FH_CAN_Send_H.c

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/**
  * @file
  * @brief
  *       <b>File Map:</b>\n
  *       <b>FH_Root</b>, Section <b>FH_Perif</b>, <b>FH_CAN</b>, <b>Cmd</b> (Command), <b>Send</b>, <b>Send_H</b> (Send Health)\n
  *       Functions in this file, verify the health of the different message frames related to <b>CAN</b>
  *
  * @attention <b>FH</b> user could left this file intact
  *
  *******************************************************************************
  * SPDX-License-Identifier: Apache-2.0
 *
 * Copyright 2026 Vahid Hasirchi
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
  ********************************************************************************
 
  *
  * <b>For more information refer to FreeHIL.com</b>
  *
*/
 
/* Includes ------------------------------------------------------------------*/
#include "../../../../../../../FH_Embedded/FH_Root/FH_Perif/FH_CAN/Cmd/Send/Send_H/FH_CAN_Send_H.h"
 
#include "../../../../../../../FH_Embedded/FH_Root/FH_General/FH_GeneralFunctions/FH_GeneralFunctions.h"
#include "../../../../../../../FH_Embedded/FH_Setup/FH_DeviceAddress/FH_DeviceAddress.h"
 
#if FH_CAN_MaxPeripheralNumber > 0    // It is configurable in FH_DevicePeripherals.h
 
/**
 * @brief This function verifies the health of <b>FH_CAN_Commands_Send</b> command
 *
 * @param  fh_RFCommunication_Message
 *         The message frame set by <b>RobotFramework</b>
 *
 * @verbatim
    ==============================================================================
                          ##### RobotFramework Example #####
    ==============================================================================
    @{MessageData} =    Create List    ${CAN01}    02    B1     FF
    &{Message}     =    Create Dictionary    DeviceAddress=${DeviceAddress_01}    Function=${Function_CAN}    Command=${CAN_Commands_Send}    Data=@{MessageData}
    ${Result}    SendMessage    &{Message}
 
    Comments:
 
    CAN01 => It indicates the CAN 01
    02 => Example length of the data to be sent
    B1     FF => Example data (0xB1, 0xFF) to be sent (or apart from the data to be sent, it may include some other data like ID, Filter, ... to be processed too, if need be) through the <b>CAN 01</b>\n
    DeviceAddress_01 => It shall be equal to the address of the device: FH_RFCommunication_DeviceAddress
    Function_CAN => It is the function in the message frame
    CAN_Commands_Send => It is the command of the function in the message frame
  @endverbatim
 *
 * @return FH_ErrorInfo is returned
 *
 
*/
FH_ErrorInfo FH_CAN_Send_H(FH_RFCommunication_Message* fh_RFCommunication_Message)
{
    FH_ErrorInfo fh_ErrorInfo;    // Error Information
    FH_ResetErrorInfo(&fh_ErrorInfo);    // Reset Error Information to default
 
    uint8_t FH_MessageDataLength;    // It temporarily stores the DataLength in the message frame
    uint8_t FH_PeripheralNumber;    // It temporarily stores the PeripheralNumber (Data[0]) in the message frame
    uint8_t FH_DataLength;    // It temporarily stores the DataLength (Data[1]) of the data supposed to be sent
 
    // Verifying the minimum possible length in the message frame
    FH_MessageDataLength =  fh_RFCommunication_Message -> DataLength;
    if (FH_MessageDataLength < FH_CAN_MinCommandSize_Send)    // If the length is less than expected value
    {
        fh_ErrorInfo.error_code = FH_ERROR_MessageFrame;    // There is message frame error
        return fh_ErrorInfo;
    }
 
    // Verifying the possible PeripheralNumber in the message frame
    FH_PeripheralNumber = fh_RFCommunication_Message -> Data[CAN_Send_PeripheralNumber] ;
    if (FH_PeripheralNumber == 0 || FH_PeripheralNumber > FH_CAN_MaxPeripheralNumber)    // If the PeripheralNumber is not within the expected value
    {
        fh_ErrorInfo.error_code = FH_ERROR_MessageFrame;    // There is message frame error
        return fh_ErrorInfo;
    }
 
    // Verifying the possible DataLength of the data supposed to be sent
    FH_DataLength = fh_RFCommunication_Message -> Data[CAN_Send_DataLength] ;
    if (FH_DataLength == 0)    // If the DataLength is 0
    {
        fh_ErrorInfo.error_code = FH_ERROR_MessageFrame;    // There is message frame error
        return fh_ErrorInfo;
    }
 
    if (FH_DataLength != (FH_MessageDataLength - 2))    // If SharedDataLength is not matched with the length of the message frame
    {
        fh_ErrorInfo.error_code = FH_ERROR_MessageFrame;    // There is message frame error
        return fh_ErrorInfo;
    }
 
    fh_ErrorInfo.error_code = FH_ERROR_OK;    // There is no error
    return fh_ErrorInfo;
}
 
#endif