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 +1,96 @@
+#include "mmr_can_scs.h"
+
+static void maybeIncrementRtr(MmrCanScsEntry *entry);
+static HalStatus sendScs(CanHandle *hcan, MmrCanHeader header);
+static MmrCanScsCheckResult checkScs(MmrCanScsEntry *entry);
+
+
+bool MMR_CAN_MaybeHandleAck(MmrCanHeader header) {
+  if (header.messageType != MMR_CAN_MESSAGE_TYPE_ACK) {
+    return false;
+  }
+
+  header.messageType = MMR_CAN_MESSAGE_TYPE_SCS;
+  MmrCanScsEntry *entry = MMR_CAN_FindScsEntry(header);
+  if (entry == NULL) {
+    return false;
+  }
+
+  MMR_CAN_ClearScsEntry(header);
+  return true;
+}
+
+
+HalStatus MMR_CAN_SendAck(
+  CanHandle *hcan,
+  MmrCanHeader originalHeader
+) {
+  originalHeader.messageType = MMR_CAN_MESSAGE_TYPE_ACK;
+  return sendScs(hcan, originalHeader);
+}
+
+
+HalStatus MMR_CAN_SendScs(
+  CanHandle *hcan,
+  MmrCanMessageId scsId,
+  CanId senderId
+) {
+  MmrCanHeader header = {
+    .senderId = senderId,
+    .messageId = scsId,
+    .priority = MMR_CAN_MESSAGE_PRIORITY_HIGH,
+    .messageType = MMR_CAN_MESSAGE_TYPE_SCS,
+  };
+
+  if (MMR_CAN_PutScsEntry(header) == NULL) {
+    return HAL_ERROR;
+  }
+
+  return sendScs(hcan, header);
+}
+
+
+HalStatus MMR_CAN_HandleNextScs(CanHandle *hcan) {
+  MmrCanScsEntry *entry = MMR_CAN_GetNextScsEntry();
+
+  if (MMR_CAN_HeaderToBits(entry->header) == 0) {
+    return HAL_OK;
+  }
+
+  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 = MMR_CAN_GetCurrentTick();
+  return sendScs(hcan, entry->header);
+}
+
+
+static HalStatus sendScs(CanHandle *hcan, MmrCanHeader header) {
+  MmrCanPacket packet = {
+    .header = header,
+    .length = 0,
+  };
+
+  return MMR_CAN_SendNoTamper(hcan, packet);
+}
+
+
+static 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;
+}
+
+static void maybeIncrementRtr(MmrCanScsEntry *entry) {
+  TimerRange now = MMR_CAN_GetCurrentTick();
+  TimerRange delay = now - entry->counter;
+
+  if (delay >= MMR_CAN_MAX_TIMEOUT) {
+    entry->rtr++;
+  }
+}