CAN ISR

.vscode/launch.json

@@ -263,7 +263,7 @@
 				"target/stm32g4x.cfg"
 			],
 			"searchDir": [],
-			"preLaunchTask": "CMake: configure and build G4ADCTESTING",
+			"preLaunchTask": "CMake: configure and build G4CANTESTING",
 			"showDevDebugOutput": "raw",
 			"svdPath": "${workspaceFolder}/Lib/Vendor/CMSIS_5/SVD/STM32G474.svd",
 			"swoConfig": {

ECU/Core/Src/main.c

@@ -271,17 +271,17 @@ void CAN_Configure()
 	canCfg.hal_fdcan_init.NominalSyncJumpWidth = 16;
 	canCfg.hal_fdcan_init.NominalTimeSeg1 = 127; // Updated for 170MHz: (1+127+42)*1 = 170 ticks -> 1 Mbps
 	canCfg.hal_fdcan_init.NominalTimeSeg2 = 42;
-	canCfg.hal_fdcan_init.DataPrescaler = 8;
+	canCfg.hal_fdcan_init.DataPrescaler = 2;
 	canCfg.hal_fdcan_init.DataSyncJumpWidth = 16;
-	canCfg.hal_fdcan_init.DataTimeSeg1 = 15; // Updated for 170MHz: (1+15+5)*8 = 168 ticks -> ~5 Mbps
-	canCfg.hal_fdcan_init.DataTimeSeg2 = 5;
+	canCfg.hal_fdcan_init.DataTimeSeg1 = 12; // Updated for 170MHz: 170 MHz/((1+12+4)*2) = 5 Mbps
+	canCfg.hal_fdcan_init.DataTimeSeg2 = 4;
 	canCfg.hal_fdcan_init.StdFiltersNbr = 1;
 	canCfg.hal_fdcan_init.ExtFiltersNbr = 0;
 
 	canCfg.rx_callback = NULL;
 	canCfg.rx_interrupt_priority = 15; // TODO: Maybe make these not hardcoded
 	canCfg.tx_interrupt_priority = 15;
-	canCfg.tx_buffer_length = CAN_TX_BUFFER_LENGTH;
+	// canCfg.tx_buffer_length = CAN_TX_BUFFER_LENGTH;
 
 	// RX shared settings
 	canCfg.init_rx_gpio.Mode = GPIO_MODE_AF_PP;

Lib/Peripherals/CAN/Inc/can.h

@@ -24,7 +24,7 @@ typedef struct {
 	uint32_t tx_interrupt_priority;
 
 	// Circular Buffer
-	uint32_t tx_buffer_length;
+	// uint32_t tx_buffer_capacity;
 
 	GPIO_TypeDef *rx_gpio;	       // Instance name, like GPIOA, GPIOB, etc.
 	GPIO_InitTypeDef init_rx_gpio; // GPIO Parameters - set correct Alternate Function, no pullup/pulldown, high/very_high frequency
@@ -34,17 +34,37 @@ typedef struct {
 	// additional parameters
 } CANConfig;
 
+#define FDCAN_MAX_DATA_BYTES 64
+typedef struct {
+	FDCAN_TxHeaderTypeDef tx_header;
+	uint8_t data[FDCAN_MAX_DATA_BYTES];
+} FDCANTxMessage;
+typedef struct {
+	FDCAN_RxHeaderTypeDef rx_header;
+	uint8_t data[FDCAN_MAX_DATA_BYTES];
+} FDCANRxMessage;
+
 // FDCAN peripheral for STM32G4
 typedef struct {
-	FDCAN_HandleTypeDef *hal_fdcanP;
-	CircularBuffer *tx_buffer;
-	uint32_t tx_buffer_length;
+	FDCAN_HandleTypeDef *hal_fdcanP; // DO NOT REORDER THIS
+
+	// TX buffer
+	volatile FDCANTxMessage *tx_buffer;
+	volatile uint32_t tx_capacity;
+	volatile uint32_t tx_tail;
+	volatile uint32_t tx_elements;
 
+	// RX Callback
 	CAN_RXCallback rx_callback;
 
+	uint32_t rx_interrupt_priority;
+	uint32_t tx_interrupt_priority;
+
 	// for release
 	GPIO_TypeDef *rx_gpio;
+	uint32_t rx_pin;
 	GPIO_TypeDef *tx_gpio;
+	uint32_t tx_pin;
 	uint32_t Clock_Source;
 
 	// state
@@ -54,16 +74,6 @@ typedef struct {
 	// error states
 } CANHandle;
 
-#define FDCAN_MAX_DATA_BYTES 64
-typedef struct {
-	FDCAN_TxHeaderTypeDef tx_header;
-	uint8_t data[FDCAN_MAX_DATA_BYTES];
-} FDCANTxMessage;
-typedef struct {
-	FDCAN_RxHeaderTypeDef rx_header;
-	uint8_t data[FDCAN_MAX_DATA_BYTES];
-} FDCANRxMessage;
-
 CANHandle *can_init(const CANConfig *config); // user must supply an rx callback function
 int can_start(CANHandle *handle);
 int can_stop(CANHandle *handle);

Lib/Peripherals/CAN/README.md

@@ -35,6 +35,8 @@ Verify ISR safety, no race conditions, atomic read/writes
 -Shouldn't disable GPIOs in the MSP layers when releasing, might affect other peripherals
 
 IDEAS for other features:
+-
+- DMA support for copying 64 bytes from circular buffer
 - abstract to different STM families besides STM32G4
 - Rx Buffering
 - TX Buffering policy, do we spread them out over multiple TX buffers
@@ -43,7 +45,6 @@ IDEAS for other features:
 - TX FIFO vs Queue policy (only allow FIFOS)
 - Add support for RXFifo1
 
-
 TESTING- ----------------------------------------------
 USE LOGOMATIC for return status -
 either returns through semihosting or debug cores
@@ -55,7 +56,6 @@ Testing framework
 - All tests are run from the top level function in can_test.c
 
 - can_test.c should initialize everything properly.
-- May have to create platform specific asserts when testing state
 - use LOGOMATIC to return errors or throw asserts
 
 - Platform testing, such as in G4PERTESTING just needs include "can_test.h" and call top level function
@@ -70,6 +70,7 @@ Library Centric Testing:
 - Test the implementation in each library.
 
 HAL_Rewrite:
-- Alternatively, rewrite without using HAL, just use CMSIS definitions. 
-- PROS: Would look good on your Github. 
+- Alternatively, rewrite without using HAL, just use CMSIS definitions.
+- There isn't actually that much going on underneath HAL, it just looks painful because of CMSIS
+- PROS: Would look good on your Github.
 - CONS: takes too long