Added Can messages as submodule and removed can ids from can driver

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "G6-CAN-Messages"]
+	path = G6-CAN-Messages
+	url = ../G6-CAN-Messages

STM32G431KBTx/Core/Src/main.cpp

@@ -96,12 +96,12 @@ int main(void)
   can_driver.initialize();
   if (!can_driver.push_filters(
     CanMessageFilter::DualFilter(
-      CanMessage::Id::RelayFaultDetected,
-      CanMessage::Id::RelayFaultDetected
+      CanMessageId::RelayFaultDetected,
+      CanMessageId::RelayFaultDetected
     ),
     CanMessageFilter::DualFilter(
-      CanMessage::Id::LVSensingFaultDetected,
-      CanMessage::Id::LVSensingFaultDetected
+      CanMessageId::LVSensingFaultDetected,
+      CanMessageId::LVSensingFaultDetected
     )
   )) {
     Error_Handler();

STM32G431KBTx/makefile

@@ -105,7 +105,8 @@ C_INCLUDES =  \
 -I ./Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F \
 -I ./Drivers/CMSIS/Device/ST/STM32G4xx/Include \
 -I ./Drivers/CMSIS/Include \
--I ../platform/inc
+-I ../platform/inc \
+-I ../G6-CAN-Messages
 
 C_INCLUDES += $(USER_INCLUDES)
 

STM32G473CBTx/makefile

@@ -117,7 +117,8 @@ C_INCLUDES =  \
 -I ./Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F \
 -I ./Drivers/CMSIS/Device/ST/STM32G4xx/Include \
 -I ./Drivers/CMSIS/Include \
--I ../platform/inc
+-I ../platform/inc \
+-I ../G6-CAN-Messages
 
 C_INCLUDES += $(USER_INCLUDES)
 

makefile

@@ -1,6 +1,7 @@
 THIS_DIR := $(shell readlink -f .)
 BUILD_DIR = $(THIS_DIR)/build
 
+
 all:
 	cd $(DEV) && make BUILD_DIR=$(BUILD_DIR)
 

platform/inc/can.hpp

@@ -2,6 +2,7 @@
 #include "fdcan.h"
 #include "stdint.h"
 #include <type_traits>
+#include "can_messages.h"
 
 enum class CanFilterConfiguration : uint32_t {
     Disable = FDCAN_FILTER_DISABLE,
@@ -92,30 +93,19 @@ struct CanMessage {
     static constexpr size_t MAX_DATA_LENGTH = 64;
     static constexpr uint32_t MAX_UINT32 = 0xffffffff;
 
-    enum Id : uint32_t {
-        RelayFaultDetected      = 0x00,
-        BmsFaultDetected        = 0x01,
-        McFaultDetected         = 0x02,
-        LVSensingFaultDetected  = 0x03,
-
-
-        // TODO Fill out with the rest of the values
-        DefaultRx = MAX_UINT32,
-    };
-
     enum class ESI : uint32_t {
         ERROR_ACTIVE  = FDCAN_ESI_ACTIVE,
         ERROR_PASSIVE = FDCAN_ESI_PASSIVE,
 
         UNKNOWN_ERROR_STATE = MAX_UINT32,
     };
 
-    CanMessage(Id id, uint8_t *data, uint32_t data_length=MAX_DATA_LENGTH);
+    CanMessage(CanMessageId id, uint8_t *data, uint32_t data_length=MAX_DATA_LENGTH);
 
     void set_id(uint32_t id);
     void set_ESI(uint32_t esi);
 
-    Id identifier;
+    CanMessageId identifier;
     ESI error_state_indicator = ESI::ERROR_PASSIVE;
     uint8_t message_marker;
     uint8_t* data;

platform/src/can.cpp

@@ -44,7 +44,7 @@ CanMessageFilter::CanMessageFilter(uint32_t filter_type,
         filter_id2,
     } {}
 
-CanMessage::CanMessage(CanMessage::Id id,
+CanMessage::CanMessage(CanMessageId id,
                             uint8_t *data,
                             uint32_t data_length)
     : identifier(id),
@@ -53,7 +53,7 @@ CanMessage::CanMessage(CanMessage::Id id,
       data_length(data_length) {}
 
 void CanMessage::set_id(uint32_t id) {
-    using Id = CanMessage::Id;
+    using Id = CanMessageId;
     switch (id) {
     case 0x00:
         identifier = Id::RelayFaultDetected;
@@ -88,7 +88,7 @@ void CanMessage::set_ESI(uint32_t esi) {
 
 RxCanMessage::RxCanMessage(uint8_t *data,
                             uint32_t dataLength)
-                            : CanMessage(Id::DefaultRx, data, dataLength) {}
+                            : CanMessage(CanMessageId::DefaultRx, data, dataLength) {}
 
 
 void CanDriver::initialize(OperatingMode initial_operating_mode) {
@@ -133,7 +133,7 @@ void CanDriver::test_driver() {
         data[i] = i;
         rx_data[i] = 0;
     }
-    CanMessage msg(CanMessage::Id::RelayFaultDetected, data, 8);
+    CanMessage msg(CanMessageId::RelayFaultDetected, data, 8);
     uint32_t id = write(msg);
     await_write(id);
     while (!rx_ready(CanRxFifo::FIFO0));
@@ -149,7 +149,7 @@ void CanDriver::test_driver() {
     for (int i = 0; i < 8; i++) {
         rx_data[i] = 0;
     }
-    msg = CanMessage(CanMessage::Id::LVSensingFaultDetected, data, 8);
+    msg = CanMessage(CanMessageId::LVSensingFaultDetected, data, 8);
     id = write(msg);
     await_write(id);
     while (!rx_ready(CanRxFifo::FIFO0));