45 lines
959 B
C
45 lines
959 B
C
#include <stdint.h>
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#include "main.h"
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#include "can.h"
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#include "scs_sdc.h"
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#include "can-halal.h"
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extern int can_ams_last_tick;
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extern TSState request_state;
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HAL_StatusTypeDef can_init(FDCAN_HandleTypeDef* handle) {
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TRY(ftcan_init(handle));
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TRY(ftcan_add_filter(CAN_ID_AMS_STATUS, 0xFFF));
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TRY(ftcan_add_filter(CAN_ID_AMS_ERROR, 0xFFF));
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return HAL_OK;
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}
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HAL_StatusTypeDef can_update_state(){
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uint8_t data;
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if (request_state == TS_ACTIVE){
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data = 0x01;
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} else if (request_state == TS_INACTIVE) {
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data = 0x00;
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} else {
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return HAL_ERROR;
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}
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return ftcan_transmit(CAN_ID_AMS_IN, &data, sizeof(data));
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}
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void ftcan_msg_received_cb(uint16_t id, size_t len, const uint8_t* data) {
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switch (id) {
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case CAN_ID_AMS_STATUS:
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can_ams_last_tick = HAL_GetTick();
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ts_handle_ams_status(data);
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break;
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case CAN_ID_AMS_SIGNALS:
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break;
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case CAN_ID_AMS_ERROR:
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break;
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default:
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break;
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}
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} |