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Use FaSTTUBe CAN Abstraction Layer

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This commit is contained in:
Jasper Blanckenburg
2023-03-15 18:07:38 +01:00
parent 9355595b73
commit e18135558d
14 changed files with 40 additions and 113 deletions
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17
Core/Src/shunt_monitoring.c
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@ -6,6 +6,8 @@
#include "ts_state_machine.h"
#include "util.h"
#include "FT_CAN_AL.h"
ShuntData shunt_data;
void shunt_init() {
@ -25,20 +27,11 @@ void shunt_check() {
ts_sm_set_error_source(TS_ERROR_SOURCE_SHUNT, is_error);
}
void shunt_handle_can_msg(CAN_RxHeaderTypeDef *header, uint8_t *data) {
void shunt_handle_can_msg(uint16_t id, const uint8_t *data) {
// All result messages contain a big-endian 6-byte integer
data[7] = 0;
data[8] = 0;
uint64_t result;
memcpy(&result, data, 8);
result = ntohll(result);
// Top two bytes should always be zero in our usecase (or 0xFF for a signed
// number)
if ((result >> 4) != 0 && (result >> 4) != 0xFFFF) {
set_error_led();
}
uint64_t result = ftcan_unmarshal_unsigned(&data, 6);
switch (header->StdId) {
switch (id) {
case CAN_ID_SHUNT_CURRENT:
shunt_data.current = result;
break;