115 lines
3.5 KiB
C
115 lines
3.5 KiB
C
/*
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* can_communication.c
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*
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* Created on: Mar 12, 2025
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* Author: janek
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*/
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#include "can_communication.h"
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#include "channel_control.h"
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#include "current_monitoring.h"
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#include "plausibility_check.h"
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rx_status_frame rxstate = {};
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volatile uint8_t canmsg_received = 0;
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extern enable_gpios update_ports;
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extern current_measurements current_measurements_adc_val;
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extern err_states error;
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extern uint32_t lastheartbeat;
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extern int inhibit_SDC;
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void can_init(CAN_HandleTypeDef* hcan){
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ftcan_init(hcan);
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ftcan_add_filter(0x00, 0x00); // no filter
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}
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void can_sendloop(){
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static uint8_t additionaltxcounter = 0;
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uint8_t status_data[3];
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status_data[0] = update_ports.porta.porta;
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status_data[1] = update_ports.portb.portb;
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status_data[2] = !inhibit_SDC;
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ftcan_transmit(TX_STATUS_MSG_ID, status_data, 3);
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uint8_t data[8];
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switch (additionaltxcounter) {
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case 0:
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data[0] = current_measurements_adc_val.alwayson >> 8;
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data[1] = current_measurements_adc_val.alwayson & 0xFF;
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data[2] = current_measurements_adc_val.misc >> 8;
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data[3] = current_measurements_adc_val.misc & 0xFF;
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data[4] = current_measurements_adc_val.inverter >> 8;
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data[5] = current_measurements_adc_val.inverter & 0xFF;
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data[6] = current_measurements_adc_val.sdc >> 8;
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data[7] = current_measurements_adc_val.sdc & 0xFF;
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ftcan_transmit(CUR_CHANNELS_1_ID, data, 8);
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break;
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case 1:
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data[0] = current_measurements_adc_val.acc_cooling >> 8;
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data[1] = current_measurements_adc_val.acc_cooling & 0xFF;
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data[2] = current_measurements_adc_val.ts_cooling >> 8;
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data[3] = current_measurements_adc_val.ts_cooling & 0xFF;
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data[4] = current_measurements_adc_val.acu >> 8;
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data[5] = current_measurements_adc_val.acu & 0xFF;
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data[6] = current_measurements_adc_val.epsc >> 8;
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data[7] = current_measurements_adc_val.epsc & 0xFF;
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ftcan_transmit(CUR_CHANNELS_2_ID, data, 8);
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break;
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case 2:
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data[0] = current_measurements_adc_val.ebs1 >> 8;
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data[1] = current_measurements_adc_val.ebs1 & 0xFF;
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data[2] = current_measurements_adc_val.ebs2 >> 8;
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data[3] = current_measurements_adc_val.ebs2 & 0xFF;
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data[4] = current_measurements_adc_val.ebs3 >> 8;
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data[5] = current_measurements_adc_val.ebs3 & 0xFF;
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data[6] = current_measurements_adc_val.drs >> 8;
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data[7] = current_measurements_adc_val.drs & 0xFF;
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ftcan_transmit(CUR_CHANNELS_3_ID, data, 8);
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break;
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case 3:
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data[0] = current_measurements_adc_val.lidar >> 8;
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data[1] = current_measurements_adc_val.lidar & 0xFF;
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data[2] = current_measurements_adc_val.lvms_v >> 8;
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data[3] = current_measurements_adc_val.lvms_v & 0xFF;
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data[4] = current_measurements_adc_val.asms_v >> 8;
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data[5] = current_measurements_adc_val.asms_v & 0xFF;
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data[6] = current_measurements_adc_val.epsc_precharge >> 8; // not used (transmits 313)
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data[7] = current_measurements_adc_val.epsc_precharge & 0xFF; // not used (transmits 313)
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ftcan_transmit(CUR_CHANNELS_4_ID, data, 8);
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break;
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default:
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break;
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}
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additionaltxcounter = (additionaltxcounter + 1) % 4;
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}
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void can_error_report(){
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uint8_t error_data[2];
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error_data[0] = error.group1.group1;
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error_data[1] = error.group2.group2;
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ftcan_transmit(ERROR_ID, error_data, 2);
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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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canmsg_received = 1;
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if((id == RX_STATUS_MSG_ID) && (datalen == 3)){
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rxstate.iostatus.porta.porta = data[0];
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rxstate.iostatus.portb.portb = data[1];
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rxstate.checksum = data[2];
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}
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if (id == RX_STATUS_HEARTBEAT){
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lastheartbeat = HAL_GetTick();
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inhibit_SDC = 0;
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}
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}
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