115 lines
3.0 KiB
C
115 lines
3.0 KiB
C
/*
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* AMS_CAN.c
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*
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* Created on: Mar 19, 2022
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* Author: jasper
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*/
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#include "AMS_CAN.h"
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#include "BQ_Abstraction_Layer.h"
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#include "TMP144.h"
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static CAN_HandleTypeDef* handle_ams;
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static CAN_HandleTypeDef* handle_car;
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void ams_can_init(CAN_HandleTypeDef* ams_handle,
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CAN_HandleTypeDef* car_handle) {
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handle_ams = ams_handle;
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handle_car = car_handle;
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// Configure filters
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CAN_FilterTypeDef filter_car;
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filter_car.FilterBank = 14;
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filter_car.FilterMode = CAN_FILTERMODE_IDMASK;
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filter_car.FilterScale = CAN_FILTERSCALE_32BIT;
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filter_car.FilterIdHigh = CAN_ID_AMS_SLAVE_HEARTBEAT_BASE >> 16;
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filter_car.FilterIdLow = CAN_ID_AMS_SLAVE_HEARTBEAT_BASE & 0xFFFF;
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filter_car.FilterMaskIdHigh = 0xFFFF;
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filter_car.FilterMaskIdLow = 0xFF00;
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filter_car.FilterFIFOAssignment = CAN_RX_FIFO0;
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filter_car.FilterActivation = ENABLE;
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filter_car.SlaveStartFilterBank = 14;
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if (HAL_CAN_ConfigFilter(handle_car, &filter_car) != HAL_OK) {
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Error_Handler();
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}
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// Start peripheral
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if (HAL_CAN_Start(handle_ams) != HAL_OK) {
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Error_Handler();
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}
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if (HAL_CAN_Start(handle_car) != HAL_OK) {
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Error_Handler();
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}
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// Activate RX notifications
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if (HAL_CAN_ActivateNotification(handle_ams, 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_ActivateNotification(handle_car,
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CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_ERROR |
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CAN_IT_LAST_ERROR_CODE) != HAL_OK) {
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Error_Handler();
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}
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}
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static int cb_triggered = 0;
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef* handle) {
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static CAN_RxHeaderTypeDef header;
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static uint8_t data[8];
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cb_triggered = 1;
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if (HAL_CAN_GetRxMessage(handle, CAN_RX_FIFO0, &header, data) != HAL_OK) {
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Error_Handler();
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}
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if (handle == handle_ams) {
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ams_can_handle_ams_msg(&header, data);
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} else if (handle == handle_car) {
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ams_can_handle_car_msg(&header, data);
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} else {
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Error_Handler();
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}
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}
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void ams_can_handle_ams_msg(CAN_RxHeaderTypeDef* header, uint8_t* data) {}
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void ams_can_handle_car_msg(CAN_RxHeaderTypeDef* header, uint8_t* data) {}
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void ams_can_send_heartbeat() {
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static CAN_TxHeaderTypeDef header;
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static uint8_t data[8];
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static uint8_t SLAVE_ID = 0;
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header.IDE = CAN_ID_STD;
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header.DLC = 8;
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header.RTR = CAN_RTR_DATA;
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header.TransmitGlobalTime = DISABLE;
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for (int i = 0; i < N_CELLS / 2; i++) {
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header.StdId = CAN_ID_AMS_SLAVE_HEARTBEAT_BASE | (SLAVE_ID) << 4 | i;
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uint16_t v1 = cell_voltages[i * 2];
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uint16_t v2 = cell_voltages[i * 2 + 1];
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data[0] = v1 >> 8;
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data[1] = v1 & 0xFF;
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data[2] = v2 >> 8;
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data[3] = v2 & 0xFF;
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uint16_t t1 = temperatures[i * 2];
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uint16_t t2 = temperatures[i * 2 + 1];
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data[4] = t1 >> 8;
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data[5] = t1 & 0xFF;
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data[6] = t2 >> 8;
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data[7] = t2 & 0xFF;
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uint32_t mailbox;
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HAL_StatusTypeDef status;
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if ((status = HAL_CAN_AddTxMessage(handle_ams, &header, data, &mailbox)) !=
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HAL_OK) {
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Error_Handler();
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} else {
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HAL_Delay(100);
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}
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}
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}
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