211 lines
7.5 KiB
C
211 lines
7.5 KiB
C
/*
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* CAN_Communication.c
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*
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* Created on: Apr 26, 2022
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* Author: max
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*/
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#include "CAN_Communication.h"
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#include "Error_Check.h"
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#include "stm32g4xx_hal_fdcan.h"
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#include <string.h>
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// 3 should be programmed with CAN id 2
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// const uint16_t slave_CAN_id_to_slave_index[7] = {
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// 255, 255, 0, 255, 255, 255, 1}; // TODO: Make this pretty pls
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const uint16_t slave_CAN_id_to_slave_index[7] = {
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0, 1, 2, 3, 4, 5, 6}; // TODO: Make this pretty pls
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canFrame framebuffer[CANFRAMEBUFFERSIZE] = {0};
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uint32_t framebufferwritepointer;
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uint32_t framebufferreadpointer;
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void CAN_Init(FDCAN_HandleTypeDef* hcan) {
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HAL_FDCAN_Stop(hcan);
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framebufferreadpointer = 0;
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framebufferwritepointer = 0;
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FDCAN_FilterTypeDef fdfilter = {0};
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fdfilter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
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fdfilter.FilterID1 = 0x000; // ID
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fdfilter.FilterID2 = 0x000; // Mask
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fdfilter.FilterIndex = 0;
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fdfilter.FilterType = FDCAN_FILTER_MASK;
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fdfilter.IdType = FDCAN_STANDARD_ID;
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HAL_FDCAN_ConfigFilter(hcan, &fdfilter);
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HAL_StatusTypeDef status = HAL_FDCAN_Start(hcan);
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if (status) {
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return;
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}
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status =
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HAL_FDCAN_ActivateNotification(hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
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}
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uint8_t CAN_Receive(FDCAN_HandleTypeDef* hcan) {
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while (framebufferreadpointer != framebufferwritepointer) {
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framebufferreadpointer++;
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if (framebufferreadpointer >= CANFRAMEBUFFERSIZE) {
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framebufferreadpointer = 0;
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}
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canFrame rxFrame = framebuffer[framebufferreadpointer];
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if ((rxFrame.FrameID & SLAVE_STATUS_BASE_ADDRESS) ==
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SLAVE_STATUS_BASE_ADDRESS) {
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uint16_t msg = rxFrame.FrameID - SLAVE_STATUS_BASE_ADDRESS;
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uint8_t slaveID = (msg & 0x0F0) >> 4;
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slaveID = slave_CAN_id_to_slave_index[slaveID];
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uint8_t messageID = msg & 0x00F;
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updateSlaveInfo(slaveID, messageID, rxFrame);
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} else if (rxFrame.FrameID == SLAVE_EMERGENCY_ADDRESS) {
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AMSErrorHandle errorframe = {0};
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errorframe.errorcode = SlavesErrorFrameError;
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memcpy(errorframe.errorarg, rxFrame.data, 7);
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AMS_Error_Handler(&errorframe);
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}
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}
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return 0;
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}
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uint8_t CAN_Transmit(FDCAN_HandleTypeDef* hcan, uint16_t frameid,
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uint8_t* buffer, uint8_t datalen) {
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FDCAN_TxHeaderTypeDef txheader = {0};
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txheader.Identifier = frameid;
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txheader.IdType = FDCAN_STANDARD_ID;
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txheader.TxFrameType = FDCAN_FRAME_CLASSIC;
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txheader.DataLength = ((uint32_t)datalen) << 16;
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txheader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
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txheader.BitRateSwitch = FDCAN_BRS_OFF;
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txheader.FDFormat = FDCAN_CLASSIC_CAN;
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txheader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
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txheader.MessageMarker = 0;
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HAL_FDCAN_AddMessageToTxFifoQ(hcan, &txheader, buffer);
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return 0;
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}
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void HAL_FDCAN_ErrorCallback(FDCAN_HandleTypeDef* hcan) {}
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void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef* handle,
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uint32_t interrupt_flags) {
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FDCAN_RxHeaderTypeDef rxFrameHeader;
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uint8_t data[8];
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framebufferwritepointer++;
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if (framebufferwritepointer >= CANFRAMEBUFFERSIZE) {
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framebufferwritepointer = 0;
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}
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if (!(interrupt_flags & FDCAN_IT_RX_FIFO0_NEW_MESSAGE)) {
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return;
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}
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if (HAL_FDCAN_GetRxMessage(handle, FDCAN_RX_FIFO0, &rxFrameHeader, data) !=
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HAL_OK) {
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framebuffer[framebufferwritepointer].error = 1;
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} else {
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framebuffer[framebufferwritepointer].error = 0;
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}
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if (rxFrameHeader.IdType != FDCAN_STANDARD_ID) {
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return;
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}
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framebuffer[framebufferwritepointer].FrameID =
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(int16_t)rxFrameHeader.Identifier;
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framebuffer[framebufferwritepointer].length =
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(uint8_t)rxFrameHeader.DataLength >> 16;
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for (int i = 0; i < (rxFrameHeader.DataLength >> 16); i++) {
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framebuffer[framebufferwritepointer].data[i] = data[i];
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}
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framebuffer[framebufferwritepointer].timestamp = HAL_GetTick();
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}
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void updateSlaveInfo(uint8_t slaveID, uint8_t MessageID, canFrame rxFrame) {
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if (slaveID < NUMBEROFSLAVES) {
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switch (MessageID) {
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case 0x00:
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slaves[slaveID].cellVoltages[0] = rxFrame.data[0] | rxFrame.data[1] << 8;
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slaves[slaveID].cellVoltages[1] = rxFrame.data[2] | rxFrame.data[3] << 8;
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slaves[slaveID].cellVoltages[2] = rxFrame.data[4] | rxFrame.data[5] << 8;
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slaves[slaveID].cellVoltages[3] = rxFrame.data[6] | rxFrame.data[7] << 8;
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break;
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case 0x01:
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slaves[slaveID].cellVoltages[4] = rxFrame.data[0] | rxFrame.data[1] << 8;
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slaves[slaveID].cellVoltages[5] = rxFrame.data[2] | rxFrame.data[3] << 8;
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slaves[slaveID].cellVoltages[6] = rxFrame.data[4] | rxFrame.data[5] << 8;
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slaves[slaveID].cellVoltages[7] = rxFrame.data[6] | rxFrame.data[7] << 8;
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break;
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case 0x02:
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slaves[slaveID].cellVoltages[8] = rxFrame.data[0] | rxFrame.data[1] << 8;
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slaves[slaveID].cellVoltages[9] = rxFrame.data[2] | rxFrame.data[3] << 8;
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break;
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case 0x03:
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slaves[slaveID].cellTemps[0] = rxFrame.data[0] | rxFrame.data[1] << 8;
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slaves[slaveID].cellTemps[1] = rxFrame.data[2] | rxFrame.data[3] << 8;
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slaves[slaveID].cellTemps[2] = rxFrame.data[4] | rxFrame.data[5] << 8;
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slaves[slaveID].cellTemps[3] = rxFrame.data[6] | rxFrame.data[7] << 8;
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break;
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case 0x04:
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slaves[slaveID].cellTemps[4] = rxFrame.data[0] | rxFrame.data[1] << 8;
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slaves[slaveID].cellTemps[5] = rxFrame.data[2] | rxFrame.data[3] << 8;
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slaves[slaveID].cellTemps[6] = rxFrame.data[4] | rxFrame.data[5] << 8;
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slaves[slaveID].cellTemps[7] = rxFrame.data[6] | rxFrame.data[7] << 8;
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break;
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case 0x05:
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slaves[slaveID].cellTemps[8] = rxFrame.data[0] | rxFrame.data[1] << 8;
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slaves[slaveID].cellTemps[9] = rxFrame.data[2] | rxFrame.data[3] << 8;
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slaves[slaveID].cellTemps[10] = rxFrame.data[4] | rxFrame.data[5] << 8;
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slaves[slaveID].cellTemps[11] = rxFrame.data[6] | rxFrame.data[7] << 8;
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break;
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case 0x06:
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slaves[slaveID].cellTemps[12] = rxFrame.data[0] | rxFrame.data[1] << 8;
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slaves[slaveID].cellTemps[13] = rxFrame.data[2] | rxFrame.data[3] << 8;
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slaves[slaveID].cellTemps[14] = rxFrame.data[4] | rxFrame.data[5] << 8;
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slaves[slaveID].cellTemps[15] = rxFrame.data[6] | rxFrame.data[7] << 8;
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break;
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case 0x07:
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slaves[slaveID].cellTemps[16] = rxFrame.data[0] | rxFrame.data[1] << 8;
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slaves[slaveID].cellTemps[17] = rxFrame.data[2] | rxFrame.data[3] << 8;
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slaves[slaveID].cellTemps[18] = rxFrame.data[4] | rxFrame.data[5] << 8;
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slaves[slaveID].cellTemps[19] = rxFrame.data[6] | rxFrame.data[7] << 8;
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break;
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case 0x08:
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slaves[slaveID].cellTemps[20] = rxFrame.data[0] | rxFrame.data[1] << 8;
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slaves[slaveID].cellTemps[21] = rxFrame.data[2] | rxFrame.data[3] << 8;
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slaves[slaveID].cellTemps[22] = rxFrame.data[4] | rxFrame.data[5] << 8;
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slaves[slaveID].cellTemps[23] = rxFrame.data[6] | rxFrame.data[7] << 8;
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break;
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case 0x09:
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slaves[slaveID].cellTemps[24] = rxFrame.data[0] | rxFrame.data[1] << 8;
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slaves[slaveID].cellTemps[25] = rxFrame.data[2] | rxFrame.data[3] << 8;
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slaves[slaveID].cellTemps[26] = rxFrame.data[4] | rxFrame.data[5] << 8;
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slaves[slaveID].cellTemps[27] = rxFrame.data[6] | rxFrame.data[7] << 8;
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break;
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case 0x0A:
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slaves[slaveID].cellTemps[28] = rxFrame.data[0] | rxFrame.data[1] << 8;
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slaves[slaveID].cellTemps[29] = rxFrame.data[2] | rxFrame.data[3] << 8;
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slaves[slaveID].cellTemps[30] = rxFrame.data[4] | rxFrame.data[5] << 8;
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slaves[slaveID].cellTemps[31] = rxFrame.data[6] | rxFrame.data[7] << 8;
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break;
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}
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slaves[slaveID].timestamp = rxFrame.timestamp;
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}
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}
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