Canard receive

gistfile1.txt

static bool should_accept_transfer(
    const CanardInstance* ins,
    uint64_t* out_data_type_signature,
    uint16_t data_type_id,
    CanardTransferType transfer_type,
    uint8_t source_node_id
) {
	switch (source_node_id) {
	case CAN_REMOTE_NODE_ID:
		switch (data_type_id) {
		case UAVCAN_PROTOCOL_NODESTATUS_ID:
			*out_data_type_signature = UAVCAN_PROTOCOL_NODESTATUS_SIGNATURE;
			return true;

		case DANTECH_BMS_METEO_BMSCOMMAND_ID:
			*out_data_type_signature = DANTECH_BMS_METEO_BMSCOMMAND_SIGNATURE;
			return true;

		default:
			break;
		}
	default:
		break;
	}
    return false;
}

CanRxMsg_t canrx_cmd = { 0 };
struct dantech_bms_meteo_BmsCommand canard_cmd = { 0 };
static void on_transfer_received(CanardInstance* ins, CanardRxTransfer* transfer) {
	UNUSED(ins);
	switch (transfer->data_type_id) {
	case UAVCAN_PROTOCOL_NODESTATUS_ID:
		// parse to heartbeat
		canrx_cmd.heartbeat_timestamp = getCurrentMicros();
		if (CanRxRing_write(&can_msg_ring, &canrx_cmd, 1) != 1) {
			cnts.uavcan_msg_store_fail++;
		}
		break;

	case DANTECH_BMS_METEO_BMSCOMMAND_ID:
		if (dantech_bms_meteo_BmsCommand_decode(transfer, &canard_cmd)) {
			cnts.uavcan_msg_parse_fail++;
		}
		else {
			canrx_cmd.heartbeat_timestamp = 0;
			canrx_cmd.cmd = canard_cmd.cmd;
			canrx_cmd.fet_mask = canard_cmd.fet_mask;
			canrx_cmd.fet_state = canard_cmd.fet_state;
			canrx_cmd.device_addr = canard_cmd.device_addr;
			canrx_cmd.register_addr = canard_cmd.register_addr;
			canrx_cmd.register_data_size = canard_cmd.register_data_size;
			if (CanRxRing_write(&can_msg_ring, &canrx_cmd, 1) != 1) {
				cnts.uavcan_msg_store_fail++;
			}
		}
		break;
	}
}

void uavcan_process_rx(MainTaskCommand_t* const cmd) {
	canardHandleRxFrame(&canard, &cmd->frame, getCurrentMicros());
}

// IRQ!
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
	MainTaskCommand_t cmd = { .type = MTCT_CAN_MSG, .frame = { 0 } };
	CAN_RxHeaderTypeDef header = { 0 };
	if (HAL_OK != HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &header, cmd.frame.data)) {
		cnts.uavcan_rx_fail++;
		return;
	}
	switch (header.IDE) {
	case CAN_ID_EXT:
		cmd.frame.id = header.ExtId | CANARD_CAN_FRAME_EFF;
		break;

	default:
		cmd.frame.id = header.StdId;
	}
	cmd.frame.data_len = header.DLC;
	if (osOK != osMessageQueuePut(CanRxQueueHandle, &cmd, 0, 0)) {
		cnts.uavcan_rx_store_fail++;
	}
}