From 17131c3a34d0fb381d4b4525b2205eb3416013c8 Mon Sep 17 00:00:00 2001
From: Rakshitavecmocon <rakshita@vecmocon.com>
Date: Mon, 7 Oct 2024 18:32:06 +0530
Subject: [PATCH] fix: Implement error handling for CAN

---
 .settings/org.eclipse.core.resources.prefs |  2 ++
 Core/Source/ivec_mcal_mcan.c               | 41 +++++++++++++++++++---
 ivec_ECU/ivec_ecu_can/src/ivec_ecu_can.c   | 15 +++++---
 main.c                                     | 25 +++++++++++--
 4 files changed, 72 insertions(+), 11 deletions(-)

diff --git a/.settings/org.eclipse.core.resources.prefs b/.settings/org.eclipse.core.resources.prefs
index 879d2ad..d79a71c 100644
--- a/.settings/org.eclipse.core.resources.prefs
+++ b/.settings/org.eclipse.core.resources.prefs
@@ -19,6 +19,8 @@ encoding//Debug/ivec_ECU/ivec_ecu_common/src/subdir_rules.mk=UTF-8
 encoding//Debug/ivec_ECU/ivec_ecu_common/src/subdir_vars.mk=UTF-8
 encoding//Debug/ivec_ECU/ivec_ecu_uart/src/subdir_rules.mk=UTF-8
 encoding//Debug/ivec_ECU/ivec_ecu_uart/src/subdir_vars.mk=UTF-8
+encoding//Debug/ivec_cmplx_gptimer/src/subdir_rules.mk=UTF-8
+encoding//Debug/ivec_cmplx_gptimer/src/subdir_vars.mk=UTF-8
 encoding//Debug/makefile=UTF-8
 encoding//Debug/objects.mk=UTF-8
 encoding//Debug/sources.mk=UTF-8
diff --git a/Core/Source/ivec_mcal_mcan.c b/Core/Source/ivec_mcal_mcan.c
index 0c957a3..5cbb22a 100644
--- a/Core/Source/ivec_mcal_mcan.c
+++ b/Core/Source/ivec_mcal_mcan.c
@@ -21,6 +21,7 @@ extern uint16_t idx;
 uint32_t IntrStatus;
 static volatile uint8_t u8_MCAN_StatusFlag = IVEC_MCAL_STATUS_ERROR;
 uint8_t g_CanData[8];
+volatile DL_MCAN_ProtocolStatus HeaderStat;
 
 
 /*REQUIRED MCAN CONFIGS*/
@@ -272,6 +273,23 @@ static void ErrorHandler()
 void CANFD0_IRQHandler(void)
 {
     IntrStatus = DL_MCAN_getIntrStatus(CANFD0);
+    DL_MCAN_getProtocolStatus(CANFD0, &HeaderStat);
+
+    if(HeaderStat.busOffStatus==1)
+    {
+        DL_MCAN_setOpMode(CANFD0, DL_MCAN_OPERATION_MODE_NORMAL);
+
+    }
+    else if (HeaderStat.lastErrCode == 4) {
+        // Initiate bus-off recovery
+        int status = -1;
+        printf("Attempting recovery...\n");
+        xECU_CanReInit(CANFD0 ,BAUD_500);
+        if(status == 0)
+        {
+            printf("done\n");
+        }
+    }
 
     if (IntrStatus & DL_MCAN_INTERRUPT_TC){
         __asm("nop");
@@ -323,7 +341,7 @@ void CANFD0_IRQHandler(void)
         DL_MCAN_getIntrStatus(CANFD0);
         DL_MCAN_clearIntrStatus(CANFD0, IntrStatus,DL_MCAN_INTR_SRC_MCAN_LINE_1);
     }
-    ErrorHandler();
+    //ErrorHandler();
 }
 
 
@@ -431,6 +449,8 @@ IVEC_McalStatus_e xMCAL_MCANDeInit(MCAN_Regs* MCAN)
 {
     assert(MCAN == CANFD0);
     assert(b_MCAN_InitFlag != 0);
+    DL_MCAN_disableInterrupt(MCAN, (DL_MCAN_MSP_INTERRUPT_LINE1));
+    NVIC_DisableIRQ(CANFD0_INT_IRQn);
 
     DL_MCAN_disablePower(MCAN);
     b_MCAN_InitFlag = 0;
@@ -451,6 +471,7 @@ IVEC_McalStatus_e xMCAL_MCANTx(MCAN_Regs *MCAN, DL_MCAN_TxBufElement *TxMsg ,uin
 {
     assert(MCAN == CANFD0);
     assert(b_MCAN_InitFlag != 0);
+    int result = -1;
 
     for(int i=0;i<Bytes;i++)
     {
@@ -460,13 +481,23 @@ IVEC_McalStatus_e xMCAL_MCANTx(MCAN_Regs *MCAN, DL_MCAN_TxBufElement *TxMsg ,uin
 //    uint32_t txPendingStatus;
 //
 //    //Check if the Tx Buffer is available (no pending request)
-    //txPendingStatus = DL_MCAN_getTxBufReqPend(MCAN);
-
-    // Check if the specified buffer (BufNum) is available
+//    txPendingStatus = DL_MCAN_getTxBufReqPend(MCAN);
+//
+//     //Check if the specified buffer (BufNum) is available
 //    if ((txPendingStatus & (1 << BufNum)) == 0)
 //    {
         DL_MCAN_writeMsgRam(MCAN, DL_MCAN_MEM_TYPE_BUF, BufNum , TxMsg);
-        DL_MCAN_TXBufAddReq(MCAN, BufNum);
+        result = DL_MCAN_TXBufAddReq(MCAN, BufNum);
+        if(result == 0)
+        {
+            printf("pass\n");
+        }
+        else
+        {
+            printf("result %d\n",result);
+            printf("fail\n");
+        }
+
 //    }
 //    else
 //    {
diff --git a/ivec_ECU/ivec_ecu_can/src/ivec_ecu_can.c b/ivec_ECU/ivec_ecu_can/src/ivec_ecu_can.c
index 46fc0ba..7a29dfc 100644
--- a/ivec_ECU/ivec_ecu_can/src/ivec_ecu_can.c
+++ b/ivec_ECU/ivec_ecu_can/src/ivec_ecu_can.c
@@ -48,17 +48,23 @@ IVEC_EcuCommonErr_e xECU_WriteDataOverCAN(uint8_t* pucBuf, uint32_t ulId, int re
         /* Message Marker. */
         xFrame.mm = 0xAAU;
 
-        uint16_t TxData[DL_MCAN_MAX_PAYLOAD_BYTES];  // Define a buffer for the CAN payload data
+       uint8_t TxData[DL_MCAN_MAX_PAYLOAD_BYTES];  // Define a buffer for the CAN payload data
+//
+//        // Copy the data you want to transmit (from pucBuf) into TxData
+//        //memcpy(TxData, &pucBuf[PKT_HEADER], retCode);
+//
+       // Loop through pucBuf starting at PKT_HEADER and XOR each byte with 0x0000
+       for (int i = 0; i < retCode; i++) {
+           TxData[i] = pucBuf[PKT_HEADER + i];
+       }
 
-        // Copy the data you want to transmit (from pucBuf) into TxData
-        memcpy(TxData, &pucBuf[PKT_HEADER], retCode);
 
         // Set up the buffer number
         //uint32_t BufNum = 0;  // Example: Use buffer number 0
 
         // Number of bytes to transmit (retCode holds DLC)
         int Bytes = retCode;
-
+        printf("bufnum %d\n",BufNum);
         l_i32Ret = xMCAL_MCANTx(CANFD0, &xFrame, TxData, BufNum, Bytes);
         if(l_i32Ret == IVEC_MCAL_STATUS_SUCCESS)
         {
@@ -95,6 +101,7 @@ IVEC_EcuCommonErr_e xECU_CanReInit(MCAN_Regs* MCAN,uint16_t speed)
         l_xFuncStatus = commonECU_DEINIT_FAIL;
     }
     //vCanConfigFilter();
+    DL_UART_Main_enablePower(MCAN);
     l_i32Ret = xMCAL_MCANInit(MCAN,speed);
     if(l_i32Ret != IVEC_MCAL_STATUS_SUCCESS)
     {
diff --git a/main.c b/main.c
index 6df4935..ee814eb 100644
--- a/main.c
+++ b/main.c
@@ -132,7 +132,7 @@ DL_MCAN_RxBufElement RxMsg;
 flashStatus_t ret_UID,ret_MID;
 
 McalUartHandle_s prvUartHandle;
-
+static volatile int count = 0;
 
 void UARTDataProcess()
 {
@@ -141,6 +141,7 @@ void UARTDataProcess()
     uint32_t ulId = 0xffffffff;
 
     retCode= xECU_ReadCANDataOverUART(&prvUartHandle,pucBuf,&ulId);
+    printf("length %d\n",retCode);
     if(retCode > -1)
     {
         if(ulId == 0x00)
@@ -148,7 +149,26 @@ void UARTDataProcess()
             vECU_InitiateUartToCanTransmit(&prvUartHandle, ulId, pucBuf, 0);
         }
         else{
-            xECU_WriteDataOverCAN(pucBuf, ulId, retCode, 0);
+            if(count == 0){
+                xECU_WriteDataOverCAN(pucBuf, ulId, retCode, 0);
+                printf("%d\n",count);
+                count = 1;
+            }
+            else if (count == 1){
+                xECU_WriteDataOverCAN(pucBuf, ulId, retCode, 1);
+                printf("%d\n",count);
+                count = 2;
+            }
+            else if (count == 2){
+                xECU_WriteDataOverCAN(pucBuf, ulId, retCode, 2);
+                printf("%d\n",count);
+                count = 3;
+            }
+            else{
+                xECU_WriteDataOverCAN(pucBuf, ulId, retCode, 3);
+                printf("%d\n",count);
+                count = 0;
+            }
         }
     }
 
@@ -165,6 +185,7 @@ void CANDataProcess()
     //delay(3200000);
 }
 
+
 int main(void)
 {
     xMCAL_McuInit();