Merge branch 'main' into feature/p3t1755

Author: caiodasilva2005

Testing/cmock-config.yml

@@ -1,8 +1,6 @@
 
 :cmock:
   :mock_prefix: mock_   
-  :includes:
-    - stubs.h
   :plugins:
     - :ignore
     - :ignore_arg

platforms/stm32h563/src/fdcan.c

@@ -29,6 +29,15 @@ HAL_StatusTypeDef can_init(can_t *can, FDCAN_HandleTypeDef *hcan)
 		return status;
 	}
 
+	/* Set up the global filter to reject all messages by default. You must explicitly add messages to your filters in the app layer to receive them. */
+	status = HAL_FDCAN_ConfigGlobalFilter(hcan, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
+	if(status != HAL_OK) {
+		printf("[fdcan.c/can_init()] ERROR: Failed to run HAL_FDCAN_ConfigGlobalFilter() (Status: %d).\n", status);
+		return status;
+	} else {
+		printf("[fdcan.c/can_init()] Ran HAL_FDCAN_ConfigGlobalFilter()!\n");
+	}
+
 	/* Start FDCAN */
 	status = HAL_FDCAN_Start(can->hcan);
 	if (status != HAL_OK)

threadX/inc/u_tx_threads.h

@@ -24,6 +24,17 @@ typedef struct {
 	TX_THREAD _TX_THREAD;
 } thread_t;
 
+/* Creates a thread based on the provided configuration.
+ *
+ * @param byte_pool Pointer to the byte pool to allocate the thread's stack from.
+ * @param thread Pointer to a thread_t struct containing the thread's configuration.
+ * @return U_SUCCESS if the thread was created successfully, U_ERROR otherwise.
+ */
 uint8_t create_thread(TX_BYTE_POOL *byte_pool, thread_t *thread);
 
+/**
+ * Sleeps the current thread for the specified number of milliseconds.
+ */
+uint8_t thread_sleep_ms(uint32_t ms);
+
 #endif

threadX/src/u_tx_threads.c

@@ -1,6 +1,7 @@
 
 #include "u_tx_threads.h"
 #include "u_tx_debug.h"
+#include "u_tx_general.h"
 
 // clang-format off
 
@@ -27,4 +28,10 @@ uint8_t create_thread(TX_BYTE_POOL *byte_pool, thread_t *thread)
 	return U_SUCCESS;
 }
 
+uint8_t thread_sleep_ms(uint32_t ms)
+{
+	tx_thread_sleep(MS_TO_TICKS(ms));
+	return U_SUCCESS;
+}
+
 // clang-format on