67 lines
1.7 KiB
C
67 lines
1.7 KiB
C
#include "can.h"
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#include "imd_monitoring.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 "ts_state_machine.h"
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#include "can-halal.h"
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#include <math.h>
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#include <stdint.h>
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void can_init(FDCAN_HandleTypeDef *handle) {
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ftcan_init(handle);
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ftcan_add_filter(CAN_ID_SHUNT_BASE, 0xFF0);
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ftcan_add_filter(CAN_ID_AMS_IN, 0xFFF);
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ftcan_add_filter(CAN_ID_SLAVE_PANIC, 0xFFF);
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ftcan_add_filter(CAN_ID_SLAVE_STATUS_BASE, 0xFF0);
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ftcan_add_filter(CAN_ID_SLAVE_LOG, 0xFFF);
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}
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HAL_StatusTypeDef can_send_status() {
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uint8_t data[8];
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data[0] =
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ts_state.current_state | (sdc_closed << 7); // | (sdc_closed_nodelay << 6);
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data[1] = roundf(current_soc);
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ftcan_marshal_unsigned(&data[2], min_voltage, 2);
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ftcan_marshal_signed(&data[4], max_temp, 2);
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data[6] = imd_data.state | (imd_data.ok << 7);
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if (imd_data.r_iso < 0xFFF) {
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data[7] = imd_data.r_iso >> 4;
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} else {
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data[7] = 0xFF;
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}
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return ftcan_transmit(CAN_ID_AMS_STATUS, data, sizeof(data));
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}
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HAL_StatusTypeDef can_send_error(TSErrorKind kind, uint8_t arg) {
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uint8_t data[2];
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data[0] = kind;
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data[1] = arg;
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return ftcan_transmit(CAN_ID_AMS_ERROR, data, sizeof(data));
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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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if ((id & 0xFF0) == CAN_ID_SHUNT_BASE) {
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shunt_handle_can_msg(id, data);
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return;
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} else if ((id & 0xFF0) == CAN_ID_SLAVE_STATUS_BASE) {
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slaves_handle_status(data);
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return;
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}
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switch (id) {
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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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