86 lines
2.2 KiB
C
86 lines
2.2 KiB
C
/*
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* CAN_Communication.h
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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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#ifndef INC_CAN_COMMUNICATION_H_
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#define INC_CAN_COMMUNICATION_H_
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#include "stm32g4xx_hal.h"
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#include "stm32g4xx_hal_fdcan.h"
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#define CANFRAMEBUFFERSIZE 256
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// Shunt Message IDs
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#define SHUNT_CURRENT 0x521
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#define SHUNT_VOLTAGE_1 0x522
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#define SHUNT_VOLTAGE_2 0x523
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#define SHUNT_VOLTAGE_3 0x524
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#define SHUNT_BUSBAR_TEMP 0x525
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#define SHUNT_POWER 0x526
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#define SHUNT_AMPERE_SECONDS 0x527
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#define SHUNT_ENERGY 0x528
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// Autobox->Master IDS
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#define AUTOBOX_INFO 0x0B
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// Master->Autobox IDs
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#define AMS_STATUS_ID 0x0A
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#define AMS_PANIC_ID 0x42
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#define AMS_LOGGING_ID 0x500
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#define AMS_LOGGING_NUM_FRAMES 6
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#define AMS_LOGGING_FRAMES_PER_LOOP 1
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// Charger->Master IDs
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#define CHARGER_START_CHARGING 0x446
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#define BATTERY_VOLTAGE_TYPE 1
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#define BATTERY_TEMP_TYPE 2
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#define LOG_BAT_LOW_VOLTAGE 32768
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#define LOG_TEMP_LOW_VOLTAGE
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// External Variables to Communicate with other parts of the Program
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extern int32_t shuntcurrent;
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extern int32_t shuntvoltage1;
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extern int32_t shuntvoltage2;
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extern int32_t shuntvoltage3;
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extern int32_t shuntbusbartemp;
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extern int32_t shuntpower;
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extern int32_t shuntampereseconds;
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extern int32_t shuntenergy;
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extern uint32_t shuntlastmessage;
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extern uint8_t currentlap;
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extern uint8_t TSTargetState;
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typedef struct {
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int16_t FrameID;
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uint8_t data[8];
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uint8_t length;
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uint32_t timestamp;
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uint8_t error;
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} canFrame;
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extern canFrame framebuffer[CANFRAMEBUFFERSIZE];
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void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef* handle,
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uint32_t interrupt_flags);
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void HAL_FDCAN_ErrorCallback(FDCAN_HandleTypeDef* hcan);
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void CAN_Init(FDCAN_HandleTypeDef* hcan);
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uint8_t CAN_Receive(FDCAN_HandleTypeDef* hcan);
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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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void CAN_SendAbxStatus(FDCAN_HandleTypeDef* hcan);
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typedef struct ErrorFlagHandlerStruct ErrorFlagHandler;
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void CAN_SendAMSPanic(FDCAN_HandleTypeDef* hcan, ErrorFlagHandler* errorflags);
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void CAN_SendLoggingFrame(FDCAN_HandleTypeDef* hcan);
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uint8_t CAN_convert_logval(uint16_t value, uint8_t type);
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#endif /* INC_CAN_COMMUNICATION_H_ */
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