136 lines
3.7 KiB
C
136 lines
3.7 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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#include "common_defs.h"
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#include "main.h"
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#include "stm32f4xx.h"
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#include "stm32f4xx_hal.h"
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#include "stm32f4xx_hal_can.h"
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#include <stdint.h>
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static CAN_HandleTypeDef* handle_ams;
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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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// Start peripheral
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if (HAL_CAN_Start(handle_ams) != HAL_OK) {
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handle_ams = car_handle;
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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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}
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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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}
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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 {
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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_send_heartbeat() {
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static CAN_TxHeaderTypeDef header;
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static uint8_t data[8];
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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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// Send voltages
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for (int msg_id = 0; msg_id < 3; msg_id++) {
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header.StdId = CAN_ID_AMS_SLAVE_HEARTBEAT_BASE | (slave_id << 4) | msg_id;
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for (int i = 0; i < 4; i++) {
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int cell = msg_id * 4 + i;
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uint16_t v = (cell < N_CELLS) ? cell_voltages[cell] : 0;
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data[2 * i + 0] = v & 0xFF;
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data[2 * i + 1] = v >> 8;
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}
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if (ams_can_wait_for_free_mailboxes(handle_ams, 1,
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CAN_HEARTBEAT_TX_TIMEOUT) == HAL_OK) {
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uint32_t mailbox;
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HAL_CAN_AddTxMessage(handle_ams, &header, data, &mailbox);
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}
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}
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// Send temperatures
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for (int temp_msg_id = 0; temp_msg_id < 8; temp_msg_id++) {
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int msg_id = temp_msg_id + 3;
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header.StdId = CAN_ID_AMS_SLAVE_HEARTBEAT_BASE | (slave_id << 4) | msg_id;
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for (int i = 0; i < 4; i++) {
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int sensor = temp_msg_id * 4 + i;
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uint16_t temp = temperatures[sensor];
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data[2 * i + 0] = temp & 0xFF;
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data[2 * i + 1] = temp >> 8;
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}
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if (ams_can_wait_for_free_mailboxes(handle_ams, 1,
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CAN_HEARTBEAT_TX_TIMEOUT) == HAL_OK) {
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uint32_t mailbox;
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HAL_CAN_AddTxMessage(handle_ams, &header, data, &mailbox);
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}
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}
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}
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void ams_can_send_error(AMS_ErrorCode error_code,
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uint32_t transmission_timeout) {
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static CAN_TxHeaderTypeDef header;
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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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header.StdId = CAN_ID_SLAVE_ERROR;
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static uint8_t data[8];
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data[0] = slave_id;
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data[1] = error_code;
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HAL_CAN_AbortTxRequest(handle_ams,
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CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);
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uint32_t mailbox;
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HAL_CAN_AddTxMessage(handle_ams, &header, data, &mailbox);
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ams_can_wait_for_free_mailboxes(handle_ams, 3, transmission_timeout);
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}
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HAL_StatusTypeDef ams_can_wait_for_free_mailboxes(CAN_HandleTypeDef* handle,
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int num_mailboxes,
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uint32_t timeout) {
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uint32_t end = HAL_GetTick() + timeout;
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while (HAL_GetTick() < end) {
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if (HAL_CAN_GetTxMailboxesFreeLevel(handle) >= num_mailboxes) {
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return HAL_OK;
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}
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}
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return HAL_TIMEOUT;
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}
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