From ed88dbe5b09d59f2c6fb418f4ea3423a51360772 Mon Sep 17 00:00:00 2001
From: rodale75 <aleks@radinn.com>
Date: Tue, 11 Jan 2022 10:42:07 +0100
Subject: [PATCH] main: Added CAN boot-frame notification.

The boot CAN frame is dispatched at system boot and contains a
payload that holds the hw-name (ASCII). This to serve as a notifier
for other nodes on the CAN bus.

Change-Id: I2edb3d58bb51003d9160ceb83905cf93b63a9396
Reviewed-on: https://review.gerrithub.io/c/RadinnAB/vedder_vesc_fw/+/530857
Tested-by: Mr. Jenkins <jenkins@radinn.com>
Tested-by: aleksandar rodzevski <aleks@radinn.com>
Reviewed-by: aleksandar rodzevski <aleks@radinn.com>
Reviewed-by: Daniel Nordahl <daniel.nordahl@radinn.com>
---
 main.c | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/main.c b/main.c
index c766bafe..eb300295 100644
--- a/main.c
+++ b/main.c
@@ -55,6 +55,11 @@
 #include "mempools.h"
 #include "events.h"
 #include "main.h"
+#ifdef CAN_ENABLE
+#include "comm_can.h"
+
+#define CAN_FRAME_MAX_PL_SIZE	8
+#endif
 
 #ifdef USE_LISPBM
 #include "lispif.h"
@@ -309,6 +314,14 @@ int main(void) {
 	palSetPad(BOOT_OK_GPIO, BOOT_OK_PIN);
 #endif
 
+#ifdef CAN_ENABLE
+	// Transmit a CAN boot-frame to notify other nodes on the bus about it.
+	comm_can_transmit_eid(
+		app_get_configuration()->controller_id | (CAN_PACKET_NOTIFY_BOOT << 8),
+		(uint8_t *)HW_NAME, (strlen(HW_NAME) <= CAN_FRAME_MAX_PL_SIZE) ?
+		strlen(HW_NAME) : CAN_FRAME_MAX_PL_SIZE);
+#endif
+
 	for(;;) {
 		chThdSleepMilliseconds(10);
 	}