FaSTTUBe/Master_Control
54
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Working version

Browse Source
This commit is contained in:
jazzpi
2022-07-18 16:54:42 +02:00
parent b49ac54166
commit 7795a7cd7d
25 changed files with 40462 additions and 19931 deletions
Download Patch File Download Diff File Expand all files Collapse all files

45
Core/Src/CAN_Communication.c
View File

@ -11,12 +11,12 @@
#include "stm32g4xx_hal_fdcan.h"
// 3 should be programmed with CAN id 2
const uint16_t slave_CAN_id_to_slave_index[7] = {
0, 1, 2, 3, 255, 5, 4}; // TODO: Make this pretty pls
0, 1, 2, 3, 4, 5, 255}; // TODO: Make this pretty pls
canFrame framebuffer[CANFRAMEBUFFERSIZE] = {0};
uint8_t framebufferwritepointer;
uint8_t framebufferreadpointer;
uint32_t framebufferwritepointer;
uint32_t framebufferreadpointer;
void CAN_Init(FDCAN_HandleTypeDef* hcan) {
HAL_FDCAN_Stop(hcan);
@ -27,8 +27,8 @@ void CAN_Init(FDCAN_HandleTypeDef* hcan) {
FDCAN_FilterTypeDef fdfilter = {0};
fdfilter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
fdfilter.FilterID1 = 0x000; // Range start
fdfilter.FilterID2 = 0x000; // Range stop
fdfilter.FilterID1 = 0x000; // ID
fdfilter.FilterID2 = 0x000; // Mask
fdfilter.FilterIndex = 0;
fdfilter.FilterType = FDCAN_FILTER_MASK;
@ -38,6 +38,10 @@ void CAN_Init(FDCAN_HandleTypeDef* hcan) {
HAL_StatusTypeDef status = HAL_FDCAN_Start(hcan);
if (status) {
return;
}
status =
HAL_FDCAN_ActivateNotification(hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
}
@ -59,23 +63,20 @@ uint8_t CAN_Receive(FDCAN_HandleTypeDef* hcan) {
slaveID = slave_CAN_id_to_slave_index[slaveID];
uint8_t messageID = msg & 0x00F;
updateSlaveInfo(slaveID, messageID, rxFrame);
} else if (rxFrame.FrameID == SLAVE_EMERGENCY_ADDRESS) {
AMSErrorHandle errorframe = {0};
errorframe.errorcode = SlavesErrorFrameError;
errorframe.errorarg[0] = rxFrame.data[0];
errorframe.errorarg[1] = rxFrame.data[1];
errorframe.errorarg[2] = rxFrame.data[2];
errorframe.errorarg[3] = rxFrame.data[3];
errorframe.errorarg[4] = rxFrame.data[4];
errorframe.errorarg[5] = rxFrame.data[5];
errorframe.errorarg[6] = rxFrame.data[6];
errorframe.errorarg[7] = rxFrame.data[7];
AMS_Error_Handler(errorframe);
}
/* if(rxFrame.FrameID == SLAVE_EMERGENCY_ADDRESS)
{
AMSErrorHandle errorframe = {0};
errorframe.errorcode = SlavesErrorFrameError;
errorframe.errorarg[0] = rxFrame.data[0];
errorframe.errorarg[1] = rxFrame.data[1];
errorframe.errorarg[2] = rxFrame.data[2];
errorframe.errorarg[3] = rxFrame.data[3];
errorframe.errorarg[4] = rxFrame.data[4];
errorframe.errorarg[5] = rxFrame.data[5];
errorframe.errorarg[6] = rxFrame.data[6];
errorframe.errorarg[7] = rxFrame.data[7];
AMS_Error_Handler(errorframe);
}*/
}
return 0;