fixed and adaptions

Application/Tasks/CanDataTask.c

@@ -3,7 +3,8 @@
 #include "fdcan.h"
 #include "CanDataHandler.h"
 #include "FreeRTOS.h"
-
+#include "CLSAddress.h"
+#include "firmware.pb.h"
 
 // Define thread flags
 #define FLAG_FDCAN_RX_FIFO0  (1<<0)
@@ -58,15 +59,6 @@ void CanDataTask_start() {
 
 static FDCAN_RxHeaderTypeDef RxHeader;
 static uint8_t RxData[8];
-void CanDataTask_HandleFifo(uint32_t fifo) {
-    while (HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO0) > 0 ) {
-        if (HAL_FDCAN_GetRxMessage(&hfdcan1, fifo, &RxHeader, RxData) != HAL_OK) {
-            Error_Handler();
-        } else {
-            CanData_canFifo0RxCallback(RxHeader.Identifier,RxData, dlcDecode(RxHeader.DataLength));
-        }
-    }
-}
 
 // Function for the task
 void CanDataTask_func(void *argument) {
@@ -82,13 +74,37 @@ void CanDataTask_func(void *argument) {
         Error_Handler();
     }
 
+    if(HAL_FDCAN_ActivateNotification(&hfdcan1,FDCAN_IT_RX_FIFO0_NEW_MESSAGE | FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0) != HAL_OK) {
+        Error_Handler();
+    }
+
+
+    // setup listening for heartbeats 
+    for (size_t i = 0; i < 16; i++)
+    {
+        CanData_regDataMsg(GENERATE_CLS_ADDRESS(CLS_CODE_STATUS, i, CLS_CH_STA_HEATBEAT));
+    }
+    
+
 
     for(;;) {
         // wait for interrupt event on any fifo
         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);
+        while (HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO0) > 0 ) {
+        if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK) {
+            Error_Handler();
+        } else {
+            CanData_canFifo0RxCallback(RxHeader.Identifier,RxData, dlcDecode(RxHeader.DataLength));
+        }
+    }
+         while (HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO1) > 0 ) {
+        if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO1, &RxHeader, RxData) != HAL_OK) {
+            Error_Handler();
+        } else {
+            CanData_canFifo1RxCallback(RxHeader.Identifier,RxData, dlcDecode(RxHeader.DataLength));
+        }
+    }
     }   
 }
 
@@ -101,4 +117,41 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
 void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) {
     // Notify the thread
     osThreadFlagsSet(CanDataTask_id, FLAG_FDCAN_RX_FIFO1);
+}
+
+
+void DataClbk_ResponseDeviceList(void* msg, uint32_t length) {
+    // igored
+}
+
+
+#include "UsbDataHandler.h"
+ResponseDeviceList list;
+extern uint8_t gCLS_DEVICE_ADDRESS;
+void DataClbk_RequestDeviceList(void* msg, uint32_t length) {
+
+    // add yourself
+    list.devices[list.devices_count].available = true;
+    list.devices[list.devices_count].canid = GENERATE_CLS_ADDRESS(CLS_CODE_STATUS, gCLS_DEVICE_ADDRESS, CLS_CH_STA_HEATBEAT);
+    list.devices[list.devices_count].device = gCLS_DEVICE_ADDRESS;
+    list.devices[list.devices_count].counter = (osKernelGetTickCount()/500)%256;
+    list.devices_count++;
+
+    for (size_t i = 0; i < 16; i++)
+    {
+        uint16_t canid = (GENERATE_CLS_ADDRESS(CLS_CODE_STATUS, i, CLS_CH_STA_HEATBEAT));
+        const CanDataMessage * msg =CanData_getDataMessage(canid);
+        if(msg) {
+            if(msg->data_length > 0) {
+                list.devices[list.devices_count].available = true;
+                list.devices[list.devices_count].canid = canid;
+                list.devices[list.devices_count].device = i;
+                list.devices[list.devices_count].counter = msg->data[0];
+                list.devices_count++;
+            }
+        }
+    }
+    
+    USBDataResonse(&list, ResponseDeviceList_fields, UsbPackageType_RESPONSE_DEVICE_LIST);
+
 }

Application/Tasks/UsbDataHandler.c

@@ -49,6 +49,8 @@ union {
   FirmwarePackage msg_FirmwarePackage;
   FirmwarePackageAck msg_FirmwarePackageAck;
   FirmwareDone msg_FirmwareDone;
+  RequestDeviceList msg_RequestDeviceList;
+  ResponseDeviceList msg_ResponseDeviceList;
 } mem_msg_decode;
 
 
@@ -98,6 +100,8 @@ message_handler_t message_handlers[] = {
     MESSAGE_HANDLER(UsbPackageType_FIRMWAREPACKAGE, FirmwarePackage),
     MESSAGE_HANDLER(UsbPackageType_FIRMWAREDONE, FirmwareDone),
     MESSAGE_HANDLER(UsbPackageType_FIRMWAREPACKAGEACK, FirmwarePackageAck),
+    MESSAGE_HANDLER(UsbPackageType_REQUEST_DEVICE_LIST, RequestDeviceList),
+    MESSAGE_HANDLER(UsbPackageType_RESPONSE_DEVICE_LIST, ResponseDeviceList),
 };
 
 
@@ -189,6 +193,25 @@ bool UsbDataPacket_head_check(const UsbDataPacket *p) {
   return p->head.check == UsbDataPacket_head_sum(p);
 }
 
+#include "usbd_cdc_if.h"
+#include <pb_encode.h>
+static UsbDataPacket packet; 
+void USBDataResonse(void * msg, const pb_msgdesc_t* fields, UsbPackageType typeid) {
+    pb_ostream_t ostream = pb_ostream_from_buffer(packet.data,sizeof(packet.data));
+      bool status = pb_encode(&ostream, fields ,msg);
+  packet.head.length = ostream.bytes_written;
+  packet.head.type = typeid;
+  packet.head.check = UsbDataPacket_head_sum(&packet);
+
+  if(status) {
+    while (CDC_Transmit_HS((uint8_t*)&packet, packet.head.length + sizeof(UsbDataPacketHead) ) == USBD_BUSY)
+    {
+      osDelay(3);
+    }
+  } else {
+    Error_Handler();
+  }
+}
 
 //__attribute__((weak)) void DataClbk_FirmwareStart(void *msg, uint32_t length) {}
 //__attribute__((weak)) void DataClbk_FirmwarePackage(void *msg, uint32_t length) {}

Application/Tasks/UsbDataHandler.h

@@ -93,53 +93,17 @@ void UsbDataHandler_Runner();
  */
 int UsbDataHandler_RxCallback(uint8_t* Buf, uint32_t Len);
 
-/**
- * @brief Callback function that is invoked when firmware update message is received.
- *
- * Other parts of the software can implement this function to handle the start of a firmware update.
- *
- * @param msg A pointer to the message related to the firmware start.
- * @param length The length of the message, in bytes.
- *
- * @return void
- */
- void DataClbk_FirmwareStart(void* msg, uint32_t length);
 
-/**
- * @brief Callback function that is invoked when a firmware package message is received.
- *
- * Other parts of the software can implement this function to handle each received firmware package.
- *
- * @param msg A pointer to the message related to the received firmware package.
- * @param length The length of the message, in bytes.
- *
- * @return void
- */
- void DataClbk_FirmwarePackage(void* msg, uint32_t length);
-
-/**
- * @brief Callback function that is invoked when a firmware package acknowledgment message is received.
- *
- * Other parts of the software can implement this function to handle the acknowledgment of a received firmware package.
- *
- * @param msg A pointer to the message related to the firmware package acknowledgment.
- * @param length The length of the message, in bytes.
- *
- * @return void
- */
+void DataClbk_FirmwareStart(void* msg, uint32_t length);
+void DataClbk_FirmwarePackage(void* msg, uint32_t length);
 void DataClbk_FirmwarePackageAck(void* msg, uint32_t length);
-
-/**
- * @brief Callback function that is invoked when firmware update done message.
- *
- * Other parts of the software can implement this function to handle the completion of a firmware update.
- *
- * @param msg A pointer to the message related to the completion of the firmware update.
- * @param length The length of the message, in bytes.
- *
- * @return void
- */
 void DataClbk_FirmwareDone(void* msg, uint32_t length);
+void DataClbk_ResponseDeviceList(void* msg, uint32_t length);
+void DataClbk_RequestDeviceList(void* msg, uint32_t length);
+
+
+#include "firmware.pb.h"
+void USBDataResonse(void * msg, const pb_msgdesc_t *fields, UsbPackageType typeid);
 
 #ifdef __cplusplus
 }