enable streaming for testing, route FC messages to isotp stack

AMS_Master_Code/Core/Inc/can.h

@@ -22,6 +22,9 @@
 #define CAN_ID_SHUNT_CURRENT_COUNTER 0x527
 #define CAN_ID_SHUNT_ENERGY_COUNTER 0x528
 
+//TEMP until final IDs are defined
+#define CAN_ID_LOG_FC 0x132
+
 void can_init(FDCAN_HandleTypeDef *handle);
 HAL_StatusTypeDef can_send_status();
 HAL_StatusTypeDef can_send_error(TSErrorKind kind, uint8_t arg);

AMS_Master_Code/Core/Lib/can-halal

@@ -1 +1 @@
-Subproject commit 4e3bb026f88a7ee5a89ec48dc10281e8e0a3175a
+Subproject commit 887f92167d58e551abac18f4f899c74bddc13d46

AMS_Master_Code/Core/Lib/logger/isotp_log_backend.h

@@ -3,13 +3,15 @@
 #include "log.h"
 
 /* ISO-TP Backend Configuration */
-#define ISOTP_LOG_BUFFER_MIN_LEVEL LOG_LEVEL_WARNING // log level where messages are buffered before streaming mode is enabled
+#define ISOTP_LOG_BUFFER_MIN_LEVEL LOG_LEVEL_INFO // log level where messages are buffered before streaming mode is enabled
 #define ISOTP_LOG_BUFFER_1_BYTES 1024 // Primary buffer, used when streaming is disabled
 #define ISOTP_LOG_BUFFER_2_BYTES 256  // Secondary buffer, used for double-buffering during streaming, can be smaller
 
 
 /* ISO-TP CAN ID configuration */
+#ifndef ISOTP_LOG_CAN_ID
 #define ISOTP_LOG_CAN_ID 0x123  // CAN ID to use for ISO-TP log messages
+#endif
 
 /* ISO-TP backend API */
 void isotp_log_backend_init(void);

AMS_Master_Code/Core/Src/can.c

@@ -1,6 +1,9 @@
 #include "can.h"
 
 #include "imd_monitoring.h"
+#include "isotp.h"
+#include "isotp_log_backend.h"
+#include "log.h"
 #include "main.h"
 #include "shunt_monitoring.h"
 #include "battery.h"
@@ -33,7 +36,7 @@ HAL_StatusTypeDef can_send_status() {
   uint8_t data[8];
   data[0] = ts_state.current_state | (sdc_closed << 7);
   data[1] = roundf(current_soc);
-  ftcan_marshal_unsigned(&data[2], min_voltage, 2);   //was declared in slave_monitoring.c 
+  ftcan_marshal_unsigned(&data[2], min_voltage, 2);
   ftcan_marshal_signed(&data[4], max_temp, 2);
   data[6] = imd_data.state | (imd_data.ok << 7);
   if (imd_data.r_iso < 0xFFF) {
@@ -58,24 +61,21 @@ HAL_StatusTypeDef can_send_error(TSErrorKind kind, uint8_t arg) {
   return ftcan_transmit(CAN_ID_AMS_ERROR, data, sizeof(data));
 }
 
-void ftcan_msg_received_cb(uint16_t id, size_t, const uint8_t *data) {
+void ftcan_msg_received_cb(uint16_t id, size_t len, const uint8_t *data) {
   if ((id & 0xFF0) == CAN_ID_SHUNT_BASE) {
     shunt_handle_can_msg(id, data);
     return;
   }
-  // else if ((id & 0xFF0) == CAN_ID_SLAVE_STATUS_BASE) {
-  //   slaves_handle_status(data);
-  //   return;
-  // }
-  // switch (id) {
-  // case CAN_ID_SLAVE_PANIC:
-  //   slaves_handle_panic(data);
-  //   break;
-  // case CAN_ID_SLAVE_LOG:
-  //   slaves_handle_log(data);
-  //   break;
-  // case CAN_ID_AMS_IN:
-  //   ts_sm_handle_ams_in(data);
-  //   break;
-  // }
+
+  switch (id) {
+    case CAN_ID_LOG_FC:
+      auto status = isotp_handle_flow_control(ISOTP_LOG_CAN_ID, data, len);
+      if (status != ISOTP_OK) {
+        log_debug("Error when handling flow control: %s", isotp_status_to_string(status));
+      }
+      break;
+    case CAN_ID_AMS_IN:
+      ts_sm_handle_ams_in(data);
+      break;
+  }
 }

AMS_Master_Code/Core/Src/main.c

@@ -22,6 +22,8 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "battery.h"
+#include "isotp.h"
+#include "isotp_log_backend.h"
 #define SWO_LOG_PREFIX "[MAIN] "
 #include "swo_log.h"
 
@@ -93,15 +95,15 @@ void init_logging(void);
 /* USER CODE BEGIN 0 */
 
 #define MAIN_LOOP_PERIOD 50
+#define ISO_TP_UPDATE_PERIOD 1
 
 static void loop_delay() {
   static uint32_t last_loop = 0;
   uint32_t dt = HAL_GetTick() - last_loop;
-  if (dt < MAIN_LOOP_PERIOD) {
-    HAL_Delay(MAIN_LOOP_PERIOD - dt);
-    //HAL_GPIO_WritePin(STATUS2_GPIO_Port, STATUS2_Pin, GPIO_PIN_RESET);
-  } else {
-    //HAL_GPIO_WritePin(STATUS2_GPIO_Port, STATUS2_Pin, GPIO_PIN_SET);
+  while (dt < MAIN_LOOP_PERIOD) {
+    HAL_Delay(ISO_TP_UPDATE_PERIOD);
+    isotp_update(); // make sure isotp messages are processed reasonably quickly
+    dt = HAL_GetTick() - last_loop;
   }
   last_loop = HAL_GetTick();
 }
@@ -132,6 +134,8 @@ void init_logging(void) {
   /* Register and initialize SWO backend */
   swo_log_backend_init();
 
+  isotp_log_backend_init();
+  
   /* Initialize all registered backends */
   log_init_all_backends();
   
@@ -194,6 +198,10 @@ int main(void)
 
   // init for master functions
   can_init(&hfdcan1);
+  
+  // for testing. in the final code can log streaming will be enabled by can message
+  isotp_log_enable_streaming(LOG_LEVEL_INFO);
+
   shunt_init();
   ts_sm_init();
   soc_init();
@@ -208,6 +216,7 @@ int main(void)
   int error_count = 0;
   while (1)
   {
+    isotp_update();
     //left over from slave communication test, could be nicer and in an additional function !!
     if (error_count > 25) {
       debug_log(LOG_LEVEL_ERROR, "Too many errors, restarting BMS...");
@@ -221,7 +230,6 @@ int main(void)
       }
       error_count = 0;
     }
-    uint32_t lastTimestamp = HAL_GetTick();
 
     update_sdc();
     update_tsal_signals();
@@ -238,6 +246,7 @@ int main(void)
     soc_update();
     imd_update();
     can_send_status();
+    isotp_update();
 
     loop_delay();
     /* USER CODE END WHILE */