feat: init commit
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68
Software/Core/Inc/can.h
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68
Software/Core/Inc/can.h
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/*
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* can.h
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*
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* Created on: Jun 12, 2025
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* Author: janek
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*/
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#ifndef INC_CAN_H_
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#define INC_CAN_H_
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#include "can_halal.h"
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#define CAN_ID_TX 0x420
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#define CAN_ID_RX_R2D 0x410
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#define CAN_ID_RX_AMS 0x00A
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typedef union {
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struct {
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uint8_t ts_inactive : 1;
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uint8_t ts_active : 1;
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uint8_t ts_precharge : 1;
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uint8_t ts_discharge : 1;
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uint8_t ts_error : 1;
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uint8_t NC1 : 1;
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uint8_t NC2 : 1;
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uint8_t sdc_closed : 1;
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};
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uint8_t ams_rx;
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} ams_info;
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typedef union {
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struct {
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uint8_t ts_green : 1;
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uint8_t imd_error : 1;
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uint8_t ams_error : 1;
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uint8_t NC1 : 1;
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uint8_t NC2 : 1;
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uint8_t NC3 : 1;
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uint8_t NC4 : 1;
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uint8_t NC5 : 1;
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};
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uint8_t ams_led;
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}led_info;
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typedef union {
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struct {
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ams_info ams_status;
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led_info led_status;
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};
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uint16_t ams_bitmask;
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} rx_acc;
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typedef union{
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struct{
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uint8_t r2d : 1;
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uint8_t tson : 1;
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uint8_t racemode : 1;
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uint8_t sdc_in : 1;
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uint8_t sdc_out : 1;
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};
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uint8_t dash_send;
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}dash_tx_t;
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void can_init(CAN_HandleTypeDef* hcan);
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void can_send();
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void can_rxupdateFrame();
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#endif /* INC_CAN_H_ */
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72
Software/Core/Inc/can_halal.h
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72
Software/Core/Inc/can_halal.h
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#ifndef CAN_HALAL_H
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#define CAN_HALAL_H
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// Define family macros if none are defined and we recognize a chip macro
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#if !defined(STM32F3) && !defined(STM32H7) && !defined(STM32F0)
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#if defined(STM32F302x6) || defined(STM32F302x8) || defined(STM32F302xB) || \
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defined(STM32F302xC)
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#define STM32F3
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#endif
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#if defined(STM32H7A3xx) || defined(STM32H723xx)
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#define STM32H7
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#endif
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#if defined(STM32F042x6)
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#define STM32F0
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#endif
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#endif
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#if defined(STM32F3)
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#include "stm32f3xx_hal.h"
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#define FTCAN_IS_BXCAN
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#define FTCAN_NUM_FILTERS 13
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#elif defined(STM32H7)
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#include "stm32h7xx_hal.h"
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#define FTCAN_IS_FDCAN
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#ifndef FTCAN_NUM_FILTERS
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#error "Please configure the number of filters in CubeMX, and then add a compiler define for FTCAN_NUM_FILTERS"
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#endif
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#elif defined(STM32F0)
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#include "stm32f0xx_hal.h"
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#define FTCAN_IS_BXCAN
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#define FTCAN_NUM_FILTERS 13
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#else
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#error "Couldn't detect STM family"
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#endif
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#if defined(FTCAN_IS_BXCAN)
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HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle);
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#elif defined(FTCAN_IS_FDCAN)
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HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle);
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#else
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#error "Unknown CAN peripheral"
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#endif
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HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
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size_t datalen);
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HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask);
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/**
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* Define this function to be notified of incoming CAN messages
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*/
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void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data);
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/**
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* Read num_bytes bytes from a message (unmarshalled network byte order). The
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* msg pointer is advanced by the corresponding number of bytes.
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*
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* Both methods return a 64-bit integer, but you can safely cast it to a smaller
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* integer type.
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*/
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uint64_t ftcan_unmarshal_unsigned(const uint8_t **data, size_t num_bytes);
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int64_t ftcan_unmarshal_signed(const uint8_t **data, size_t num_bytes);
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/**
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* Write num_bytes to a message (marshalled in network byte order). The pointer
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* is advanced by the corresponding number of bytes and returned.
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*/
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uint8_t *ftcan_marshal_unsigned(uint8_t *data, uint64_t val, size_t num_bytes);
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uint8_t *ftcan_marshal_signed(uint8_t *data, int64_t val, size_t num_bytes);
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#endif // CAN_HALAL_H
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@ -46,7 +46,15 @@ extern "C" {
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/* Exported macro ------------------------------------------------------------*/
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/* USER CODE BEGIN EM */
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#define R2D_NONE 0x00
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#define R2D_TSMS 0x01
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#define R2D_TS_ACTIVE 0x02
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#define R2D_RESETTING_NODES 0x03
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#define R2D_RESETTING_COMMS 0x04
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#define R2D_WAITING_INIT 0x05
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#define R2D_INIT_STAGE1 0x06
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#define R2D_INIT_STAGE2 0x07
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#define R2D_INIT_SUCCESS 0x0F
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/* USER CODE END EM */
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/* Exported functions prototypes ---------------------------------------------*/
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@ -81,7 +81,7 @@
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* (when HSE is used as system clock source, directly or through the PLL).
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*/
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#if !defined (HSE_VALUE)
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#define HSE_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */
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#define HSE_VALUE ((uint32_t)16000000) /*!< Value of the External oscillator in Hz */
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#endif /* HSE_VALUE */
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/**
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