Stefano Calabretti
156 lines
3.1 KiB
C
156 lines
3.1 KiB
C
/**
|
|
* @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 MmrCanScsEntry {
|
|
/**
|
|
* @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 MmrCanScsCheckResult {
|
|
/**
|
|
* @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_
|