CAN: rebase master

libs/can/CMakeLists.txt

@@ -21,12 +21,10 @@ add_library(CANBus STATIC)
 target_sources(CANBus PRIVATE src/CANBus.cpp)
 target_include_directories(CANBus PUBLIC include)
 target_link_libraries(CANBus
-        PUBLIC
-        mbed-os
         PRIVATE
         uwrt-mars-rover-hw-bridge
+        mbed-os
         )
-target_set_mbed_dependency(CANBus)
 
 add_library(CANInterface STATIC)
 target_sources(CANInterface PRIVATE src/CANInterface.cpp)
@@ -36,5 +34,6 @@ target_link_libraries(CANInterface
         uwrt-mars-rover-hw-bridge
         CANBus
         CANMsg
+        mbed-os
+        mbed-events
         )
-target_set_mbed_dependency(CANInterface)

libs/can/include/CANInterface.h

@@ -0,0 +1,94 @@
+#pragma once
+
+#include "CANBus.h"
+#include "CANMsg.h"
+#include "hw_bridge.h"
+#include "mbed.h"
+
+class CANInterface {
+ public:
+  typedef struct {
+    // CAN bus pins
+    PinName can1_RX;
+    PinName can1_TX;
+    PinName can2_RX;
+    PinName can2_TX;
+
+    // Message maps and handlers
+    HWBRIDGE::CANMsgMap *rxMsgMap;
+    HWBRIDGE::CANMsgMap *txMsgMap;
+    const CANMsg::CANMsgHandlerMap *rxOneShotMsgHandler;
+
+    // Bus frequency
+    uint32_t frequency_hz = HWBRIDGE::ROVER_CANBUS_FREQUENCY_HZ;
+  } Config;
+
+  // Initialize CAN interface
+  CANInterface(const Config &config);
+
+  // Queue up a one shot message to be sent
+  bool sendOneShotMessage(CANMsg &msg, Kernel::Clock::duration_u32 timeout);
+
+  // Update a TX CAN signal
+  bool setTXSignalValue(HWBRIDGE::CANID msgID, HWBRIDGE::CANSIGNAL signalName, HWBRIDGE::CANSignalValue_t signalValue);
+
+  // Read a RX CAN signal
+  bool getRXSignalValue(HWBRIDGE::CANID msgID, HWBRIDGE::CANSIGNAL signalName, HWBRIDGE::CANSignalValue_t &signalValue);
+
+  // Switch CAN bus
+  bool switchCANBus(HWBRIDGE::CANBUSID canBusID);
+
+  // Set CAN bus hw filter
+  bool setFilter(HWBRIDGE::CANFILTER filter, CANFormat format = CANStandard,
+                 uint16_t mask = HWBRIDGE::ROVER_CANID_FILTER_MASK, int handle = 0);
+
+  // For diagnostic purposes
+  uint32_t getNumStreamedMsgsReceived(void);
+  uint32_t getNumOneShotMsgsReceived(void);
+  uint32_t getNumStreamedMsgsSent(void);
+  uint32_t getNumOneShotMsgsSent(void);
+
+  uint16_t getNumCANRXFaults(void);
+  uint16_t getNumCANTXFaults(void);
+
+ private:
+  static constexpr osPriority RX_POSTMAN_THREAD_PRIORITY   = osPriorityRealtime;
+  static constexpr osPriority RX_CLIENT_THREAD_PRIORITY    = osPriorityAboveNormal;
+  static constexpr osPriority TX_PROCESSOR_THREAD_PRIORITY = osPriorityBelowNormal;
+  static constexpr std::chrono::milliseconds TX_INTERDELAY = 1ms;
+  static constexpr std::chrono::milliseconds TX_PERIOD     = 10ms;
+
+  void rxISR(void);
+  void rxPostman(void);
+  void rxClient(void);
+  void txProcessor(void);
+
+  CANBus m_CANBus1;
+  CANBus m_CANBus2;
+  CANBus *m_activeCANBus;
+
+  Thread m_rxPostmanThread;
+  Thread m_rxClientThread;
+  Thread m_txProcessorThread;
+
+  Mutex m_rxMutex;
+  Mutex m_txMutex;
+
+  Mail<CANMsg, 100> m_rxMailbox;
+  Mail<CANMsg, 32> m_txMailboxOneShot;
+  EventQueue m_rxEventQueue;
+
+  HWBRIDGE::CANMsgMap *m_rxMsgMap;
+  HWBRIDGE::CANMsgMap *m_txMsgMap;
+
+  const CANMsg::CANMsgHandlerMap *m_rxOneShotMsgHandler;
+
+  // For diagnostic purposes
+  uint32_t m_numStreamedMsgsReceived;
+  uint32_t m_numOneShotMsgsReceived;
+  uint32_t m_numStreamedMsgsSent;
+  uint32_t m_numOneShotMsgsSent;
+
+  uint16_t m_numCANRXFaults;
+  uint16_t m_numCANTXFaults;
+};