FaSTTUBe/ams-slave-22
56
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Use new AMS CAN interface

Browse Source
This commit is contained in:
jazzpi 2022-06-23 14:55:10 +02:00
parent 2acde9d565
commit ec1383960b
4 changed files with 85 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
Core/Inc/AMS_CAN.h
View File

@ -8,9 +8,15 @@
#ifndef INC_AMS_CAN_H_
#define INC_AMS_CAN_H_
#include "stm32f4xx_hal.h"
#include "main.h"
#define CAN_ID_AMS_SLAVE_HEARTBEAT_BASE 0x100
#include "stm32f4xx_hal.h"
#include "stm32f4xx_hal_can.h"
#include "stm32f4xx_hal_def.h"
#define CAN_ID_SLAVE_ERROR 0x001
#define CAN_ID_AMS_SLAVE_HEARTBEAT_BASE 0x600
#define CAN_HEARTBEAT_TX_TIMEOUT 5 /* ms */
void ams_can_init(CAN_HandleTypeDef* ams, CAN_HandleTypeDef* car);
@ -18,5 +24,9 @@ void ams_can_handle_ams_msg(CAN_RxHeaderTypeDef* header, uint8_t* data);
void ams_can_handle_car_msg(CAN_RxHeaderTypeDef* header, uint8_t* data);
void ams_can_send_heartbeat();
void ams_can_send_error(AMS_ErrorCode error_code);
HAL_StatusTypeDef ams_can_wait_for_free_mailbox(CAN_HandleTypeDef* handle,
uint32_t timeout);
#endif /* INC_AMS_CAN_H_ */

8
Core/Inc/main.h
View File

@ -36,11 +36,17 @@ extern "C" {
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
typedef enum {
AMS_ERROR_UV,
AMS_ERROR_OV,
AMS_ERROR_UT,
AMS_ERROR_OT
} AMS_ErrorCode;
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
extern uint8_t slave_id;
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/

85
Core/Src/AMS_CAN.c
View File

@ -9,6 +9,12 @@
#include "BQ_Abstraction_Layer.h"
#include "TMP144.h"
#include "common_defs.h"
#include "main.h"
#include "stm32f4xx.h"
#include "stm32f4xx_hal.h"
#include "stm32f4xx_hal_can.h"
static CAN_HandleTypeDef* handle_ams;
static CAN_HandleTypeDef* handle_car;
@ -81,34 +87,71 @@ void ams_can_handle_car_msg(CAN_RxHeaderTypeDef* header, uint8_t* data) {}
void ams_can_send_heartbeat() {
static CAN_TxHeaderTypeDef header;
static uint8_t data[8];
static uint8_t SLAVE_ID = 0;
header.IDE = CAN_ID_STD;
header.DLC = 8;
header.RTR = CAN_RTR_DATA;
header.TransmitGlobalTime = DISABLE;
for (int i = 0; i < N_CELLS / 2; i++) {
header.StdId = CAN_ID_AMS_SLAVE_HEARTBEAT_BASE | (SLAVE_ID) << 4 | i;
uint16_t v1 = cell_voltages[i * 2];
uint16_t v2 = cell_voltages[i * 2 + 1];
data[0] = v1 >> 8;
data[1] = v1 & 0xFF;
data[2] = v2 >> 8;
data[3] = v2 & 0xFF;
uint16_t t1 = temperatures[i * 2];
uint16_t t2 = temperatures[i * 2 + 1];
data[4] = t1 >> 8;
data[5] = t1 & 0xFF;
data[6] = t2 >> 8;
data[7] = t2 & 0xFF;
uint32_t mailbox;
HAL_StatusTypeDef status;
if ((status = HAL_CAN_AddTxMessage(handle_ams, &header, data, &mailbox)) !=
// Send voltages
for (int msg_id = 0; msg_id < 3; msg_id++) {
header.StdId = CAN_ID_AMS_SLAVE_HEARTBEAT_BASE | (slave_id << 4) | msg_id;
for (int i = 0; i < 4; i++) {
int cell = msg_id * 4 + i;
uint16_t v = (cell < N_CELLS) ? cell_voltages[cell] : 0;
data[2 * i + 0] = v & 0xFF;
data[2 * i + 1] = v >> 8;
}
if (ams_can_wait_for_free_mailbox(handle_ams, CAN_HEARTBEAT_TX_TIMEOUT) ==
HAL_OK) {
Error_Handler();
} else {
HAL_Delay(100);
uint32_t mailbox;
HAL_CAN_AddTxMessage(handle_ams, &header, data, &mailbox);
}
}
// Send temperatures
for (int temp_msg_id = 0; temp_msg_id < 8; temp_msg_id++) {
int msg_id = temp_msg_id + 3;
header.StdId = CAN_ID_AMS_SLAVE_HEARTBEAT_BASE | (slave_id << 4) | msg_id;
for (int i = 0; i < 4; i++) {
int sensor = temp_msg_id * 4 + i;
uint16_t temp = temperatures[sensor];
data[2 * i + 0] = temp & 0xFF;
data[2 * i + 1] = temp >> 8;
}
if (ams_can_wait_for_free_mailbox(handle_ams, CAN_HEARTBEAT_TX_TIMEOUT) ==
HAL_OK) {
uint32_t mailbox;
HAL_CAN_AddTxMessage(handle_ams, &header, data, &mailbox);
}
}
}
void ams_can_send_error(AMS_ErrorCode error_code) {
static CAN_TxHeaderTypeDef header;
header.IDE = CAN_ID_STD;
header.DLC = 8;
header.RTR = CAN_RTR_DATA;
header.TransmitGlobalTime = DISABLE;
header.StdId = CAN_ID_SLAVE_ERROR;
static uint8_t data[8];
data[0] = slave_id;
data[1] = error_code;
HAL_CAN_AbortTxRequest(handle_ams,
CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);
uint32_t mailbox;
HAL_CAN_AddTxMessage(handle_ams, &header, data, &mailbox);
}
HAL_StatusTypeDef ams_can_wait_for_free_mailbox(CAN_HandleTypeDef* handle,
uint32_t timeout) {
uint32_t end = HAL_GetTick() + timeout;
while (HAL_GetTick() < end) {
if (HAL_CAN_GetTxMailboxesFreeLevel(handle) > 0) {
return HAL_OK;
}
}
return HAL_TIMEOUT;
}

7
Core/Src/main.c
View File

@ -60,7 +60,7 @@ UART_HandleTypeDef huart3;
UART_HandleTypeDef huart6;
/* USER CODE BEGIN PV */
uint8_t slave_id;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@ -149,10 +149,7 @@ int main(void) {
HAL_Delay(100);
afe_init(&huart2);
eeprom_init(&hi2c1);
uint8_t id;
if (eeprom_read_random(EEPROM_ADDR_SLAVE_ID, &id) == HAL_OK) {
HAL_GPIO_WritePin(STAT_LED4_GPIO_Port, STAT_LED4_Pin, GPIO_PIN_SET);
}
eeprom_read_random(EEPROM_ADDR_SLAVE_ID, &slave_id);
fan_ctrl_init(&htim3, TIM_CHANNEL_4);
/* USER CODE END 2 */