Merge branch 'main' into max7314-fixes

Update this branch to main branch.

.github/workflows/build_image.yml

@@ -0,0 +1,50 @@
+#
+name: Create and publish a Docker image
+
+# Configures this workflow to run every time a change is pushed to the branch called `release`.
+on:
+  push:
+    paths:
+        - 'dev/**'
+  workflow_dispatch:
+
+# Defines two custom environment variables for the workflow. These are used for the Container registry domain, and a name for the Docker image that this workflow builds.
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+
+# There is a single job in this workflow. It's configured to run on the latest available version of Ubuntu.
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    # Sets the permissions granted to the `GITHUB_TOKEN` for the actions in this job.
+    permissions:
+      contents: read
+      packages: write
+      # 
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+      # Uses the `docker/login-action` action to log in to the Container registry registry using the account and password that will publish the packages. Once published, the packages are scoped to the account defined here.
+      - name: Log in to the Container registry
+        uses: docker/login-action@65b78e6e13532edd9afa3aa52ac7964289d1a9c1
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      # This step uses [docker/metadata-action](https://github.com/docker/metadata-action#about) to extract tags and labels that will be applied to the specified image. The `id` "meta" allows the output of this step to be referenced in a subsequent step. The `images` value provides the base name for the tags and labels.
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@9ec57ed1fcdbf14dcef7dfbe97b2010124a938b7
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+      # This step uses the `docker/build-push-action` action to build the image, based on your repository's `Dockerfile`. If the build succeeds, it pushes the image to GitHub Packages.
+      # It uses the `context` parameter to define the build's context as the set of files located in the specified path. For more information, see "[Usage](https://github.com/docker/build-push-action#usage)" in the README of the `docker/build-push-action` repository.
+      # It uses the `tags` and `labels` parameters to tag and label the image with the output from the "meta" step.
+      - name: Build and push Docker image
+        uses: docker/build-push-action@f2a1d5e99d037542a71f64918e516c093c6f3fc4
+        with:
+          context: ./dev/
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}

dev/Dockerfile

@@ -6,7 +6,7 @@ RUN apt-get update && \
     apt-get -y install tzdata
 
 # Download Linux support tools
-RUN apt-get install -y \
+RUN apt-get update && apt-get install -y \
     build-essential \
     wget \
     curl \
@@ -32,7 +32,7 @@ COPY ./scripts .
 
 RUN echo "source /home/dev/scripts/alias.sh" >> ~/.bashrc
 
-# for usb/ip
+# for usb/ip comms and get binary symlinked
 EXPOSE 3240
 RUN ln -sf /usr/lib/linux-tools-*/* /usr/bin/
 

middleware/include/c_utils.h

@@ -0,0 +1,12 @@
+#ifndef C_UTILS
+#define C_UTILS
+
+/*
+ * Will retrieve the container of a certain pointer given the container type and its pointer
+ * Trick pulled from Linux Kernel
+ */
+#define container_of(ptr, type, member) ({                      \
+        const typeof( ((type *)0)->member ) *__mptr = (ptr);    \
+        (type *)( (char *)__mptr - offsetof(type,member) );})
+
+#endif /* C_UTILS */

platforms/stm32f405/include/can.h

@@ -7,17 +7,17 @@
 
 #include "stm32f4xx_hal.h"
 #include "stm32f4xx_hal_can.h"
+#include "c_utils.h"
 
-/* function pointer type for the callback */
-typedef void (*can_callback_t)(CAN_HandleTypeDef *hcan);
+/*
+ * NOTE: For implementing callbacks, generate NVIC for selected CAN bus, then implement in
+ * `stm32xxxx_it.c`, which STM32CubeMX generates
+ */
 
 typedef struct{
 	CAN_HandleTypeDef *hcan;
 	const uint16_t *id_list;
 	uint8_t id_list_len;
-
-	/* desired behavior varies by app - so implement this at app level */
-	can_callback_t callback;
 } can_t;
 
 typedef struct{

platforms/stm32f405/src/can.c

@@ -2,50 +2,10 @@
 #include <string.h>
 #include <stdint.h>
 
-/* NOTE: STM32F405 will have MAX of 3 CAN buses */
-#define MAX_CAN_BUS	3
-extern CAN_HandleTypeDef hcan1;
-
-can_t *can_struct_list[MAX_CAN_BUS] = {NULL, NULL, NULL};
-
-static can_callback_t find_callback(CAN_HandleTypeDef *hcan)
-{
-	for (uint8_t i = 0; i < MAX_CAN_BUS; i++) {
-		if (hcan == can_struct_list[i]->hcan)
-			return can_struct_list[i]->callback;
-	}
-	return NULL;
-}
-
-/* Add a CAN interfae to be searched for during the event of a callback */
-static uint8_t add_interface(can_t *interface)
-{
-	for (uint8_t i = 0; i < MAX_CAN_BUS; i++) {
-		/* Interface already added */
-		if (interface->hcan == can_struct_list[i]->hcan)
-			return -1;
-
-		/* If empty, add interface */
-		if (can_struct_list[i]->hcan == NULL) {
-			can_struct_list[i] = interface;
-			return 0;
-		}
-	}
-
-	/* No open slots, something is wrong */
-	return -2;
-}
-
-void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
-{
-	/* Handle CAN reception event */
-	can_callback_t callback = find_callback(hcan);
-
-	if (callback != NULL)
-	{
-		callback(hcan);
-	}
-}
+/*
+ * NOTE: For implementing callbacks, generate NVIC for selected CAN bus, then implement in
+ * `stm32xxxx_it.c`, which STM32CubeMX generates
+ */
 
 HAL_StatusTypeDef can_init(can_t *can)
 {
@@ -72,7 +32,7 @@ HAL_StatusTypeDef can_init(can_t *can)
 	sFilterConfig.FilterMaskIdHigh = 0x0000;
 	sFilterConfig.FilterMaskIdLow = 0x0000;
 	sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
-	sFilterConfig.FilterActivation = ENABLE;   
+	sFilterConfig.FilterActivation = ENABLE;
 	sFilterConfig.SlaveStartFilterBank = 14;
 
 	// sFilterConfig.FilterBank = 0;                       /* Filter bank number (0 to 27 for most STM32 series) */
@@ -95,17 +55,14 @@ HAL_StatusTypeDef can_init(can_t *can)
 
 	/* set up interrupt & activate CAN */
 	HAL_CAN_IRQHandler(can->hcan);
-	
+
 	err = HAL_CAN_ActivateNotification(can->hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
 	if (err != HAL_OK)
 		return err;
 	err = HAL_CAN_Start(can->hcan);
 	if (err != HAL_OK)
 		return err;
 
-	/* Override the default callback for CAN_IT_RX_FIFO0_MSG_PENDING */
-	err = add_interface(can);
-
 	return err;
 }
 
@@ -128,8 +85,3 @@ HAL_StatusTypeDef can_send_msg(can_t *can, can_msg_t *msg)
 
 	return HAL_OK;
 }
-
-void CAN1_RX0_IRQHandler(void)
-{
-	HAL_CAN_IRQHandler(&hcan1);
-}