enabled can support and cleaned up the code for it

Core/Src/can.c

@@ -19,13 +19,14 @@ once every 1s in states: INACTIVE, PRECHARGE, DISCHARGE, CHARGING, ERROR.
 once every 0.5s in states: READY, ACTIVE.
 with format of:
 CAN Messages:
-- MVBMS Status (1B), Powerground Status 0-100% (1 bit)
+  MVBMS Status (1B), Powerground Status 0-100% (1B)
-- Battery: SoC (1B), Pack Voltage (2B), Current (1B), 
+  Battery: SoC (1B), Pack Voltage (2B), Current (1B), 
-  Min/Max. Cell Temp (ID, Min Temp, ID, Max Temp)(4B), 
+
-  Min/Max Cell Voltage (ID, Min Voltage, ID, Max Voltage)(4B)
+  Min/Max. Cell Temp (ID, Min Temp, ID, Max Temp)(3B), 
+  Min/Max Cell Voltage (ID, Min Voltage, ID, Max Voltage)(3B)
 
 bit 0-2: status
-bit 0-7:
+bit 3-7:
 bit 8-15: State of Charge from 0-100%
 bit 16-31: Battery voltage
 bit 32-47: Current measurement 
@@ -48,8 +49,11 @@ void can_handle_send_status() {
   int8_t id = -1;
   int16_t temp = INT16_MIN;
   sm_check_cell_temps(&id, &temp);
-  data[6] = (id << 5) | (temp >> 4);                            // there are only 7 TMP1075
+  data[6] = (id << 4) | (temp >> 4);                            // there are only 7 TMP1075
   ftcan_transmit(CAN_ID_OUT, data, sizeof(data));
+
+  ;
+  
 }
 
 /*
@@ -59,9 +63,9 @@ to the sm_handle_ams_in() which handles the state machine transition.
 void can_handle_recieve_command(const uint8_t *data){
   if (data[0] == 0x00 && data[1] == 0x00){
     sm_handle_ams_in(data);
-  } else if (data[0] == 0b10000000 && data[1] == 0x00){
+  } else if (data[0] == 0x01 && data[1] == 0x00){
     sm_handle_ams_in(data);
-  } else if (data[0] == 0b11000000 && data[1] <= 100) { 
+  } else if (data[0] == 0x02 && data[1] <= 100) { 
     sm_handle_ams_in(data);
   }
 }
@@ -69,9 +73,11 @@ void can_handle_recieve_command(const uint8_t *data){
 /*
 implements the _weak method ftcan_msg_recieved_cb() which throws an interrupt when a CAN message is recieved.
 it only checks if the id is and datalen is correct thans hands data over to can_handle_recieve_command().
+
+in MXCUBE under CAN NVIC settings "USB low priority or CAN_RX0 interrupts" has to be on 
 */
 void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data){
-  if (id == 0x501 && datalen == 16){
+  if (id == 0x501 && datalen == 2){
     can_handle_recieve_command(data);
   }
 }

Core/Src/stm32f3xx_hal_msp.c

@@ -108,6 +108,11 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
     GPIO_InitStruct.Alternate = GPIO_AF9_CAN;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* CAN interrupt Init */
+    HAL_NVIC_SetPriority(USB_LP_CAN_RX0_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(USB_LP_CAN_RX0_IRQn);
+    HAL_NVIC_SetPriority(CAN_RX1_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(CAN_RX1_IRQn);
   /* USER CODE BEGIN CAN_MspInit 1 */
 
   /* USER CODE END CAN_MspInit 1 */
@@ -137,6 +142,9 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
     */
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
 
+    /* CAN interrupt DeInit */
+    HAL_NVIC_DisableIRQ(USB_LP_CAN_RX0_IRQn);
+    HAL_NVIC_DisableIRQ(CAN_RX1_IRQn);
   /* USER CODE BEGIN CAN_MspDeInit 1 */
 
   /* USER CODE END CAN_MspDeInit 1 */

Core/Src/stm32f3xx_it.c

@@ -55,7 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
-
+extern CAN_HandleTypeDef hcan;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -198,6 +198,34 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32f3xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles USB low priority or CAN_RX0 interrupts.
+  */
+void USB_LP_CAN_RX0_IRQHandler(void)
+{
+  /* USER CODE BEGIN USB_LP_CAN_RX0_IRQn 0 */
+
+  /* USER CODE END USB_LP_CAN_RX0_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan);
+  /* USER CODE BEGIN USB_LP_CAN_RX0_IRQn 1 */
+
+  /* USER CODE END USB_LP_CAN_RX0_IRQn 1 */
+}
+
+/**
+  * @brief This function handles CAN RX1 interrupt.
+  */
+void CAN_RX1_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN_RX1_IRQn 0 */
+
+  /* USER CODE END CAN_RX1_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan);
+  /* USER CODE BEGIN CAN_RX1_IRQn 1 */
+
+  /* USER CODE END CAN_RX1_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.3.0-B58] date: [Thu May 30 20:42:23 EEST 2024] 
+# File automatically-generated by tool: [projectgenerator] version: [4.3.0-B58] date: [Mon Jun 03 16:11:34 EEST 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------

mvbms.ioc

@@ -63,6 +63,7 @@ Mcu.UserName=STM32F302CBTx
 MxCube.Version=6.11.1
 MxDb.Version=DB.6.0.111
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.CAN_RX1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -72,6 +73,7 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
+NVIC.USB_LP_CAN_RX0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA0.GPIOParameters=PinState,GPIO_Label
 PA0.GPIO_Label=RELAY_EN