added channel control and can communication (both are working)

Software/Code/Core/Inc/can_communication.h

@@ -0,0 +1,33 @@
+/*
+ * can_communication.h
+ *
+ *  Created on: Mar 12, 2025
+ *      Author: janek
+ */
+
+#ifndef INC_CAN_COMMUNICATION_H_
+#define INC_CAN_COMMUNICATION_H_
+
+#include "channel_control.h"
+#include "can_halal.h"
+//#include "current_monitoring.h"
+
+#define RX_STATUS_HEARTBEAT 0xC7	// IDs of all CAN-packages (may be other IDs next year)
+#define RX_STATUS_MSG_ID 0xC8		// TODO: check new IDs
+#define TX_STATUS_MSG_ID 0xC9
+#define CUR_CHANNELS_1_ID 0xCA
+#define CUR_CHANNELS_2_ID 0xCB
+#define CUR_CHANNELS_3_ID 0xCC
+#define CUR_CHANNELS_4_ID 0xCD
+#define LV_SENS_ID 0xCE
+
+typedef struct {					// TODO: add error-codes
+	enable_gpios iostatus;
+	uint8_t checksum;
+} rx_status_frame;
+
+void can_init(CAN_HandleTypeDef* hcan);
+void can_rxupdateFrame();
+void can_sendloop();
+
+#endif /* INC_CAN_COMMUNICATION_H_ */

Software/Code/Core/Inc/can_halal.h

@@ -0,0 +1,72 @@
+#ifndef CAN_HALAL_H
+#define CAN_HALAL_H
+
+// Define family macros if none are defined and we recognize a chip macro
+#if !defined(STM32F3) && !defined(STM32H7) && !defined(STM32F0)
+#if defined(STM32F302x6) || defined(STM32F302x8) || defined(STM32F302xB) ||    \
+    defined(STM32F302xC)
+#define STM32F3
+#endif
+#if defined(STM32H7A3xx) || defined(STM32H723xx)
+#define STM32H7
+#endif
+#if defined(STM32F042x6)
+#define STM32F0
+#endif
+#endif
+
+#if defined(STM32F3)
+    #include "stm32f3xx_hal.h"
+    #define FTCAN_IS_BXCAN
+    #define FTCAN_NUM_FILTERS 13
+#elif defined(STM32H7)
+    #include "stm32h7xx_hal.h"
+    #define FTCAN_IS_FDCAN
+    #ifndef FTCAN_NUM_FILTERS
+        #error "Please configure the number of filters in CubeMX, and then add a compiler define for FTCAN_NUM_FILTERS"
+    #endif
+#elif defined(STM32F0)
+    #include "stm32f0xx_hal.h"
+    #define FTCAN_IS_BXCAN
+    #define FTCAN_NUM_FILTERS 13
+#else
+    #error "Couldn't detect STM family"
+#endif
+
+#if defined(FTCAN_IS_BXCAN)
+HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle);
+#elif defined(FTCAN_IS_FDCAN)
+HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle);
+#else
+#error "Unknown CAN peripheral"
+#endif
+
+HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
+                                 size_t datalen);
+
+HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask);
+
+/**
+ * Define this function to be notified of incoming CAN messages
+ */
+void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data);
+
+/**
+ * Read num_bytes bytes from a message (unmarshalled network byte order). The
+ * msg pointer is advanced by the corresponding number of bytes.
+ *
+ * Both methods return a 64-bit integer, but you can safely cast it to a smaller
+ * integer type.
+ */
+uint64_t ftcan_unmarshal_unsigned(const uint8_t **data, size_t num_bytes);
+int64_t ftcan_unmarshal_signed(const uint8_t **data, size_t num_bytes);
+
+/**
+ * Write num_bytes to a message (marshalled in network byte order). The pointer
+ * is advanced by the corresponding number of bytes and returned.
+ */
+uint8_t *ftcan_marshal_unsigned(uint8_t *data, uint64_t val, size_t num_bytes);
+uint8_t *ftcan_marshal_signed(uint8_t *data, int64_t val, size_t num_bytes);
+
+#endif // CAN_HALAL_H
+

Software/Code/Core/Inc/channel_control.h

@@ -0,0 +1,53 @@
+/*
+ * channel_control.h
+ *
+ *  Created on: Mar 10, 2025
+ *      Author: janek
+ */
+
+#ifndef INC_CHANNEL_CONTROL_H_
+#define INC_CHANNEL_CONTROL_H_
+
+#include "stm32f3xx_hal.h"
+
+typedef union {
+	struct {
+		uint8_t acc_cooling : 1;
+		uint8_t ts_cooling : 1;
+		uint8_t drs : 1;
+		uint8_t acu : 1;
+		uint8_t epsc : 1;
+		uint8_t inverter : 1;
+		uint8_t lidar : 1;
+		uint8_t misc : 1;
+	};
+	uint8_t porta;
+} gpio_port_a;
+
+typedef union {
+	struct {
+		uint8_t alwayson : 1;
+		uint8_t sdc : 1;
+		uint8_t ebs1 : 1;
+		uint8_t ebs2 : 1;
+		uint8_t ebs3 : 1;
+		uint8_t NC1 : 1;		// not used
+		uint8_t NC2 : 1;		// not used
+		uint8_t NC3 : 1;		// not used
+	};
+	uint8_t portb;
+} gpio_port_b;
+
+typedef union {
+	struct {
+		gpio_port_a porta;
+		gpio_port_b portb;
+	};
+	uint16_t gpios_bitmask;
+} enable_gpios;
+
+void ChannelControl_init();
+
+void ChannelControl_UpdateGPIOs(enable_gpios);
+
+#endif /* INC_CHANNEL_CONTROL_H_ */

Software/Code/Core/Inc/main.h

@@ -85,10 +85,10 @@ void Error_Handler(void);
 #define IS5_GPIO_Port GPIOA
 #define PC_Read_Pin GPIO_PIN_4
 #define PC_Read_GPIO_Port GPIOC
-#define IN11_Pin GPIO_PIN_0
-#define IN11_GPIO_Port GPIOB
 #define IN12_Pin GPIO_PIN_1
 #define IN12_GPIO_Port GPIOB
+#define IN11_Pin GPIO_PIN_2
+#define IN11_GPIO_Port GPIOB
 #define IN13_Pin GPIO_PIN_10
 #define IN13_GPIO_Port GPIOB
 #define IN9_Pin GPIO_PIN_11

Software/Code/Core/Inc/stm32f3xx_it.h

@@ -57,6 +57,8 @@ void PendSV_Handler(void);
 void SysTick_Handler(void);
 void DMA1_Channel1_IRQHandler(void);
 void ADC1_2_IRQHandler(void);
+void USB_LP_CAN_RX0_IRQHandler(void);
+void CAN_RX1_IRQHandler(void);
 void TIM6_DAC_IRQHandler(void);
 void DMA2_Channel1_IRQHandler(void);
 /* USER CODE BEGIN EFP */