can.c File Reference

Application-specific parts of the CAN RX/TX tasks. More...

#include "can.h"
#include "can_1.h"
#include "can_2.h"
#include "can_3.h"
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include "rtos.h"
#include "main.h"
#include "types.h"
#include "can_rtos.h"
#include "FreeRTOS.h"
#include "queue.h"

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Macros
#define	CAN_1_RX_LOCATION   FDCAN_RX_FIFO0
#define	CAN_3_RX_LOCATION   FDCAN_RX_FIFO1
#define	DEBUG_ID_FILTER   0x0A0
#define	DEBUG_ID_MASK   0x7F0
#define	APPS_SAS_ID_FILTER   0x18FFAA80
#define	APPS_SAS_ID_MASK   0xFFFFFFFC

Functions
static void	can_1_rx_handler (CAN_Msg_t *rx_msg_ptr)
	Processes incoming CAN 1 messages and notifies tasks.
static void	can_3_rx_handler (CAN_Msg_t *rx_msg_ptr)
	Processes incoming CAN 3 messages and notifies tasks, then forwards the received message to CAN 2 for logging.
static void	setup_hardware_filters ()
	Configures FDCAN hardware filters. Call before HAL_FDCAN_Start!!
void	safety_can_init ()
	Initializes CAN transmit and receive tasks for each bus.

Detailed Description

Application-specific parts of the CAN RX/TX tasks.

Author

Jamie Pruett :)

Version

0.1

Date

2025-01-15

Macro Definition Documentation

APPS_SAS_ID_FILTER

#define APPS_SAS_ID_FILTER   0x18FFAA80

APPS_SAS_ID_MASK

#define APPS_SAS_ID_MASK   0xFFFFFFFC

CAN_1_RX_LOCATION

#define CAN_1_RX_LOCATION   FDCAN_RX_FIFO0

CAN_3_RX_LOCATION

#define CAN_3_RX_LOCATION   FDCAN_RX_FIFO1

DEBUG_ID_FILTER

#define DEBUG_ID_FILTER   0x0A0

DEBUG_ID_MASK

#define DEBUG_ID_MASK   0x7F0

Function Documentation

can_1_rx_handler()

void can_1_rx_handler ( CAN_Msg_t * rx_msg_ptr )

static

Processes incoming CAN 1 messages and notifies tasks.

Passed to the CAN 1 receive task from the can_rtos library in Called when a new message is received on CAN 1 rx_msg_ptr Received CAN 1 message

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can_3_rx_handler()

void can_3_rx_handler ( CAN_Msg_t * rx_msg_ptr )

static

Processes incoming CAN 3 messages and notifies tasks, then forwards the received message to CAN 2 for logging.

Passed to the CAN 3 receive task from the can_rtos library in Called when a new message is received on CAN 3 rx_msg_ptr Received CAN 3 message

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safety_can_init()

void safety_can_init

(

void

)

Initializes CAN transmit and receive tasks for each bus.

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setup_hardware_filters()

void setup_hardware_filters ( void )

static

Configures FDCAN hardware filters. Call before HAL_FDCAN_Start!!

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