Scs (#3)

* Add send scs * Create scs dict * Fix compilation errors * Fix compile error * Change default include * Add Timer SCS manager * Remove unused files * Fix bugs * Add documentation * Add SCS manager bozza * Refactor * Use same naming convention * Add tick provider * Update header * Fix header bit translation * Test HandleNext OK * Remove linting * Remove indents * Add documentation * Improve docs * Remove pointer * Remove mailbox * Remove useless comment * Add newline * Fix compile errors * Separate scs entries from manager * Refactor * Fix include guards Co-authored-by: nicolagutierrez <nicolagutierrez.ng@gmail.com>
2022-02-23 21:08:47 +01:00
parent 7aa61ed9ad
commit 4d5c1934a4
20 changed files with 717 additions and 313 deletions
@@ -0,0 +1,155 @@
+/**
+ * @file mmr_can_scs_manager.h
+ * @brief
+ * Provides utilities for managing the scs messages,
+ * such as transmission, retransmission and timeout error.
+ */
+
+#ifndef INC_MMR_CAN_SCS_H_
+#define INC_MMR_CAN_SCS_H_
+
+#include "mmr_can.h"
+
+
+/**
+ * @brief
+ * The maximum number of scs messages that
+ * can be tracked at any given 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
+
+
+/**
+ * @brief
+ * It depends on how many bits the board devotes to the timer
+ * Check the datasheet
+ */
+typedef uint32_t TimerRange;
+
+
+/**
+ * @brief
+ * Represents the base-struct to manage a single RTR
+ * and allows to interface with the associated SCS's timer
+ */
+typedef struct {
+  /**
+   * @brief
+   * The header used to index this entry.
+   */
+  MmrCanHeader header;
+
+  /**
+   * @brief
+   * The time at which this message was sent,
+   * represented as milliseconds since the board
+   * was turned on.
+   */
+  TimerRange counter;
+
+  /**
+   * @brief
+   * Number of retransmissions for this message.
+   * 
+   * == 0 -> No retransmission occurred.
+   * >= 1 -> The scs was retransmitted.
+   */
+  int rtr;
+} MmrCanScsEntry;
+
+
+/**
+ * @brief
+ * The results of an scsCheck operation.
+ */
+typedef enum {
+  /**
+   * @brief No timeout error.
+   */
+  MMR_CAN_SCS_CHECK_OK,
+
+  /**
+   * @brief The message should be retransmitted.
+   */
+  MMR_CAN_SCS_CHECK_RTR,
+
+  /**
+   * @brief
+   * The message has timed out and has already been
+   * retransmitted, fail.
+   */
+  MMR_CAN_SCS_CHECK_ERROR,
+} MmrCanScsCheckResult;
+
+
+/**
+ * @brief 
+ * Tries to handle an acknowledgment for a particular scs.
+ * 
+ * This function MUST be called every time a
+ * message is received, as it might potentially be an
+ * ACK.
+ * 
+ * @param header The header to check.
+ * @return true The message was an ACK and was cleared accordingly.
+ * @return false The message wasn't an ACK.
+ */
+bool MMR_CAN_MaybeHandleAck(MmrCanHeader header);
+
+/**
+ * @brief
+ * Checks the array with the stored scs messages and
+ * retransmits the message if no ack was received.
+ * 
+ * This function MUST be called at every loop.
+ * 
+ * @return HalStatus
+ *  The result of the operation.
+ *  HAL_ERROR should immediately be handled as a safe state.
+ */
+HalStatus MMR_CAN_HandleNextScs(CanHandle *hcan);
+
+/**
+ * @brief
+ * Send an acknowledgment packet based on the
+ * given scs header.
+ * 
+ * @param originalHeader The scs header to acknowledge.
+ */
+HalStatus MMR_CAN_SendAck(
+  CanHandle *hcan,
+  MmrCanHeader originalHeader
+);
+
+/**
+ * @brief
+ * Sends an Scs message.
+ * 
+ * @param scsId The MMR_CAN_MESSAGE_ID_SCS_xx id.
+ * @param senderId The id of this board.
+ */
+HalStatus MMR_CAN_SendScs(
+  CanHandle *hcan,
+  MmrCanMessageId scsId,
+  CanId senderId
+);
+
+
+MmrCanScsEntry* MMR_CAN_GetNextScsEntry();
+MmrCanScsEntry* MMR_CAN_PutScsEntry(MmrCanHeader header);
+MmrCanScsEntry* MMR_CAN_ClearScsEntry(MmrCanHeader header);
+MmrCanScsEntry* MMR_CAN_FindScsEntry(MmrCanHeader header);
+
+#endif // !INC_MMR_CAN_SCS_H_