Event Driven CAN TX

[irvingywang]

• Nuke TX jitter by utilizing TX interrupts and notification driven system
• less CPU time, immediate transmission when possible
• F4: kill mailboxes to unify api with G4
• needs testing

[Copilot]

Pull request overview

This PR refactors CAN task setup across multiple nodes and begins shifting STM32G4 (FDCAN) CAN TX toward an event-driven model by waking the TX task on enqueue and on TX-complete interrupts.

Changes:

• Replaced per-node CAN RX/TX task definitions/starts with DEFINE_CAN_TASKS() / START_CAN_TASKS().
• Updated G4 FDCAN driver to route RX interrupts to IT0 and TX-complete interrupts to IT1, adding a TX callback hook.
• Made G4 CAN TX task notification-driven (enqueue notifies the TX task; TX-complete ISR notifies when FIFO space frees).

Reviewed changes

Copilot reviewed 13 out of 13 changed files in this pull request and generated 11 comments.

Show a summary per file

File	Description
source/torque_vector/main.c	Switches to CAN task macros for Torque Vector node.
source/pdu/main.c	Switches to CAN task macros for PDU (bxCAN) node.
source/main_module/main.c	Switches to CAN task macros for Main Module node.
source/g4_testing/izze_imu_config.c	Switches to CAN task macros for G4 IMU config test.
source/g4_testing/canpiler.c	Switches to CAN task macros for G4 canpiler test.
source/f4_testing/canpiler.c	Switches to CAN task macros for F4 canpiler test.
source/driveline/main.c	Adds CAN task macros and starts CAN tasks for Driveline node.
source/dashboard/main.c	Switches to CAN task macros for Dashboard node.
source/a_box/main.c	Switches to CAN task macros for A-Box node.
common/phal_G4/fdcan/fdcan.h	Adds TX callback declaration; reformats filter API signature.
common/phal_G4/fdcan/fdcan.c	Routes RX/TX interrupts to separate lines; adds TX ISR + weak TX callback.
common/can_library/can_common.h	Introduces DEFINE_CAN_TASKS / START_CAN_TASKS macros.
common/can_library/can_common.c	Makes G4 TX notification-driven; removes TX enqueue backpressure waits.

[Copilot]

Pull request overview

Copilot reviewed 17 out of 18 changed files in this pull request and generated 4 comments.

[Copilot]

Pull request overview

Copilot reviewed 17 out of 18 changed files in this pull request and generated 6 comments.

[Copilot]

CAN1_TX_IRQHandler() doesn't acknowledge/clear the bxCAN TX interrupt source. With CAN_IER_TMEIE enabled, the ISR should clear the relevant completion flags in CAN1->TSR (e.g., write 1s to any set CAN_TSR_RQCPx bits, and potentially handle TXOK/ALST/TERR bookkeeping). Without clearing, the IRQ can re-fire immediately and starve the system.

[Copilot]

CAN2_TX_IRQHandler() doesn't acknowledge/clear the bxCAN TX interrupt source. With CAN_IER_TMEIE enabled, the ISR should clear the relevant completion flags in CAN2->TSR (e.g., write 1s to any set CAN_TSR_RQCPx bits, and potentially handle TXOK/ALST/TERR bookkeeping). Without clearing, the IRQ can re-fire immediately and starve the system.