CAN w/o isotp

include/sta/rtos/system/can_bus.hpp

@@ -29,8 +29,6 @@
 #include <sta/bus/can/controller.hpp>
 #include <sta/devices/stm32/can.hpp>
 #include <sta/rtos/c_api/can_msg.h>
-#include <sta/proto/isotp/transmitter.hpp>
-#include <sta/proto/isotp/receiver.hpp>
 #include <sta/time.hpp>
 
 #include <cstdint>
@@ -78,10 +76,6 @@
  * @brief CAN system message in queue.
  */
 #define STA_RTOS_CAN_FLAG_SYS_QUEUED    0x1U << 3
-/**
- * @brief Show ISOTP statistics.
- */
-#define STA_RTOS_CAN_FLAG_SHOW_STATS    0x1U << 4
 
 /**
  * @brief CAN SID bits used for system messages.
@@ -126,14 +120,11 @@ namespace sta
 	class AlpakaCanBus
 	{
 	public:
-		using SysMsgHandler = void (*)(const CanRxHeader &, const uint8_t *);
-		using DataMsgHandler = void (*)(const IsotpMessage &);
-
 		static const uint8_t FIFO_SYS = 0;
 		static const uint8_t FIFO_DATA = 1;
 
 	public:
-		AlpakaCanBus(CanController * controller, TimeMsFn timeMs, SysMsgHandler sysMsgHandler, DataMsgHandler dataMsgHandler);
+		AlpakaCanBus(CanController * controller, TimeMsFn timeMs);
 
 
 		/**
@@ -143,51 +134,14 @@ namespace sta
 		 */
 		void send(const CanSysMsg & msg);
 
-		/**
-		 * @brief Send data message.
-		 *
-		 * @param msg   Message
-		 */
-		void send(const CanDataMsg & msg);
-
-
-		/**
-		 * @brief Process transmissions.
-		 *
-		 * Call regularly to advance transmission.
-		 */
-		void processTx();
-
-		/**
-		 * @brief Process received CAN messages.
-		 */
-		void processRx();
-
-		/**
-		 * @brief Display ISOTP TX/RX statistics.
-		 */
-		void showStatistics();
-
 	private:
 		/**
 		 * @brief Configure CAN filters.
 		 */
 		void setupSubscriptions();
 
-		/**
-		 * @brief Handle received data message CAN frames.
-		 *
-		 * @param header    CAN frame header
-		 * @param payload   Payload buffer
-		 */
-		void receiveDataFrame(const CanRxHeader & header, const uint8_t * payload);
-
 	private:
 		CanController * controller_;
-		IsotpTransmitter tx_;
-		IsotpReceiver rx_;
-		SysMsgHandler handleSysMsg_;
-		DataMsgHandler handleDataMsg_;
 	};
 
 } // namespace sta

src/system/can_bus.cpp

@@ -10,8 +10,6 @@
 #include <sta/debug/debug.hpp>
 #include <sta/bus/can/subscribable.hpp>
 #include <sta/lang.hpp>
-#include <sta/proto/isotp/transmitter.hpp>
-#include <sta/proto/isotp/receiver.hpp>
 #include <sta/rtos/defs.hpp>
 #include <sta/rtos/system/events.hpp>
 #include <sta/devices/stm32/hal.hpp>
@@ -62,12 +60,9 @@ namespace debug
 
 namespace sta
 {
-	AlpakaCanBus::AlpakaCanBus(CanController * controller, TimeMsFn timeMs, SysMsgHandler sysMsgHandler, DataMsgHandler dataMsgHandler)
+	AlpakaCanBus::AlpakaCanBus(CanController * controller, TimeMsFn timeMs)
-		: controller_{controller}, tx_{controller, timeMs}, rx_{controller, timeMs}, handleSysMsg_{sysMsgHandler}, handleDataMsg_{dataMsgHandler}
+		: controller_{controller}
 	{
-		STA_ASSERT(handleSysMsg_ != nullptr);
-		STA_ASSERT(handleDataMsg_ != nullptr);
-
 		setupSubscriptions();
 	}
 
@@ -83,91 +78,6 @@ namespace sta
 		controller_->sendFrame(header, msg.payload);
 	}
 
-	void AlpakaCanBus::send(const CanDataMsg & msg)
-	{
-		CanFrameId frameID;
-		frameID.format = static_cast<CanIdFormat>(msg.header.format);
-		frameID.sid    = msg.header.sid;
-		frameID.eid    = msg.header.eid;
-
-		// Start transmission via ISO-TP
-		tx_.send(frameID, msg.payload, msg.header.payloadLength);
-	}
-
-
-	void AlpakaCanBus::processTx()
-	{
-		tx_.process();
-	}
-
-
-	void AlpakaCanBus::processRx()
-	{
-		for (auto fifo : controller_->getPendingRxFifos())
-		{
-			CanRxHeader header;
-			uint8_t payload[STA_RTOS_CAN_BUS_MAX_PAYLOAD_SIZE];
-
-			if (controller_->receiveFrame(fifo, &header, payload))
-			{
-				//debug::displayFrameUART(frame);
-
-				// Forward frame to callback
-				switch (fifo)
-				{
-				case FIFO_SYS:
-					handleSysMsg_(header, payload);
-					break;
-
-				case FIFO_DATA:
-					receiveDataFrame(header, payload);
-					break;
-
-				default:
-					STA_ASSERT(false);
-				}
-			}
-		}
-	}
-
-	void AlpakaCanBus::showStatistics()
-	{
-		STA_DEBUG_PRINTLN();
-		STA_DEBUG_PRINTLN("# ######################");
-		STA_DEBUG_PRINTLN("# ## ISOTP statistics ##");
-		STA_DEBUG_PRINTLN("# ######################");
-		STA_DEBUG_PRINTLN("#");
-
-		const auto & txStats = tx_.stats();
-		STA_DEBUG_PRINTLN("# Transmitter");
-		STA_DEBUG_PRINT("#     messages: ");
-		STA_DEBUG_PRINTLN(txStats.messages);
-		STA_DEBUG_PRINT("#     blocks: ");
-		STA_DEBUG_PRINTLN(txStats.blocks);
-		STA_DEBUG_PRINT("#     frames: ");
-		STA_DEBUG_PRINTLN(txStats.frames);
-		STA_DEBUG_PRINT("#     timeouts: ");
-		STA_DEBUG_PRINTLN(txStats.timeouts);
-		STA_DEBUG_PRINTLN("#");
-
-		const auto & rxStats = rx_.stats();
-		STA_DEBUG_PRINTLN("# Receiver");
-		STA_DEBUG_PRINT("#     messages: ");
-		STA_DEBUG_PRINTLN(rxStats.messages);
-		STA_DEBUG_PRINT("#     blocks: ");
-		STA_DEBUG_PRINTLN(rxStats.blocks);
-		STA_DEBUG_PRINT("#     frames: ");
-		STA_DEBUG_PRINTLN(rxStats.frames);
-		STA_DEBUG_PRINT("#     timeouts: ");
-		STA_DEBUG_PRINTLN(rxStats.timeouts);
-		STA_DEBUG_PRINT("#     flow control errors: ");
-		STA_DEBUG_PRINTLN(rxStats.flowErrors);
-		STA_DEBUG_PRINT("#     overflows: ");
-		STA_DEBUG_PRINTLN(rxStats.overflows);
-		STA_DEBUG_PRINTLN();
-	}
-
-
 	void AlpakaCanBus::setupSubscriptions()
 	{
 		// Make sure to receive all messages
@@ -192,32 +102,6 @@ namespace sta
 		filter.fifo = FIFO_DATA;
 		controller_->configureFilter(FIFO_DATA, filter, true);
 	}
-
-	void AlpakaCanBus::receiveDataFrame(const CanRxHeader & header, const uint8_t * payload)
-	{
-		// Write frame payload to DebugSerial
-		STA_DEBUG_PRINTLN("[event] RX data frame");
-		debug::printPayloadHex(payload, header.payloadLength);
-
-		// Process RX frame
-		auto handle = rx_.processFrame(header, payload);
-
-		if (handle != IsotpReceiver::INVALID_HANDLE)
-		{
-			// Get message if completed
-			IsotpMessage msg;
-			if (rx_.getMessage(handle, &msg))
-			{
-				handleDataMsg_(msg);
-			}
-
-			// Handle FC responses
-			rx_.processFC(handle);
-		}
-
-		// Process TX frame
-		tx_.processFrame(header, payload);
-	}
 } // namespace sta
 
 #endif // STA_CAN_BUS_ENABLE