128 lines
4.0 KiB
C
128 lines
4.0 KiB
C
/*
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* CAN_Communication.c
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*
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* Created on: 24. April, 2024
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* Author: nived
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*/
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#include "CAN_Communication.h"
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#include "Channel_Control.h"
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#include "Current_Monitoring.h"
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rx_status_frame rxstate = {};
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volatile uint8_t canmsg_received = 0;
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extern PortExtenderGPIO EN_Ports;
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extern CurrentMeasurements current_measurements_adc_val;
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//extern IWDG_HandleTypeDef hiwdg;
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extern uint32_t lastheartbeat;
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extern int inhibit_SDC;
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void can_init(CAN_HandleTypeDef* hcan) {
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ftcan_init(hcan);
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ftcan_add_filter(0x00, 0x00); // No Filter
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}
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void can_sendloop() {
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static uint8_t additionaltxcouter = 0;
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uint8_t status_data[7];
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status_data[0] = EN_Ports.porta.porta;
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status_data[1] = EN_Ports.portb.portb;
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status_data[2] = rxstate.tsacfans;
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status_data[3] = rxstate.radiatorfans;
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status_data[4] = rxstate.pwmaggregat;
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status_data[5] = rxstate.cooling_pump;
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status_data[6] = !inhibit_SDC; // Now means "WD Okay". TODO: Change DBC
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ftcan_transmit(TX_STATUS_MSG_ID, status_data, 7);
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uint8_t data[8];
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switch (additionaltxcouter) {
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case 0:
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data[0] = current_measurements_adc_val.always_on >> 8;
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data[1] = current_measurements_adc_val.always_on & 0xFF;
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data[2] = current_measurements_adc_val.misc >> 8;
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data[3] = current_measurements_adc_val.misc & 0xFF;
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data[4] = current_measurements_adc_val.inverters >> 8;
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data[5] = current_measurements_adc_val.inverters & 0xFF;
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data[6] = current_measurements_adc_val.sdc >> 8;
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data[7] = current_measurements_adc_val.sdc & 0xFF;
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ftcan_transmit(CUR_CHANNELS_1_ID, data, 8);
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break;
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case 1:
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data[0] = current_measurements_adc_val.tsac_fans >> 8;
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data[1] = current_measurements_adc_val.tsac_fans & 0xFF;
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data[2] = current_measurements_adc_val.cooling_pump >> 8;
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data[3] = current_measurements_adc_val.cooling_pump & 0xFF;
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data[4] = current_measurements_adc_val.aggregat >> 8;
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data[5] = current_measurements_adc_val.aggregat & 0xFF;
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data[6] = current_measurements_adc_val.epsc >> 8;
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data[7] = current_measurements_adc_val.epsc & 0xFF;
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ftcan_transmit(CUR_CHANNELS_2_ID, data, 8);
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break;
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case 2:
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data[0] = current_measurements_adc_val.ebsvalve_a >> 8;
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data[1] = current_measurements_adc_val.ebsvalve_a & 0xFF;
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data[2] = current_measurements_adc_val.ebsvalve_b >> 8;
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data[3] = current_measurements_adc_val.ebsvalve_b & 0xFF;
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data[4] = current_measurements_adc_val.ebs_cs_valve >> 8;
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data[5] = current_measurements_adc_val.ebs_cs_valve & 0xFF;
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data[6] = current_measurements_adc_val.gss >> 8;
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data[7] = current_measurements_adc_val.gss & 0xFF;
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ftcan_transmit(CUR_CHANNELS_3_ID, data, 8);
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break;
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case 3:
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data[0] = current_measurements_adc_val.radiator_fans >> 8;
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data[1] = current_measurements_adc_val.radiator_fans & 0xFF;
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data[2] = current_measurements_adc_val.acu >> 8;
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data[3] = current_measurements_adc_val.acu & 0xFF;
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data[4] = current_measurements_adc_val.servos >> 8;
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data[5] = current_measurements_adc_val.servos & 0xFF;
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data[6] = current_measurements_adc_val.lidar >> 8;
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data[7] = current_measurements_adc_val.lidar & 0xFF;
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ftcan_transmit(CUR_CHANNELS_4_ID, data, 8);
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break;
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case 4:
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data[0] = current_measurements_adc_val.lv_v >> 8;
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data[1] = current_measurements_adc_val.lv_v && 0xFF;
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ftcan_transmit(LV_SENS_ID, data, 2);
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default:
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break;
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}
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additionaltxcouter = (additionaltxcouter+1) % 5;
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}
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void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t* data) {
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canmsg_received = 1;
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if ((id == RX_STATUS_MSG_ID) && (datalen == 7)) {
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rxstate.iostatus.porta.porta = data[0];
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rxstate.iostatus.portb.portb = data[1];
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rxstate.radiatorfans = data[2];
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rxstate.tsacfans = data[3];
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rxstate.pwmaggregat = data[4];
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rxstate.cooling_pump = data[5];
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rxstate.checksum = data[6];
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}
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if (id == RX_STATUS_HEARTBEAT) {
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lastheartbeat = HAL_GetTick();
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inhibit_SDC = 0;
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}
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}
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