime from __HAL_TIM_GET_COUNTER(&htimX) or directly from the CNT register
* @param thresholdDelay by rules 500ms
*/
bool MMR_CAN_GetTimerSCS(MmrCanMessageId scsId, CanId receiverId, int *rtr, TimerRange currentTime, TimerRange thresholdDelay);
#endif // !INC_MMR_CAN_TIMER_SCS_H_
Src/mmr_can_scs_manager.c
+119 -43
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@@ -1,61 +1,137 @@
#include "mmr_can_scs_manager.h"
static RTRresponse arr_scs[MMR_SCS_NR_TIMERS];
static MmrCanScsEntry __scsEntries[MMR_CAN_SCS_ENTRIES_COUNT];
static RTRresponse* findResponse(MmrCanMessageId scsId, CanId receiverId);
static void maybeIncrementRTR(MmrCanScsEntry *entry);
static MmrCanScsEntry* putEntry(MmrCanHeader header);
static MmrCanScsEntry* clearEntry(MmrCanHeader header);
static MmrCanScsEntry* findEntry(MmrCanHeader header);
static TimerRange getCurrentTime();
static HalStatus sendScs(CanHandle *hcan, MmrCanHeader header);
static MmrCanScsCheckResult checkScs(MmrCanScsEntry *entry);
bool SetRTRresponse(MmrCanMessageId scsId, CanId receiverId, int rtr)
{
RTRresponse *response = findResponse(0, 0);
if (response == NULL) return false;
bool MMR_CAN_MaybeHandleACK(MmrCanHeader header) {
if (header.messageType != MMR_CAN_MESSAGE_TYPE_ACK) {
return false;
}
response->scsId = scsId;
response->receiverId = receiverId;
response->rtr = 0;
header.messageType = MMR_CAN_MESSAGE_TYPE_NORMAL;
MmrCanScsEntry *entry = findEntry(header);
if (entry == NULL) {
return false;
}
return MMR_CAN_SetTimerSCS(response->scsId, response->receiverId, MMR_CAN_GetCurrentTime);
}
void CheckSCS()
{
if (counter>=MMR_SCS_NR_TIMERS) counter=0;
RTRresponse *_rtrResponse = &arr_scs[counter];
if(!MMR_CAN_GetTimerSCS(_rtrResponse->scsId, _rtrResponse->receiverId, &_rtrResponse->rtr, MMR_CAN_GetCurrentTime, 500))
{
// do something
}
counter++;
if (_rtrResponse->rtr==1)
{
// Return ritrasmission
}
if (_rtrResponse->rtr>1)
{
// Return Safe State
}
clearEntry(header);
return true;
}
TimerRange MMR_CAN_GetCurrentTime()
{
HalStatus MMR_CAN_SendSCS(
CanHandle *hcan,
MmrCanMessageId scsId,
CanId senderId
) {
MmrCanHeader header = {
.senderId = senderId,
.messageId = scsId,
.priority = MMR_CAN_MESSAGE_PRIORITY_HIGH,
};
putEntry(header);
return sendScs(hcan, header);
}
HalStatus MMR_CAN_HandleNextScs(CanHandle *hcan) {
static int counter = 0;
MmrCanScsEntry *entry = &__scsEntries[counter++ % MMR_CAN_SCS_ENTRIES_COUNT];
switch (checkScs(entry)) {
case MMR_CAN_SCS_CHECK_ERROR: return HAL_ERROR;
case MMR_CAN_SCS_CHECK_OK: return HAL_OK;
default: break;
}
entry->counter = getCurrentTime();
return sendScs(hcan, entry->header);
}
HalStatus sendScs(CanHandle *hcan, MmrCanHeader header) {
static CanMailbox scsMailbox = 0;
MmrCanPacket packet = {
.header = header,
.mailbox = &scsMailbox,
.length = 0,
};
return MMR_CAN_Send(hcan, packet);
}
MmrCanScsCheckResult checkScs(MmrCanScsEntry *entry) {
maybeIncrementRTR(entry);
return
entry->rtr == 1 ? MMR_CAN_SCS_CHECK_RTR :
entry->rtr > 1 ? MMR_CAN_SCS_CHECK_ERROR :
MMR_CAN_SCS_CHECK_OK;
}
TimerRange getCurrentTime() {
return 0; //TODO: HAL....
}
RTRresponse* findResponse(MmrCanMessageId scsId, CanId receiverId) {
int i = 0;
for (; i < MMR_SCS_NR_TIMERS; i++) {
RTRresponse *response = arr_scs + i;
if (response->scsId == scsId && response->receiverId == receiverId) {
return response;
void maybeIncrementRTR(MmrCanScsEntry *entry) {
TimerRange delay =
getCurrentTime() - entry->counter;
if (delay >= MMR_CAN_MAX_TIMEOUT) {
entry->rtr++;
}
}
MmrCanScsEntry* putEntry(MmrCanHeader header) {
MmrCanScsEntry *entry = findEntry((MmrCanHeader){});
if (entry == NULL) {
return NULL;
}
*entry = (MmrCanScsEntry){
.header = header,
.counter = getCurrentTime(),
};
return entry;
}
MmrCanScsEntry* clearEntry(MmrCanHeader header) {
MmrCanScsEntry *entry = findEntry(header);
if (entry == NULL) {
return NULL;
}
*entry = (MmrCanScsEntry){};
return entry;
}
MmrCanScsEntry* findEntry(MmrCanHeader header) {
uint32_t *target = MMR_CAN_HeaderToBits(&header);
uint32_t i = 0;
for (; i < MMR_CAN_SCS_ENTRIES_COUNT; i++) {
MmrCanScsEntry *entry = __scsEntries + i;
uint32_t *curr = MMR_CAN_HeaderToBits(&entry->header);
if (*curr == *target) {
return entry;
}
}
return NULL;
}
}
Src/mmr_can_send_scs.c
-27
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@@ -1,27 +0,0 @@
#include "mmr_can.h"
#include "mmr_can_scs_manager.h"
HalStatus MMR_CAN_SendSCS(
CanHandle *hcan,
MmrCanMessageId scsId,
CanMailbox *mailbox,
CanId senderId
) {
MmrCanPacket packet = {
.header = {
.senderId = senderId,
.messageId = scsId,
.priority = MMR_CAN_MESSAGE_PRIORITY_HIGH,
},
.mailbox = mailbox,
.length = 0,
};
if(!MMR_CAN_SetRTRresponse())
{
// do something
}
return MMR_CAN_Send(hcan, packet);
}
Src/mmr_can_timer_scs.c
-62
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@@ -1,62 +0,0 @@
#include "mmr_can_timer_scs.h"
static MmrTimerSCS arr_timer[MMR_SCS_NR_TIMERS];
static MmrTimerSCS* findTimer(MmrCanMessageId scsId, CanId receiverId);
void MMR_CAN_InitTimerSCS() {
for (int i = 0; i < MMR_SCS_NR_TIMERS; i++)
{
arr_timer[i].scsId = 0;
arr_timer[i].receiverId = 0;
arr_timer[i].counter = 0;
}
}
bool MMR_CAN_ClearTimerSCS(MmrCanMessageId scsId, CanId receiverId) {
MmrTimerSCS *timer = findTimer(scsId, receiverId);
if (timer == NULL) return false;
timer->scsId = 0;
timer->receiverId = 0;
timer->counter = 0;
return true;
}
bool MMR_CAN_SetTimerSCS(MmrCanMessageId scsId, CanId receiverId, TimerRange currentTime) {
MmrTimerSCS *timer = findTimer(0, 0);
if (timer == NULL) return false;
timer->scsId = scsId;
timer->receiverId = receiverId;
timer->counter = currentTime;
return true;
}
bool MMR_CAN_GetTimerSCS(MmrCanMessageId scsId, CanId receiverId, int *rtr, TimerRange currentTime, TimerRange thresholdDelay) {
MmrTimerSCS *timer = findTimer(scsId, receiverId);
if (timer == NULL) return false;
if (currentTime - timer->counter >= thresholdDelay) {
rtr++;
}
return true;
}
MmrTimerSCS* findTimer(MmrCanMessageId scsId, CanId receiverId) {
int i = 0;
for (; i < MMR_SCS_NR_TIMERS; i++) {
MmrTimerSCS *timer = arr_timer + i;
if (timer->scsId == scsId && timer->receiverId == receiverId) {
return timer;
}
}
return NULL;
}