101 lines
2.4 KiB
C
101 lines
2.4 KiB
C
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#include "can.h"
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#include "main.h"
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#include "shunt_monitoring.h"
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#include "slave_monitoring.h"
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#include "soc_estimation.h"
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#include "stm32f3xx_hal_can.h"
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#include "stm32f3xx_hal_gpio.h"
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#include "ts_state_machine.h"
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#include "util.h"
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#include <stdint.h>
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static CAN_HandleTypeDef *hcan;
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void can_init(CAN_HandleTypeDef *handle) {
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hcan = handle;
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CAN_FilterTypeDef filter;
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filter.FilterIdHigh = CAN_ID_SHUNT_BASE & 0xFF0;
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filter.FilterMaskIdHigh = 0xFF0;
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filter.FilterIdLow = CAN_ID_AMS_IN;
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filter.FilterMaskIdLow = 0xFFF;
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filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
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filter.FilterBank = 0;
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filter.FilterMode = CAN_FILTERMODE_IDMASK;
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filter.FilterScale = CAN_FILTERSCALE_16BIT;
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if (HAL_CAN_ConfigFilter(hcan, &filter) != HAL_OK) {
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Error_Handler();
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}
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// TODO: Slave status?
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filter.FilterIdHigh = CAN_ID_SLAVE_PANIC;
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filter.FilterMaskIdHigh = 0xFFF;
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filter.FilterIdLow = CAN_ID_SLAVE_LOG;
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filter.FilterMaskIdLow = 0xFFF;
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filter.FilterBank = 1;
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if (HAL_CAN_ConfigFilter(hcan, &filter) != HAL_OK) {
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Error_Handler();
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}
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if (HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING) !=
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HAL_OK) {
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Error_Handler();
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}
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if (HAL_CAN_Start(hcan) != HAL_OK) {
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Error_Handler();
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}
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}
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HAL_StatusTypeDef can_transmit(uint8_t id, uint8_t *data, size_t datalen) {
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static CAN_TxHeaderTypeDef header;
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header.StdId = id;
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header.IDE = CAN_ID_STD;
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header.RTR = CAN_RTR_DATA;
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header.DLC = datalen;
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uint32_t mailbox;
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return HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
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}
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HAL_StatusTypeDef can_send_status() {
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uint8_t data[4];
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data[0] = ts_state.current_state;
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data[1] = current_soc;
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data[2] = min_voltage >> 8;
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data[3] = max_temp >> 8;
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return can_transmit(CAN_ID_AMS_STATUS, data, 4);
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}
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handle) {
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if (handle != hcan) {
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return;
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}
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CAN_RxHeaderTypeDef header;
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uint8_t data[8];
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if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &header, data) != HAL_OK) {
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set_error_led();
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return;
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}
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if (header.IDE != CAN_ID_STD) {
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return;
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}
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if ((header.StdId & 0xFF0) == CAN_ID_SHUNT_BASE) {
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shunt_handle_can_msg(&header, data);
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return;
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}
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switch (header.StdId) {
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case CAN_ID_SLAVE_PANIC:
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slaves_handle_panic(data);
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break;
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case CAN_ID_SLAVE_LOG:
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slaves_handle_log(data);
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break;
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case CAN_ID_AMS_IN:
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ts_sm_handle_ams_in(data);
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break;
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}
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}
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