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);
+
 }