Merge pull request #132 from Northeastern-Electric-Racing/Caio-CanRat…

…eLimiting

Can Message Rate Limiting

Core/Inc/can_handler.h

@@ -5,11 +5,26 @@
 #include "stm32f4xx_hal.h"
 #include <stdint.h>
 #include "ringbuffer.h"
-#include "cmsis_os2.h"
+#include "FreeRTOS.h"
+#include "datastructs.h"
 
 #define NUM_INBOUND_CAN1_IDS 1
 #define NUM_INBOUND_CAN2_IDS 1
 
+#define CHARGE_CANID	    0x176
+#define DISCHARGE_CANID	    0x156
+#define ACC_STATUS_CANID    0x80
+#define BMS_STATUS_CANID    0x81
+#define SHUTDOWN_CTRL_CANID 0x82
+#define CELL_DATA_CANID	    0x83
+#define CELL_VOLTAGE_CANID  0x87
+#define CURRENT_CANID	    0x86
+#define CELL_TEMP_CANID	    0x84
+#define SEGMENT_TEMP_CANID  0x85
+#define FAULT_CANID	    0x703
+#define NOISE_CANID	    0x88
+#define DEBUG_CANID	    0x702
+
 extern CAN_HandleTypeDef hcan1;
 extern CAN_HandleTypeDef hcan2;
 
@@ -19,6 +34,28 @@ extern ringbuffer_t *can2_rx_queue;
 #define CAN_MSG_QUEUE_SIZE 50 /* messages */
 extern osMessageQueueId_t can_outbound_queue;
 
+typedef struct {
+	uint32_t prev_tick;
+	uint32_t msg_rate; /* in milliseconds */
+} rl_data_t;
+
+typedef enum {
+	CHARGE,
+	DISCHARGE,
+	ACC_STATUS,
+	BMS_STATUS,
+	SHUTDOWN_CTRL,
+	CELL_DATA,
+	CELL_VOLTAGE,
+	CURRENT,
+	CELL_TEMP,
+	SEGMENT_TEMP,
+	FAULT,
+	NOISE,
+	DEBUG,
+	RL_MSG_COUNT
+} rate_lim_t;
+
 static const uint32_t can1_id_list[NUM_INBOUND_CAN1_IDS] = {
 	//CANID_X,
 	0x0000
@@ -45,4 +82,9 @@ int8_t get_can2_msg();
  */
 osStatus_t queue_can_msg(can_msg_t msg);
 
+/**
+ * returns the rate limit data based on the specific can  id
+ */
+rl_data_t *get_rl_msg(uint32_t can_id);
+
 #endif // CAN_HANDLER_H

Core/Inc/compute.h

@@ -5,6 +5,7 @@
 #include "stateMachine.h"
 #include "ringbuffer.h"
 #include "can.h"
+#include "can_handler.h"
 
 #define CURRENT_SENSOR_PIN_L A1
 #define CURRENT_SENSOR_PIN_H A0
@@ -21,11 +22,19 @@ typedef enum { FAN1, FAN2, FAN3, FAN4, FAN5, FAN6, FANMAX } fan_select_t;
 extern can_t can1; // main can bus, used by most peripherals
 extern can_t can2; // p2p can bus with charger
 
+extern can_msg_t bms_can_msgs[RL_MSG_COUNT]; /* defined in can_handler.c */
+extern rl_data_t rl_data[RL_MSG_COUNT]; /* defined in can_handler.c */
+
 /**
  * @brief inits the compute interface
  */
 uint8_t compute_init();
 
+/**
+ * @brief initializes all CAN messages and message rates
+ */
+void init_can_msg_config();
+
 /**
  * @brief sets safeguard bool to check whether charging is enabled or disabled
  *

Core/Src/can_handler.c

@@ -7,6 +7,9 @@
 ringbuffer_t *can1_rx_queue = NULL;
 ringbuffer_t *can2_rx_queue = NULL;
 
+can_msg_t bms_can_msgs[RL_MSG_COUNT];
+rl_data_t rl_data[RL_MSG_COUNT];
+
 void can_receive_callback(CAN_HandleTypeDef *hcan)
 {
 	CAN_RxHeaderTypeDef rx_header;
@@ -74,6 +77,18 @@ osStatus_t queue_can_msg(can_msg_t msg)
 	if (!can_outbound_queue)
 		return -1;
 
+	rl_data_t *rl_data = get_rl_msg(msg.id);
+
+	if (rl_data != NULL && rl_data->msg_rate != 0) {
+		if (HAL_GetTick() <=
+		    pdMS_TO_TICKS(rl_data->prev_tick) + rl_data->msg_rate) {
+			// block message
+			return 0;
+		} else {
+			rl_data->prev_tick = HAL_GetTick();
+		}
+	}
+
 	osStatus_t res = osMessageQueuePut(can_outbound_queue, &msg, 0U, 0U);
 
 	if (res) {
@@ -84,3 +99,52 @@ osStatus_t queue_can_msg(can_msg_t msg)
 
 	return res;
 }
+
+rl_data_t *get_rl_msg(uint32_t can_id)
+{
+	switch (can_id) {
+	case CHARGE_CANID:
+		return &rl_data[CHARGE];
+		break;
+	case DISCHARGE_CANID:
+		return &rl_data[DISCHARGE];
+		break;
+	case ACC_STATUS_CANID:
+		return &rl_data[ACC_STATUS];
+		break;
+	case BMS_STATUS_CANID:
+		return &rl_data[BMS_STATUS];
+		break;
+	case SHUTDOWN_CTRL_CANID:
+		return &rl_data[SHUTDOWN_CTRL];
+		break;
+	case CELL_DATA_CANID:
+		return &rl_data[CELL_DATA];
+		break;
+	case CELL_VOLTAGE_CANID:
+		return &rl_data[CELL_VOLTAGE];
+		break;
+	case CURRENT_CANID:
+		return &rl_data[CURRENT];
+		break;
+	case CELL_TEMP_CANID:
+		return &rl_data[CELL_TEMP];
+		break;
+	case SEGMENT_TEMP_CANID:
+		return &rl_data[SEGMENT_TEMP];
+		break;
+	case FAULT_CANID:
+		return &rl_data[FAULT];
+		break;
+	case NOISE_CANID:
+		return &rl_data[NOISE];
+		break;
+	case DEBUG_CANID:
+		return &rl_data[DEBUG];
+		break;
+	default:
+		break;
+	}
+
+	return NULL;
+}