added lib CLS

- CLS Address management
- CLS Hartbeat timer

Application/CLS/CLS.c

@@ -0,0 +1,48 @@
+#include "CLS.h"
+#include "CLSAddress.h"
+#include "cmsis_os2.h"
+#include "fdcan.h"
+
+osTimerId_t CLS_HeatbeatTimerId; // Timer ID
+
+
+static const CLSAddress address = {
+    .code = CLS_CODE_STATUS,
+    .device = CLS_DEVICE,
+    .channel = CLS_CH_STA_HEATBEAT,
+};
+
+
+static uint8_t cls_hartbeat_counter = 0;
+static FDCAN_TxHeaderTypeDef cls_hartbeat_header = {
+    .IdType = FDCAN_STANDARD_ID,
+    .Identifier = GENERATE_CLS_ADDRESS(CLS_CODE_STATUS,CLS_DEVICE,CLS_CH_STA_HEATBEAT),
+    .TxFrameType = FDCAN_DATA_FRAME,
+    .DataLength = FDCAN_DLC_BYTES_1,
+    .ErrorStateIndicator = FDCAN_ESI_PASSIVE,
+    .BitRateSwitch = FDCAN_BRS_OFF,
+    .FDFormat = FDCAN_CLASSIC_CAN,
+    .TxEventFifoControl = FDCAN_NO_TX_EVENTS,
+    .MessageMarker = 0xCC,
+};
+void CLS_Heatbeat(void *argument) {
+    // Code to be executed every 500ms
+    cls_hartbeat_counter++;
+    HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &cls_hartbeat_header, &cls_hartbeat_counter);
+}
+
+void CLS_Init(void) {
+    osTimerAttr_t timerAttr;
+    timerAttr.name = "CLS_Heatbeat";
+    timerAttr.attr_bits = 0U;
+    timerAttr.cb_mem = NULL;
+    timerAttr.cb_size = 0U;
+
+
+    CLS_HeatbeatTimerId = osTimerNew((osTimerFunc_t)CLS_Heatbeat, osTimerPeriodic, NULL, &timerAttr);
+    if (CLS_HeatbeatTimerId != NULL) {  // Timer object created
+        if (osTimerStart(CLS_HeatbeatTimerId, 500) == osOK) {  // Timer started
+            // Timer started successfully
+        }
+    }
+}

Application/CLS/CLS.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#define CLS_DEVICE_MASTER 0x11
+#define CLS_SLAVE_AR(n) n
+
+#define CLS_DEVICE CLS_DEVICE_MASTER
+
+
+void CLS_Init(void);

Application/CLS/CLSAddress.h

@@ -0,0 +1,64 @@
+#pragma once
+
+#include <stdint.h>
+
+typedef enum {
+    CLS_CODE_0 = 0,  // 0b000
+    CLS_CODE_FIMWARE = 1,  // 0b001
+    CLS_CODE_2 = 2,  // 0b010
+    CLS_CODE_MESSAGE = 3,  // 0b011
+    CLS_CODE_4 = 4,  // 0b100
+    CLS_CODE_5 = 5,  // 0b101
+    CLS_CODE_STATUS = 6,  // 0b110
+    CLS_CODE_CONFIG = 7   // 0b111
+} CLSMessageCode;
+
+typedef enum {
+    CLS_CHANNEL1 = 0,  // 0b000
+    CLS_CHANNEL2 = 1,  // 0b001
+    CLS_CHANNEL3 = 2,  // 0b010
+    CLS_CHANNEL4 = 3,  // 0b011
+    CLS_CHANNEL5 = 4,  // 0b100
+    CLS_CHANNEL6 = 5,  // 0b101
+    CLS_CHANNEL7 = 6,  // 0b110
+    CLS_CHANNEL8 = 7   // 0b111
+} CLSChannel;
+
+
+typedef enum {
+    CLS_CH_FW_MOSI = 0,  // 0b000
+    CLS_CH_FW_MISO = 1,  // 0b001
+    CLS_CH_FW_MASTER_CONTROL = 2,  // 0b010
+    CLS_CH_FW_SLAVE_FEEDBACK = 3,  // 0b011
+    CLS_CH_FW_4 = 4,  // 0b100
+    CLS_CH_FW_5 = 5,  // 0b101
+    CLS_CH_FW_6 = 6,  // 0b110
+    CLS_CH_FW_7 = 7   // 0b111
+} CLSChannelFirmware;
+
+
+typedef enum {
+    CLS_CH_STA_HEATBEAT = 0,  // 0b000
+    CLS_CH_STA_1 = 1,  // 0b001
+    CLS_CH_STA_2 = 2,  // 0b010
+    CLS_CH_STA_3 = 3,  // 0b011
+    CLS_CH_STA_4 = 4,  // 0b100
+    CLS_CH_STA_5 = 5,  // 0b101
+    CLS_CH_STA_6 = 6,  // 0b110
+    CLS_CH_STA_7 = 7   // 0b111
+} CLSChannel;
+
+
+typedef struct {
+    CLSMessageCode code : 3;
+    uint8_t device : 5;
+    CLSChannel channel : 3;
+} CLSAddress;
+
+
+#define GENERATE_CLS_ADDRESS(type, device, channel) \
+    ((uint16_t)(((type) << 8) | ((device) << 3) | (channel)) & 0x7ff)
+
+inline uint16_t generateCLSAddress(CLSMessageCode type, uint8_t device, CLSChannel channel) {
+    return ((type << 8) | (device << 3) | channel) & 0x7ff;
+}

Application/CLS/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.12)
+
+project(CLS C)
+
+add_library(${PROJECT_NAME} STATIC "")
+
+target_sources(${PROJECT_NAME} 
+    PRIVATE
+    ${CMAKE_CURRENT_LIST_DIR}/CLS.c
+    INTERFACE
+    ${CMAKE_CURRENT_LIST_DIR}/CLS.h
+    ${CMAKE_CURRENT_LIST_DIR}/CLSAddress.h    
+    )
+
+target_include_directories(${PROJECT_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})

Application/CMakeLists.txt

@@ -1 +1,2 @@
-add_subdirectory(Tasks)
+add_subdirectory(Tasks)
+add_subdirectory(CLS)

Application/Tasks/CanDataTask.c

@@ -87,8 +87,7 @@ void CanDataTask_func(void *argument) {
 
     for(;;) {
         // wait for interrupt event on any fifo
-        uint32_t flags = osThreadFlagsWait(FLAG_FDCAN_RX_FIFO0 | FLAG_FDCAN_RX_FIFO1, osFlagsWaitAny, osWaitForever);
-
+        osThreadFlagsWait(FLAG_FDCAN_RX_FIFO0 | FLAG_FDCAN_RX_FIFO1, osFlagsWaitAny, osWaitForever);
         // check the fifos for data and handle it if nessessay
         CanDataTask_HandleFifo(FDCAN_RX_FIFO0);
         CanDataTask_HandleFifo(FDCAN_RX_FIFO1);

Application/Tasks/CanDataTask.h

@@ -0,0 +1,3 @@
+#pragma once
+
+void CanDataTask_start();

Application/Tasks/FirmwareHandler.c

@@ -82,9 +82,6 @@ void DataClbk_FirmwareStart(void *msg, uint32_t length) {
 
 }
 
-// 0x58900205 python
-// 0x2ACB825B stm32
-
 
 void DataClbk_FirmwarePackage(void *msg, uint32_t length) {
   DATA_CLBK_SETUP(FirmwarePackage);
@@ -128,5 +125,12 @@ void DataClbk_FirmwareDone(void *msg, uint32_t length) {
 
 
   // Spawn Task to Send this File over CAN
-
+  // this task should
+  // 1. send can message to send device with matching device id into bootloader mode
+  //  - open the fw file on the SD card.
+  // 2. wait for the device to get ready.
+  //  - send data 4x data
+  //  - wait for ack
+  // 3 onec we are at the EOF
+  //  - send done 
 }

CMakeLists.txt

@@ -131,11 +131,13 @@ include_directories(${PROJECT_BINARY_DIR})
 add_executable(${CMAKE_PROJECT_NAME})
 target_sources(${CMAKE_PROJECT_NAME} PUBLIC ${sources_SRCS})
 
-target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC Tasks)
+target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC Tasks CLS)
 #target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC PROTOS)
 target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC uart_driver)
 #target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC lwrb)
 
+target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE -std=c2x)
+
 # Compiler options
 target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE
     $<$<COMPILE_LANGUAGE:C>: >

Core/Src/freertos.c

@@ -25,6 +25,8 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "UsbDataHandler.h"
+#include "CanDataTask.h"
+#include "CLS.h"
 #include "fatfs.h"
 /* USER CODE END Includes */
 
@@ -97,6 +99,8 @@ void MX_FREERTOS_Init(void) {
 
   /* USER CODE BEGIN RTOS_THREADS */
   UsbDataHandler_Start();
+  CanDataTask_start();
+  CLS_Init();
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */