common TX/RX task init

Author: irvingywang

common/can_library/can_common.c

@@ -16,6 +16,9 @@ can_stats_t can_stats;
 volatile uint32_t last_can_rx_time_ms;
 DEFINE_QUEUE(q_rx_can, CanMsgTypeDef_t, CAN_RX_QUEUE_LENGTH);
 
+extern ThreadWrapper_t CAN_rx_update_wrapper;
+extern ThreadWrapper_t CAN_tx_update_wrapper;
+
 // Shared rx update implementation
 void CAN_rx_update() {
     CanMsgTypeDef_t rx_msg;
@@ -297,6 +300,17 @@ void PHAL_FDCAN_rxCallback(CanMsgTypeDef_t *msg) {
     portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
 }
 
+void PHAL_FDCAN_txCallback(FDCAN_GlobalTypeDef *fdcan) {
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    TaskHandle_t tx_task = getTaskHandle(CAN_tx_update);
+
+    if (tx_task != NULL) {
+        vTaskNotifyGiveFromISR(tx_task, &xHigherPriorityTaskWoken);
+    }
+
+    portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+}
+
 bool CAN_library_init() {
     // Initialize TX queues (one per peripheral)
 #ifdef USE_FDCAN1

common/can_library/can_common.h

@@ -100,4 +100,12 @@ bool CAN_library_init();
 void CAN_handle_irq(CAN_TypeDef *bus, uint8_t fifo);
 #endif
 
+#define DEFINE_CAN_TASKS() \
+    DEFINE_TASK(CAN_rx_update, 0, osPriorityHigh, STACK_2048); \
+    DEFINE_TASK(CAN_tx_update, 2, osPriorityNormal, STACK_2048);
+
+#define START_CAN_TASKS() \
+    START_TASK(CAN_rx_update); \
+    START_TASK(CAN_tx_update);
+
 #endif // CAN_COMMON_H

common/phal_G4/fdcan/fdcan.c

@@ -353,13 +353,13 @@ static inline void PHAL_FDCAN_RX_IRQHandler(FDCAN_GlobalTypeDef *fdcan) {
 static inline void PHAL_FDCAN_TX_IRQHandler(FDCAN_GlobalTypeDef *fdcan) {
     if (fdcan->IR & FDCAN_IR_TC) {
         fdcan->IR = FDCAN_IR_TC;
-        PHAL_FDCAN_txCallback();
+        PHAL_FDCAN_txCallback(fdcan);
     }
 }
 
 [[gnu::weak]]
-void PHAL_FDCAN_txCallback() {
-    (void)0;
+void PHAL_FDCAN_txCallback(FDCAN_GlobalTypeDef *fdcan) {
+    (void)fdcan;
 }
 
 [[gnu::weak]]

common/phal_G4/fdcan/fdcan.h

@@ -24,7 +24,7 @@ void PHAL_FDCAN_setFilters(
 void PHAL_FDCAN_send(CanMsgTypeDef_t *msg);
 bool PHAL_FDCAN_txFifoFree(FDCAN_GlobalTypeDef *fdcan);
 extern void PHAL_FDCAN_rxCallback(CanMsgTypeDef_t *msg);
-extern void PHAL_FDCAN_txCallback();
+extern void PHAL_FDCAN_txCallback(FDCAN_GlobalTypeDef *fdcan);
 
 #define MAX_NUM_XID_FILTER (8)
 #define MAX_NUM_SID_FILTER (28)

source/a_box/main.c

@@ -110,8 +110,7 @@ void report_telemetry(void);
 
 // Thread Defines
 DEFINE_TASK(bms_task, 200, osPriorityHigh, STACK_2048);
-DEFINE_TASK(CAN_rx_update, 0, osPriorityHigh, STACK_2048);
-DEFINE_TASK(CAN_tx_update, 2, osPriorityNormal, STACK_2048);
+DEFINE_CAN_TASKS();
 DEFINE_TASK(check_faults, 10, osPriorityNormal, STACK_512);
 DEFINE_TASK(fault_library_periodic, A_BOX_FAULT_SYNC_PERIOD_MS, osPriorityNormal, STACK_1024);
 DEFINE_TASK(report_telemetry, PACK_STATS_PERIOD_MS, osPriorityLow, STACK_512);
@@ -152,8 +151,7 @@ int main(void) {
     osKernelInitialize();
 
     START_TASK(bms_task);
-    START_TASK(CAN_rx_update);
-    START_TASK(CAN_tx_update);
+    START_CAN_TASKS();
     START_TASK(check_faults);
     START_TASK(fault_library_periodic);
     START_TASK(report_telemetry);

source/dashboard/main.c

@@ -146,8 +146,7 @@ ALLOCATE_STRBUF(lcd_tx_buf, 2048);
 
 // Thread Defines
 DEFINE_TASK(pedalsPeriodic, PEDALS_PERIOD_MS, osPriorityHigh, STACK_1024);
-DEFINE_TASK(CAN_rx_update, 0, osPriorityHigh, STACK_2048);
-DEFINE_TASK(CAN_tx_update, 2, osPriorityNormal, STACK_2048); // leave stack at 2048
+DEFINE_CAN_TASKS();
 DEFINE_TASK(fault_library_periodic, DASHBOARD_FAULT_SYNC_PERIOD_MS, osPriorityNormal, STACK_1024);
 DEFINE_TASK(updateTelemetryPages, 100, osPriorityNormal, STACK_1024);
 DEFINE_TASK(service_start_button, START_BUTTON_PERIOD_MS, osPriorityLow, STACK_512);
@@ -189,8 +188,7 @@ int main(void) {
     osKernelInitialize();
 
     START_TASK(pedalsPeriodic);
-    START_TASK(CAN_rx_update);
-    START_TASK(CAN_tx_update);
+    START_CAN_TASKS();
     START_TASK(fault_library_periodic);
     START_TASK(updateTelemetryPages);
     START_TASK(service_start_button);

source/driveline/main.c

@@ -74,6 +74,7 @@ extern uint32_t PLLClockRateHz;
 extern void HardFault_Handler();
 void shockpot_thread();
 
+DEFINE_CAN_TASKS();
 DEFINE_TASK(shockpot_thread, 100, osPriorityNormal, 512);
 DEFINE_HEARTBEAT_TASK(nullptr);
 
@@ -99,9 +100,12 @@ int main(void) {
 
     NVIC_EnableIRQ(FDCAN2_IT0_IRQn);
 
+    CAN_library_init();
+
     // Software Initalization
     osKernelInitialize();
 
+    START_CAN_TASKS();
     START_TASK(shockpot_thread);
     START_HEARTBEAT_TASK();
 

source/f4_testing/canpiler.c

@@ -37,8 +37,7 @@ void send_periodic() {
     CAN_SEND_pdu_version(GIT_HASH);
 }
 
-DEFINE_TASK(CAN_rx_update, 0, osPriorityHigh, STACK_2048);
-DEFINE_TASK(CAN_tx_update, 2, osPriorityNormal, STACK_2048);
+DEFINE_CAN_TASKS();
 DEFINE_TASK(send_periodic, 10, osPriorityNormal, 1024);
 
 int main() {
@@ -62,8 +61,7 @@ int main() {
 
     osKernelInitialize();
 
-    START_TASK(CAN_rx_update);
-    START_TASK(CAN_tx_update);
+    START_CAN_TASKS();
     START_TASK(send_periodic);
 
     osKernelStart();

source/g4_testing/canpiler.c

@@ -47,8 +47,7 @@ void send_periodic() {
     CAN_SEND_abox_version(GIT_HASH);
 }
 
-DEFINE_TASK(CAN_rx_update, 0, osPriorityHigh, STACK_2048);
-DEFINE_TASK(CAN_tx_update, 2, osPriorityNormal, STACK_2048);
+DEFINE_CAN_TASKS();
 DEFINE_TASK(send_periodic, 10, osPriorityNormal, 1024);
 
 int main() {
@@ -72,8 +71,7 @@ int main() {
 
     osKernelInitialize();
 
-    START_TASK(CAN_rx_update);
-    START_TASK(CAN_tx_update);
+    START_CAN_TASKS();
     START_TASK(send_periodic);
 
     osKernelStart();

source/g4_testing/izze_imu_config.c

@@ -63,8 +63,7 @@ void config_imu() {
     );
 }
 
-DEFINE_TASK(CAN_rx_update, 0, osPriorityHigh, STACK_2048);
-DEFINE_TASK(CAN_tx_update, 2, osPriorityNormal, STACK_2048);
+DEFINE_CAN_TASKS();
 DEFINE_TASK(config_imu, IZZE_IMU_CONFIG_PERIOD_MS, osPriorityNormal, 1024);
 
 int main() {
@@ -91,8 +90,7 @@ int main() {
 
     osKernelInitialize();
 
-    START_TASK(CAN_rx_update);
-    START_TASK(CAN_tx_update);
+    START_CAN_TASKS();
     START_TASK(config_imu);
 
     osKernelStart();