Port FT22 code

2023-03-12 21:06:23 +01:00
parent b453286f08
commit 4f43895235
20 changed files with 794 additions and 51 deletions
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@ -0,0 +1,100 @@
+#include "can.h"
+
+#include "main.h"
+#include "shunt_monitoring.h"
+#include "slave_monitoring.h"
+#include "soc_estimation.h"
+#include "stm32f3xx_hal_can.h"
+#include "stm32f3xx_hal_gpio.h"
+#include "ts_state_machine.h"
+#include "util.h"
+#include <stdint.h>
+
+static CAN_HandleTypeDef *hcan;
+
+void can_init(CAN_HandleTypeDef *handle) {
+  hcan = handle;
+
+  CAN_FilterTypeDef filter;
+  filter.FilterIdHigh = CAN_ID_SHUNT_BASE & 0xFF0;
+  filter.FilterMaskIdHigh = 0xFF0;
+  filter.FilterIdLow = CAN_ID_AMS_IN;
+  filter.FilterMaskIdLow = 0xFFF;
+  filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
+  filter.FilterBank = 0;
+  filter.FilterMode = CAN_FILTERMODE_IDMASK;
+  filter.FilterScale = CAN_FILTERSCALE_16BIT;
+  if (HAL_CAN_ConfigFilter(hcan, &filter) != HAL_OK) {
+    Error_Handler();
+  }
+  // TODO: Slave status?
+  filter.FilterIdHigh = CAN_ID_SLAVE_PANIC;
+  filter.FilterMaskIdHigh = 0xFFF;
+  filter.FilterIdLow = CAN_ID_SLAVE_LOG;
+  filter.FilterMaskIdLow = 0xFFF;
+  filter.FilterBank = 1;
+  if (HAL_CAN_ConfigFilter(hcan, &filter) != HAL_OK) {
+    Error_Handler();
+  }
+
+  if (HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING) !=
+      HAL_OK) {
+    Error_Handler();
+  }
+  if (HAL_CAN_Start(hcan) != HAL_OK) {
+    Error_Handler();
+  }
+}
+
+HAL_StatusTypeDef can_transmit(uint8_t id, uint8_t *data, size_t datalen) {
+  static CAN_TxHeaderTypeDef header;
+  header.StdId = id;
+  header.IDE = CAN_ID_STD;
+  header.RTR = CAN_RTR_DATA;
+  header.DLC = datalen;
+
+  uint32_t mailbox;
+  return HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
+}
+
+HAL_StatusTypeDef can_send_status() {
+  uint8_t data[4];
+  data[0] = ts_state.current_state;
+  data[1] = current_soc;
+  data[2] = min_voltage >> 8;
+  data[3] = max_temp >> 8;
+  return can_transmit(CAN_ID_AMS_STATUS, data, 4);
+}
+
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handle) {
+  if (handle != hcan) {
+    return;
+  }
+
+  CAN_RxHeaderTypeDef header;
+  uint8_t data[8];
+  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &header, data) != HAL_OK) {
+    set_error_led();
+    return;
+  }
+
+  if (header.IDE != CAN_ID_STD) {
+    return;
+  }
+
+  if ((header.StdId & 0xFF0) == CAN_ID_SHUNT_BASE) {
+    shunt_handle_can_msg(&header, data);
+    return;
+  }
+  switch (header.StdId) {
+  case CAN_ID_SLAVE_PANIC:
+    slaves_handle_panic(data);
+    break;
+  case CAN_ID_SLAVE_LOG:
+    slaves_handle_log(data);
+    break;
+  case CAN_ID_AMS_IN:
+    ts_sm_handle_ams_in(data);
+    break;
+  }
+}