Index: firmware/App/Services/Interrupts.c
===================================================================
diff -u -rb64c49fdcf2b6d95e61e63f8e258c4e600935bbd -r7d4711edd7b40cd3e29f43e766f79a8a09586fe9
--- firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision b64c49fdcf2b6d95e61e63f8e258c4e600935bbd)
+++ firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision 7d4711edd7b40cd3e29f43e766f79a8a09586fe9)
@@ -1,21 +1,22 @@
-/**************************************************************************
- *
- *  Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
- *
- *  THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
- *  WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
- *
- *  @file Interrupts.c
- *
- *  @date 22-Oct-2019
- *  @author S. Nash
- *
- *  @brief Interrupts service module.  Provides interrupt handling \n
- *  functions.
- *
- **************************************************************************/
+/**************************************************************************
+*
+* Copyright (c) 2019-2024 Diality Inc. - All Rights Reserved.
+*
+* THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
+* WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
+*
+* @file    Interrupts.c
+*
+* @author  (last)      Dara Navaei
+* @date    (last)      23-Sep-2023
+*
+* @author  (original)  Dara Navaei
+* @date    (original)  05-Nov-2019
+*
+***************************************************************************/
 
 #include "can.h"
+#include "rti.h"
 #include "sci.h"
 #include "sys_dma.h"
 
@@ -24,52 +25,100 @@
 #include "Interrupts.h"
 #include "FPGA.h"
 #include "SystemComm.h"
-#ifdef DEBUG_ENABLED
-    #include "SystemCommMessages.h"
-#endif
+#include "TaskGeneral.h"
+#include "TaskPriority.h"
+#include "TaskTimer.h"
+#include "Utilities.h"
 
+/**
+ *  @addtogroup Interrupts
+ *  @{
+ */
+
 // ********** private definitions **********
+
+#define MAX_COMM_ERRORS             5                                   ///< Maximum number of a given comm error for a given time window.
+#define COMM_ERROR_TIME_WINDOW_MS   (10 * SEC_PER_MIN * MS_PER_SECOND)  ///< Time window for comm error counts.
 
-
 // ********** private data **********
+
+static BOOL sci2FEOEError = FALSE;                                      ///< FPGA serial frame or overrun flag;
 
-#ifdef DEBUG_ENABLED
-    static U32 sci1FrameErrorCnt = 0;
-    static U32 sci1OverrunErrorCnt = 0;
-#endif
-static U32 sci2FrameErrorCnt = 0;
-static U32 sci2OverrunErrorCnt = 0;
+static U32 can1WarningCnt;                                              ///< CAN1 warning count.
+static U32 can1BusOffCnt;                                               ///< CAN1 bus offline count.
+static U32 can1ParityCnt;                                               ///< CAN1 parity count.
 
-static U32 can1PassiveCnt = 0;
-static U32 can1WarningCnt = 0;
-static U32 can1BusOffCnt = 0;
-static U32 can1ParityCnt = 0;
+/*********************************************************************//**
+ * @brief
+ * The initInterrupts function initializes the Interrupts module.
+ * @details Inputs: none
+ * @details Outputs: Interrupts module initialized
+ * @return none
+ *************************************************************************/
+void initInterrupts( void )
+{
+    can1WarningCnt      = 0;
+    can1BusOffCnt       = 0;
+    can1ParityCnt       = 0;
+
+    // initialize various time windowed counts for monitoring CAN & UART errors and warnings
+    initTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_OFF, MAX_COMM_ERRORS, COMM_ERROR_TIME_WINDOW_MS );
+    initTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_PARITY, MAX_COMM_ERRORS, COMM_ERROR_TIME_WINDOW_MS );
+}
 
-// ********** private function prototypes **********
-
-
-/*************************************************************************
- * @brief phantomInterrupt
+/*********************************************************************//**
+ * @brief
  * The phantomInterrupt function handles phantom interrupts.
- * @details
- * Inputs : none
- * Outputs : phantom interrupt handled.
- * @param none
+ * @details Inputs: none
+ * @details Outputs: phantom interrupt handled
  * @return none
  *************************************************************************/
-void phantomInterrupt(void)
+void phantomInterrupt( void )
 {
-    // TODO - what to do with phantom interrupts?
+    SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PHANTOM_INTERRUPT )
 }
 
-/*************************************************************************
- * @brief canMessageNotification
+/*********************************************************************//**
+ * @brief
+ * The rtiNotification function handles real-time interrupt notifications.
+ * @details Inputs: none
+ * @details Outputs: RTI notification handled
+ * @param notification Which RTI timer caused this interrupt
+ * @return none
+ *************************************************************************/
+void rtiNotification( uint32 notification )
+{
+    switch ( notification )
+    {
+        case rtiNOTIFICATION_COMPARE0:
+            taskTimer();
+            break;
+
+        case rtiNOTIFICATION_COMPARE1:
+            taskPriority();
+            break;
+
+        case rtiNOTIFICATION_COMPARE2:
+            // do nothing - unused at this time
+            break;
+
+        case rtiNOTIFICATION_COMPARE3:
+            taskGeneral();
+            break;
+
+        default:
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_INVALID_RTI_NOTIFICATION, notification )
+            break;
+    }
+}
+
+/*********************************************************************//**
+ * @brief
  * The canMessageNotification function handles CAN message notifications.
- * @details
- * Inputs : none
- * Outputs : CAN message notification handled.
- * @param node : which CAN controller
- * @param messageBox : which message box triggered the message notification
+ * @details Inputs: none
+ * @details Outputs: CAN message notification handled
+ * @param node which CAN controller
+ * @param messageBox which message box triggered the message notification
  * @return none
  *************************************************************************/
 void canMessageNotification(canBASE_t *node, uint32 messageBox)
@@ -80,146 +129,91 @@
     }
 }
 
-/*************************************************************************
- * @brief canErrorNotification
+/*********************************************************************//**
+ * @brief
  * The canErrorNotification function handles CAN error notifications.
- * @details
- * Inputs : none
- * Outputs : CAN error notification handled.
- * @param node : which CAN controller
- * @param notification : canLEVEL_PASSIVE    (0x20) : When RX- or TX error counter are between 32 and 63 \n
- *                       canLEVEL_WARNING    (0x40) : When RX- or TX error counter are between 64 and 127 \n
- *                       canLEVEL_BUS_OFF    (0x80) : When RX- or TX error counter are between 128 and 255 \n
- *                       canLEVEL_PARITY_ERR (0x100): When parity error detected on CAN RAM read access
+ * @details Inputs: none
+ * @details Outputs: CAN error notification handled.
+ * @param node which CAN controller
+ * @param notification CAN error notification:
+ *      canLEVEL_PASSIVE    (0x20) : When RX- or TX error counter are between 32 and 63 \n
+ *      canLEVEL_WARNING    (0x40) : When RX- or TX error counter are between 64 and 127 \n
+ *      canLEVEL_BUS_OFF    (0x80) : When RX- or TX error counter are between 128 and 255 \n
+ *      canLEVEL_PARITY_ERR (0x100): When parity error detected on CAN RAM read access
  * @return none
  *************************************************************************/
 void canErrorNotification(canBASE_t *node, uint32 notification)
 {
-#ifdef DEBUG_ENABLED
-    // TODO - temporary debug code - remove later
-    char debugStr[ 256 ];
-#endif
     if ( node == canREG1 )
     {
+        // Parity error - message RAM is corrupted
         if ( notification & canLEVEL_PARITY_ERR )
         {
             can1ParityCnt++;
-#ifdef DEBUG_ENABLED
-        // TODO - temporary debug code - remove later
-        sprintf( debugStr, "CAN parity error:%5d \n", can1ParityCnt );
-        sendDebugData( (U08*)debugStr, strlen(debugStr) );
-#endif
+            if ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_PARITY ) )
+            {
+                SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_CAN_PARITY_ERROR )
+            }
         }
+        // Bus off - our transmitter has counted 255+ errors
         else if ( notification & canLEVEL_BUS_OFF )
         {
             can1BusOffCnt++;
-#ifdef DEBUG_ENABLED
-        // TODO - temporary debug code - remove later
-        sprintf( debugStr, "CAN bus off error:%5d \n", can1BusOffCnt );
-        sendDebugData( (U08*)debugStr, strlen(debugStr) );
-#endif
+            if ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_OFF ) )
+            {
+                SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_CAN_OFF_ERROR )
+            }
         }
+        // Warning - our transmitter has counted 96+ errors
         else if ( notification & canLEVEL_WARNING )
         {
             can1WarningCnt++;
-#ifdef DEBUG_ENABLED
-        // TODO - temporary debug code - remove later
-        sprintf( debugStr, "CAN bus warning:%5d \n", can1WarningCnt );
-        sendDebugData( (U08*)debugStr, strlen(debugStr) );
-#endif
         }
-        else if ( notification & canLEVEL_PASSIVE )
-        {
-            can1PassiveCnt++;
-#ifdef DEBUG_ENABLED
-        // TODO - temporary debug code - remove later
-        sprintf( debugStr, "CAN passive warning:%5d \n", can1PassiveCnt );
-        sendDebugData( (U08*)debugStr, strlen(debugStr) );
-#endif
-        }
         else
         {
-            // ignore - other bits undefined
+            // Ignore - other notifications - unhandled
         }
     }
-}
+}
 
-/*************************************************************************
- * @brief sciNotification
- * The sciNotification function handles UART communication error interrupts. \n
- * Frame and Over-run errors are handled.
- * @details
- * Inputs : none
- * Outputs : UART error interrupts handled.
- * @param sci : Pointer to the SCI peripheral that detected the error
- * @param flags : error flag(s)
- * @return none
- *************************************************************************/
-void sciNotification(sciBASE_t *sci, uint32 flags)
-{
-#ifdef DEBUG_ENABLED
-    // TODO - temporary debug code - remove later
-    char debugStr[ 256 ];
-#endif
+/*********************************************************************//**
+ * @brief
+ * The sciNotification function handles UART communication error interrupts.
+ * Frame and Over-run errors are handled.
+ * @details Inputs: none
+ * @details Outputs: UART error interrupts handled.
+ * @param sci Pointer to the SCI peripheral that detected the error
+ * @param flags error flag(s)
+ * @return none
+ *************************************************************************/
+void sciNotification(sciBASE_t *sci, uint32 flags)
+{
+#ifndef _VECTORCAST_
+    // Cannot set the pointers to be equal in VectorCAST. Can define pointers but the user does not have any control on the address of it
+    if ( sci == scilinREG )
+#endif
+    {
+        if ( ( flags & SCI_FE_INT ) != 0 )
+        {
+            sci2FEOEError = TRUE;
+            scilinREG->FLR |= SCI_FE_INT;
+        }
+
+        if ( ( flags & SCI_OE_INT ) != 0 )
+        {
+            sci2FEOEError = TRUE;
+            scilinREG->FLR |= SCI_OE_INT;
+        }
+    }
+}
 
-    if ( sci == scilinREG )
-    {
-        if ( ( flags & SCI_FE_INT ) != 0 )
-        {
-            sci2FrameErrorCnt++;
-            clearSCI2CommErrors();
-            // TODO - try to do something to recover (+ max retries = comm fault)
-#ifdef DEBUG_ENABLED
-            // TODO - temporary debug code - remove later
-            sprintf( debugStr, "FPGA UART frame error:%5d \n", sci2FrameErrorCnt );
-            sendDebugData( (U08*)debugStr, strlen(debugStr) );
-#endif
-        }
-        if ( ( flags & SCI_OE_INT ) != 0 )
-        {
-            sci2OverrunErrorCnt++;
-            clearSCI2CommErrors();
-            // TODO - try to do something to recover (+ max retries = comm fault)
-#ifdef DEBUG_ENABLED
-            // TODO - temporary debug code - remove later
-            sprintf( debugStr, "FPGA UART overrun error:%5d \n", sci2OverrunErrorCnt );
-            sendDebugData( (U08*)debugStr, strlen(debugStr) );
-#endif
-        }
-    }
-#ifdef DEBUG_ENABLED
-    else if ( sci == sciREG )
-    {
-        if ( ( flags & SCI_FE_INT ) != 0 )
-        {
-            sci1FrameErrorCnt++;
-            clearSCI1CommErrors();
-            // TODO - try to do something to recover (+ max retries = comm fault)
-            // TODO - temporary debug code - remove later
-            sprintf( debugStr, "Debug UART frame error:%5d \n", sci1FrameErrorCnt );
-            sendDebugData( (U08*)debugStr, strlen(debugStr) );
-        }
-        if ( ( flags & SCI_OE_INT ) != 0 )
-        {
-            sci1OverrunErrorCnt++;
-            clearSCI1CommErrors();
-            // TODO - try to do something to recover (+ max retries = comm fault)
-            // TODO - temporary debug code - remove later
-            sprintf( debugStr, "Debug UART overrun error:%5d \n", sci1OverrunErrorCnt );
-            sendDebugData( (U08*)debugStr, strlen(debugStr) );
-        }
-    }
-#endif
-}
-
-/*************************************************************************
- * @brief dmaGroupANotification
+/*********************************************************************//**
+ * @brief
  * The dmaGroupANotification function handles communication DMA interrupts.
- * @details
- * Inputs : none
- * Outputs : DMA interrupt is handled.
- * @param inttype : type of DMA interrupt
- * @param channel : DMA channel that caused the interrupt
+ * @details Inputs: none
+ * @details Outputs: DMA interrupt is handled.
+ * @param inttype type of DMA interrupt
+ * @param channel DMA channel that caused the interrupt
  * @return none
  *************************************************************************/
 void dmaGroupANotification(dmaInterrupt_t inttype, uint32 channel)
@@ -233,29 +227,36 @@
                 signalFPGAReceiptCompleted();
                 break;
 
-#ifdef DEBUG_ENABLED
-            case DMA_CH1:  // PC receive channel
-                clearSCI1DMAReceiveInterrupt();
-                // handle received packet from PC
-                handleUARTMsgRecvPacketInterrupt();
-                break;
-#endif
             case DMA_CH2:  // FPGA transmit channel
                 clearSCI2DMATransmitInterrupt();
                 signalFPGATransmitCompleted();
                 break;
 
-#ifdef DEBUG_ENABLED
-            case DMA_CH3:  // PC transmit channel
-                clearSCI1DMATransmitInterrupt();
-                // send next pending packet to PC (if any)
-                handleUARTMsgXmitPacketInterrupt();
-                break;
-#endif
             default:
                 // TODO - ignore?
                 break;
         }
     }
-}
+}
 
+/*********************************************************************//**
+ * @brief
+ * The getSci2FEOEError function returns the sci2FEOEError (OE - Overrun,
+ * FE - Framing Error) status and resets the status if TRUE
+ * @details Inputs: sci2FEOEError
+ * @details Outputs: none
+ * @return sci2 FE / OE error
+ *************************************************************************/
+BOOL getSci2FEOEError( void )
+{
+    BOOL returnValue = sci2FEOEError;
+
+    if ( TRUE == returnValue )
+    {
+        sci2FEOEError = FALSE;
+    }
+
+    return returnValue;
+}
+
+/**@}*/