71 lines
1.9 KiB
C
71 lines
1.9 KiB
C
|
/*
|
||
|
|
* slave_handler.c
|
||
|
|
*
|
||
|
|
* Created on: Jun 21, 2023
|
||
|
|
* Author: max
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "slave_handler.h"
|
||
|
|
#include "can.h"
|
||
|
|
#include "can-halal.h"
|
||
|
|
|
||
|
|
static uint8_t slave_id_to_index[128] = {0xFF};
|
||
|
|
|
||
|
|
|
||
|
|
void slave_handler_init()
|
||
|
|
{
|
||
|
|
memset(slave_id_to_index,0xFF,128);
|
||
|
|
}
|
||
|
|
|
||
|
|
SlaveHandle slaves[N_SLAVES];
|
||
|
|
static size_t get_slave_index(uint8_t);
|
||
|
|
|
||
|
|
void slaves_handle_status(const uint8_t *data) {
|
||
|
|
uint8_t slave_id = data[0] & 0x7F;
|
||
|
|
uint8_t idx = get_slave_index(slave_id);
|
||
|
|
int error = data[0] & 0x80;
|
||
|
|
if (error) {
|
||
|
|
if (slaves[idx].error.kind == SLAVE_ERR_NONE) {
|
||
|
|
slaves[idx].error.kind = SLAVE_ERR_UNKNOWN;
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
slaves[idx].error.kind = SLAVE_ERR_NONE;
|
||
|
|
}
|
||
|
|
slaves[idx].soc = data[1];
|
||
|
|
const uint8_t *ptr = &data[2];
|
||
|
|
slaves[idx].min_voltage = ftcan_unmarshal_unsigned(&ptr, 2);
|
||
|
|
slaves[idx].max_voltage = ftcan_unmarshal_unsigned(&ptr, 2);
|
||
|
|
slaves[idx].max_temp = ftcan_unmarshal_unsigned(&ptr, 2);
|
||
|
|
slaves[idx].last_message = HAL_GetTick();
|
||
|
|
}
|
||
|
|
|
||
|
|
float slaves_get_maximum_voltage()
|
||
|
|
{
|
||
|
|
float maxvoltage = 0;
|
||
|
|
for(uint8_t i = 0; i < N_SLAVES; i++)
|
||
|
|
{
|
||
|
|
if(maxvoltage < slaves[i].max_voltage)
|
||
|
|
maxvoltage = slaves[i].max_voltage;
|
||
|
|
}
|
||
|
|
return ((float)maxvoltage)/10000;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
static size_t get_slave_index(uint8_t slave_id) {
|
||
|
|
// Slave IDs are 7-bit, so we can use a 128-element array to map them to
|
||
|
|
// indices. 0xFF is used to mark unseen slave IDs, since the highest index we
|
||
|
|
// could need is N_SLAVES - 1 (i.e. 5).
|
||
|
|
static size_t next_slave_index = 0;
|
||
|
|
if (slave_id_to_index[slave_id] == 0xFF) {
|
||
|
|
if (next_slave_index >= N_SLAVES) {
|
||
|
|
// We've seen more than N_SLAVES slave IDs, this shouldn't happen.
|
||
|
|
Error_Handler();
|
||
|
|
}
|
||
|
|
slave_id_to_index[slave_id] = next_slave_index;
|
||
|
|
slaves[next_slave_index].id = slave_id;
|
||
|
|
next_slave_index++;
|
||
|
|
}
|
||
|
|
return slave_id_to_index[slave_id];
|
||
|
|
}
|