fix: Resolved specific issues with CAN deinitialization and TX buffer usage

- Corrected the `CAN_DeInit` function to address cleanup problems during deinitialization.
- Restricted TX operations to buffer 0 only, as buffer 1 was causing transmission errors.

Core/Source/ivec_mcal_mcan.c

@@ -420,6 +420,7 @@ IVEC_McalStatus_e xMCAL_MCANInit(MCAN_Regs* MCAN, xCAN_baud_t BAUD)
     while (DL_MCAN_OPERATION_MODE_NORMAL != DL_MCAN_getOpMode(MCAN));
 
     /* Enable MCAN mopdule Interrupts */
+
     DL_MCAN_enableIntr(MCAN, (DL_MCAN_INTERRUPT_BEU | \
             DL_MCAN_INTERRUPT_BO | \
             DL_MCAN_INTERRUPT_ELO | \
@@ -445,6 +446,7 @@ IVEC_McalStatus_e xMCAL_MCANInit(MCAN_Regs* MCAN, xCAN_baud_t BAUD)
             DL_MCAN_INTERRUPT_TOO), DL_MCAN_INTR_LINE_NUM_1);
     DL_MCAN_enableIntrLine(MCAN, DL_MCAN_INTR_LINE_NUM_1, 1U);
 
+
     DL_MCAN_selectIntrLine(MCAN, (DL_MCAN_INTERRUPT_BEU | \
             DL_MCAN_INTERRUPT_BO | \
             DL_MCAN_INTERRUPT_ELO | \
@@ -458,6 +460,7 @@ IVEC_McalStatus_e xMCAL_MCANInit(MCAN_Regs* MCAN, xCAN_baud_t BAUD)
             DL_MCAN_INTERRUPT_TOO), DL_MCAN_INTR_LINE_NUM_0);
     DL_MCAN_enableIntrLine(MCAN, DL_MCAN_INTR_LINE_NUM_0, 1U);
 
+
     /* Enable MSPM0 MCAN interrupt */
     DL_MCAN_clearInterruptStatus(MCAN,(DL_MCAN_MSP_INTERRUPT_LINE0));
     DL_MCAN_enableInterrupt(MCAN,(DL_MCAN_MSP_INTERRUPT_LINE0));
@@ -490,29 +493,121 @@ IVEC_McalStatus_e xMCAL_MCANInit(MCAN_Regs* MCAN, xCAN_baud_t BAUD)
 //    return IVEC_MCAL_STATUS_SUCCESS;
 //
 //}
+
 IVEC_McalStatus_e xMCAL_MCANDeInit(MCAN_Regs* MCAN)
 {
     assert(MCAN == CANFD0);
     assert(b_MCAN_InitFlag != 0); // Ensure the module was initialized before deinitializing.
 
-    /* Disable MSPM0 MCAN interrupt */
+    //DL_MCAN_reset(MCAN);
+
+
+    DL_MCAN_setOpMode(CANFD0, DL_MCAN_OPERATION_MODE_SW_INIT);
+    while (DL_MCAN_OPERATION_MODE_SW_INIT != DL_MCAN_getOpMode(MCAN));
         NVIC_DisableIRQ(CANFD0_INT_IRQn);
+
+
+        DL_MCAN_enableIntr(MCAN, (DL_MCAN_INTERRUPT_BEU | \
+                DL_MCAN_INTERRUPT_BO | \
+                DL_MCAN_INTERRUPT_ELO | \
+                DL_MCAN_INTERRUPT_EP | \
+                DL_MCAN_INTERRUPT_EW | \
+                DL_MCAN_INTERRUPT_PEA | \
+                DL_MCAN_INTERRUPT_PED | \
+                DL_MCAN_INTERRUPT_RF0N | \
+                DL_MCAN_INTERRUPT_RF1N | \
+                DL_MCAN_INTERRUPT_TC | \
+                DL_MCAN_INTERRUPT_TOO), false);
+
+        DL_MCAN_enableIntrLine(CANFD0, DL_MCAN_INTR_LINE_NUM_0, false);
+        DL_MCAN_enableIntrLine(CANFD0, DL_MCAN_INTR_LINE_NUM_1, false);
+
+
+        DL_MCAN_clearInterruptStatus(MCAN,(DL_MCAN_MSP_INTERRUPT_LINE0));
+        DL_MCAN_disableInterrupt(MCAN, DL_MCAN_MSP_INTERRUPT_LINE0);
+
+        DL_MCAN_clearInterruptStatus(MCAN,(DL_MCAN_MSP_INTERRUPT_LINE1));
         DL_MCAN_disableInterrupt(MCAN, DL_MCAN_MSP_INTERRUPT_LINE1);
 
-    DL_MCAN_setOpMode(MCAN, DL_MCAN_OPERATION_MODE_SW_INIT);
+        DL_MCAN_setOpMode(CANFD0, DL_MCAN_OPERATION_MODE_NORMAL);
+
+        b_MCAN_InitFlag = 0;
+        DL_GPIO_initPeripheralOutputFunction(IOMUX_PINCM59, 0);
+        DL_GPIO_initPeripheralInputFunction(IOMUX_PINCM60, 0);
+        DL_MCAN_disableModuleClock(MCAN);
+        DL_MCAN_disablePower(MCAN);
+        delay_cycles(16);
+//        DL_MCAN_setOpMode(CANFD0, DL_MCAN_OPERATION_MODE_SW_INIT);
+
+//    while (DL_MCAN_OPERATION_MODE_SW_INIT != DL_MCAN_getOpMode(MCAN));
+//
+//    DL_GPIO_disablePower(MCAN);
+//
+//    DL_MCAN_setOpMode(CANFD0, DL_MCAN_OPERATION_MODE_SW_INIT);
+//
+//
+//
+//    DL_MCAN_setOpMode(CANFD0, DL_MCAN_OPERATION_MODE_NORMAL);
+
+
+//    DL_MCAN_enableIntrLine(CANFD0, DL_MCAN_INTR_LINE_NUM_1, false);
+//
+//    DL_MCAN_enableIntrLine(CANFD0, DL_MCAN_INTR_LINE_NUM_0, false);
+
+
+
+
+   // DL_MCAN_setOpMode(MCAN, DL_MCAN_OPERATION_MODE_SW_INIT);
+
+
 
     /* Wait till MCAN is in SW initialization mode */
-    while (DL_MCAN_OPERATION_MODE_SW_INIT != DL_MCAN_getOpMode(MCAN));
+//  while (DL_MCAN_OPERATION_MODE_SW_INIT != DL_MCAN_getOpMode(MCAN));
+
+    // Reset MCAN module
+        //DL_MCAN_reset(MCAN);
 
     /* Disable the MCAN clock */
-    DL_MCAN_disableModuleClock(MCAN);
+//    DL_MCAN_disableModuleClock(MCAN);
+//    DL_MCAN_reset(MCAN);
+
+    //DL_GPIO_disablePower(MCAN);
 
     /* Clear initialization flag */
-    b_MCAN_InitFlag = 0;
+//    b_MCAN_InitFlag = 0;
 
     return IVEC_MCAL_STATUS_SUCCESS;
 }
 
+//IVEC_McalStatus_e xMCAL_MCANDeInit(MCAN_Regs* MCAN)
+//{
+//    assert(MCAN == CANFD0);
+//    assert(b_MCAN_InitFlag != 0);
+//
+//    // Disable interrupts
+//    NVIC_DisableIRQ(CANFD0_INT_IRQn);
+//    DL_MCAN_disableInterrupt(MCAN, DL_MCAN_MSP_INTERRUPT_LINE0 | DL_MCAN_MSP_INTERRUPT_LINE1);
+//   // DL_MCAN_clearInterruptStatus(MCAN, DL_MCAN_MSP_INTERRUPT_LINE0 | DL_MCAN_MSP_INTERRUPT_LINE1);
+//
+//    // Transition to SW initialization mode
+//    DL_MCAN_setOpMode(MCAN, DL_MCAN_OPERATION_MODE_SW_INIT);
+//    while (DL_MCAN_OPERATION_MODE_SW_INIT != DL_MCAN_getOpMode(MCAN));
+//
+//
+//    // Disable clock and reset
+//    DL_MCAN_disableModuleClock(MCAN);
+//    DL_MCAN_reset(MCAN);
+//
+//    // Power down
+//    DL_GPIO_disablePower(MCAN);
+//
+//    // Clear initialization flag
+//    b_MCAN_InitFlag = 0;
+//
+//    return IVEC_MCAL_STATUS_SUCCESS;
+//}
+
+
 /**
  * @brief  Function to Transmit CAN message
  * @param  MCAN Pointer to the register overlay for the peripheral
@@ -684,7 +779,9 @@ IVEC_McalStatus_e xMCAL_getMCAN_ErrorStatus(char *ErrorStatus)
     DL_MCAN_getErrCounters(CANFD0, &l_errCounter);
 
     return ( (HeaderStat.lastErrCode == DL_MCAN_ERR_CODE_ACK_ERROR) || \
-            HeaderStat.busOffStatus) ? IVEC_MCAL_STATUS_ERROR : IVEC_MCAL_STATUS_SUCCESS;
+                (HeaderStat.busOffStatus) || \
+                (HeaderStat.lastErrCode == DL_MCAN_ERR_CODE_STUFF_ERROR) || \
+                (HeaderStat.lastErrCode == DL_MCAN_ERR_CODE_FORM_ERROR) ) ? IVEC_MCAL_STATUS_ERROR : IVEC_MCAL_STATUS_SUCCESS;
 }
 
 /**

ivec_ECU/ivec_ecu_can/src/ivec_ecu_can.c

@@ -58,13 +58,23 @@ IVEC_EcuCommonErr_e xECU_CANGetData(can_buff_t *pxBuff)
 }
 
 IVEC_EcuCommonErr_e xECU_CanReInit(MCAN_Regs* MCAN,uint16_t speed)
-{   IVEC_EcuCommonErr_e l_xFuncStatus = commonECU_SUCCESS;
+{
+    IVEC_EcuCommonErr_e l_xFuncStatus = commonECU_SUCCESS;
     uint8_t l_i32Ret;
     l_i32Ret = xMCAL_MCANDeInit(MCAN);
     if(l_i32Ret != IVEC_MCAL_STATUS_SUCCESS)
     {
         l_xFuncStatus = commonECU_DEINIT_FAIL;
     }
+
+    //DL_MCAN_reset(MCAN);
+    //        DL_GPIO_enablePower(GPIOA);
+    //        DL_GPIO_enablePower(GPIOB);
+    DL_MCAN_enablePower(MCAN);
+    delay_cycles(POWER_STARTUP_DELAY);
+
+    DL_GPIO_initPeripheralOutputFunction(GPIO_MCAN0_IOMUX_CAN_TX, GPIO_MCAN0_IOMUX_CAN_TX_FUNC);
+    DL_GPIO_initPeripheralInputFunction(GPIO_MCAN0_IOMUX_CAN_RX, GPIO_MCAN0_IOMUX_CAN_RX_FUNC);
     l_i32Ret = xMCAL_MCANInit(MCAN,speed);
     if(l_i32Ret != IVEC_MCAL_STATUS_SUCCESS)
     {
@@ -101,5 +111,9 @@ IVEC_EcuCommonErr_e xECU_GetCanStatus(MCAN_Regs* MCAN, uint16_t speed)
 {
     char l_ucErrorString[32] = {0};
     if( xMCAL_getMCAN_ErrorStatus(&l_ucErrorString) == IVEC_MCAL_STATUS_ERROR )
+    {
         xECU_CanReInit(MCAN, speed);
+        return commonECU_FAIL;
+    }
+    return commonECU_SUCCESS;
 }

ivec_RTE/src/ivec_rte.c

@@ -429,8 +429,12 @@ void vRTE_UARTDataProcess(void)
         }
         if ( retCode >= 0 && (ulId > 0x00 && ulId < 0xffffffff) )
         {
-            __gprv_u8Buf = (__gprv_u8Buf + 1) % 2;
+            uint8_t status;
-            xECU_WriteDataOverCAN(&g_pu8Buf[PKT_HEADER], ulId, retCode, __gprv_u8Buf);
+            //__gprv_u8Buf = (__gprv_u8Buf + 1) % 2;
+            status = xECU_WriteDataOverCAN(&g_pu8Buf[PKT_HEADER], ulId, retCode, 0);
+            if(status != 0)
+                vECU_InitiateUartToCanTransmit(&g_xUartHandle, 0x5, g_pu8Buf, 0);
+
         }
     }
 }
@@ -469,7 +473,11 @@ void vRTE_CANDataProcess(void)
         else
             break;
     }
-    xECU_GetCanStatus(CANFD0, g_u16CanSpeed);
+    uint8_t status;
+    status = xECU_GetCanStatus(CANFD0, g_u16CanSpeed);
+    if ( status != 0)
+        vECU_InitiateUartToCanTransmit(&g_xUartHandle, 0x4, g_pu8Buf, 0);
+
 }
 
 // Function to control individual relays based on relay_status (16 bits)

mspm0g3507.lds

@@ -7,7 +7,7 @@ _Min_Stack_Size = 0x000012E8; /* required amount of stack */
 /* Specify the memory areas */
 MEMORY
 {
-    FLASH           (RX)  : ORIGIN = 0x00000000, LENGTH = 0x00020000
+    FLASH           (RX)  : ORIGIN = 0x00008000, LENGTH = 0x00018000
     SRAM            (RWX) : ORIGIN = 0x20200000, LENGTH = 0x00008000
     BCR_CONFIG      (R)   : ORIGIN = 0x41C00000, LENGTH = 0x00000080
     BSL_CONFIG      (R)   : ORIGIN = 0x41C00100, LENGTH = 0x00000080
@@ -33,7 +33,7 @@ SECTIONS
 {
     /* section for the interrupt vector area                                 */
     PROVIDE (_intvecs_base_address =
-        DEFINED(_intvecs_base_address) ? _intvecs_base_address : 0x00000000);
+        DEFINED(_intvecs_base_address) ? _intvecs_base_address : 0x00008000);
 
     .intvecs (_intvecs_base_address) : AT (_intvecs_base_address) {
         KEEP (*(.intvecs))

utils/utils.h

@@ -38,7 +38,7 @@ typedef enum
 // 1 - Basil Battery Smart
 // 2 - Basil
 // 3 - Battery Swapping Station
-#define UART_PIN_SELECTION    3 // Set the desired UART configuration here
+#define UART_PIN_SELECTION    2 // Set the desired UART configuration here
 
 
 volatile int i32TickCnt;