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Parse CAN messges

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This commit is contained in:
Jasper Blanckenburg
2023-03-18 21:44:01 +01:00
parent 148ab2b69c
commit 5fe5d509a4
16 changed files with 269 additions and 74 deletions
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1
Core/Inc/main.h
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@ -43,6 +43,7 @@ extern "C" {
/* USER CODE BEGIN EC */
extern volatile int ltdc_cb_triggered;
extern TX_QUEUE gui_button_queue;
extern TX_QUEUE vehicle_update_queue;
extern FDCAN_HandleTypeDef hfdcan1;
/* USER CODE END EC */

107
Core/Inc/vehicle.h
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@ -1,21 +1,120 @@
#ifndef __INC_VEHICLE_H
#define __INC_VEHICLE_H
#include "stw_defines.h"
#include "tx_port.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef enum {
TS_INACTIVE = 0,
TS_ACTIVE = 1,
TS_PRECHARGE = 2,
TS_DISCHARGE = 3,
TS_ERROR = 4,
TS_CHARGING_CHECK = 5,
TS_CHARGING = 6
} TSState;
typedef enum {
AS_OFF = 0,
AS_MANUAL = 1,
AS_READY = 2,
AS_DRIVING = 3,
AS_FINISHED = 4,
AS_EMERGENCY = 5
} ASState;
typedef enum {
R2D_NONE = 0,
R2D_TSMS = 1,
R2D_TSACTIVE = 2,
R2D_RESETTING_NODES = 3,
R2D_RESETTING_COMMS = 4,
R2D_WAITING_INIT = 5,
R2D_INIT_STAGE1 = 6,
R2D_INIT_STAGE2 = 7,
R2D_INIT_SUCCESS = 0xF
} R2DProgress;
typedef enum {
INICHK_START = 0,
INICHK_WD_CHECK = 1,
INICHK_WD_OK = 2,
INICHK_ASB_CHECK_1 = 3,
INICHK_ASB_CHECK_2 = 4,
INICHK_WAIT_TS = 5,
INICHK_EBS_CHECK_A = 6,
INICHK_EBS_CHECK_B = 7,
INICHK_DONE = 8,
INICHK_ERROR = 9
} IniChkState;
typedef struct {
int fl;
int fr;
int rl;
int rr;
float fl;
float fr;
float rl;
float rr;
} TireTemps;
typedef struct {
TSState ts_state;
ASState as_state;
Mission active_mission;
R2DProgress r2d_progress;
struct {
int invl_ready : 1;
int invr_ready : 1;
int sdc_bfl : 1;
int sdc_brl : 1;
int sdc_acc : 1;
int sdc_hvb : 1;
int err_sdc : 1;
int err_ams : 1;
int err_pdu : 1;
int err_ini_chk : 1;
int err_con_mon : 1;
int err_scs : 1;
int err_sbspd : 1;
int err_appsp : 1;
int err_as : 1;
int err_ros : 1;
int err_res : 1;
int err_invl : 1;
int err_invr : 1;
} errors;
IniChkState ini_chk_state;
unsigned lap_count;
TireTemps tire_temps;
float min_cell_volt;
float max_cell_temp;
int soc;
float ts_current;
float ts_voltage_bat;
float ts_voltage_veh;
} VehicleState;
extern VehicleState vehicle_state;
typedef enum {
VEH_UPD_AMS,
VEH_UPD_MISSION,
VEH_UPD_STATUS,
VEH_UPD_TS_CURRENT,
VEH_UPD_TS_VOLTAGE_VEH,
VEH_UPD_TS_VOLTAGE_BAT
} VehicleUpdate;
void vehicle_thread_entry(ULONG hfdcan_addr);
void vehicle_select_mission(Mission mission);
#ifdef __cplusplus
}
#endif

82
Core/Src/vehicle.c
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@ -11,9 +11,26 @@
#include "stm32h7xx_hal_gpio.h"
#include "tx_api.h"
#define CAN_ID_AMS_STATUS 0xA
#define CAN_ID_MISSION_SELECTED 0x400
#define CAN_ID_AS_MISSION_FB 0x410
#define CAN_ID_STW_STATUS 0x412
#define CAN_ID_SHUNT_CURRENT 0x521
#define CAN_ID_SHUNT_VOLTAGE2 0x523
#define CAN_ID_SHUNT_VOLTAGE3 0x524
#define CAN_AMS_STATUS_VOLTAGE_FACTOR (1e-3 * 0x100)
#define CAN_AMS_STATUS_TEMP_FACTOR (0.0625 * 0x10)
VehicleState vehicle_state = {0};
void vehicle_thread_entry(ULONG hfdcan_addr) {
ftcan_init((void *)hfdcan_addr);
ftcan_add_filter(0x123, 0x7FF);
ftcan_add_filter(CAN_ID_AMS_STATUS, 0x7FF);
ftcan_add_filter(CAN_ID_AS_MISSION_FB, 0x7FF);
ftcan_add_filter(CAN_ID_STW_STATUS, 0x7FF);
ftcan_add_filter(CAN_ID_SHUNT_CURRENT, 0x7FF);
ftcan_add_filter(CAN_ID_SHUNT_VOLTAGE2, 0x7FF);
ftcan_add_filter(CAN_ID_SHUNT_VOLTAGE3, 0x7FF);
while (1) {
uint8_t data[] = {0xFF, 0xEE};
@ -22,8 +39,63 @@ void vehicle_thread_entry(ULONG hfdcan_addr) {
}
}
void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
if (id == 0x123) {
HAL_GPIO_TogglePin(STATUS2_GPIO_Port, STATUS2_Pin);
}
void vehicle_select_mission(Mission mission) {
uint8_t mission_int = mission;
ftcan_transmit(CAN_ID_MISSION_SELECTED, &mission_int, 1);
}
void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
VehicleUpdate msg;
switch (id) {
case CAN_ID_AMS_STATUS:
vehicle_state.ts_state = data[0] & 0x7F;
vehicle_state.soc = data[1];
vehicle_state.min_cell_volt = data[2] * CAN_AMS_STATUS_VOLTAGE_FACTOR;
vehicle_state.max_cell_temp = data[3] * CAN_AMS_STATUS_TEMP_FACTOR;
msg = VEH_UPD_AMS;
break;
case CAN_ID_AS_MISSION_FB:
vehicle_state.active_mission = data[0] & 0b111;
msg = VEH_UPD_MISSION;
break;
case CAN_ID_STW_STATUS:
vehicle_state.as_state = data[0] & 0b111;
vehicle_state.r2d_progress = data[0] >> 4;
vehicle_state.errors.invl_ready = (data[1] >> 0) & 1;
vehicle_state.errors.invr_ready = (data[1] >> 1) & 1;
vehicle_state.errors.sdc_bfl = (data[1] >> 2) & 1;
vehicle_state.errors.sdc_brl = (data[1] >> 3) & 1;
vehicle_state.errors.sdc_acc = (data[1] >> 4) & 1;
vehicle_state.errors.sdc_hvb = (data[1] >> 5) & 1;
vehicle_state.lap_count = data[2] & 0b111111;
vehicle_state.ini_chk_state = data[3];
vehicle_state.errors.err_sdc = (data[4] >> 0) & 1;
vehicle_state.errors.err_ams = (data[4] >> 1) & 1;
vehicle_state.errors.err_pdu = (data[4] >> 2) & 1;
vehicle_state.errors.err_ini_chk = (data[4] >> 3) & 1;
vehicle_state.errors.err_con_mon = (data[4] >> 4) & 1;
vehicle_state.errors.err_scs = (data[4] >> 5) & 1;
vehicle_state.errors.err_sbspd = (data[4] >> 6) & 1;
vehicle_state.errors.err_appsp = (data[4] >> 7) & 1;
vehicle_state.errors.err_as = (data[5] >> 0) & 1;
vehicle_state.errors.err_ros = (data[5] >> 1) & 1;
vehicle_state.errors.err_res = (data[5] >> 2) & 1;
vehicle_state.errors.err_invl = (data[5] >> 3) & 1;
vehicle_state.errors.err_invr = (data[5] >> 4) & 1;
msg = VEH_UPD_STATUS;
break;
case CAN_ID_SHUNT_CURRENT:
vehicle_state.ts_current = ftcan_unmarshal_signed(&data, 6) * 1e-3;
msg = VEH_UPD_TS_CURRENT;
break;
case CAN_ID_SHUNT_VOLTAGE2:
vehicle_state.ts_voltage_veh = ftcan_unmarshal_signed(&data, 6) * 1e-3;
msg = VEH_UPD_TS_VOLTAGE_VEH;
break;
case CAN_ID_SHUNT_VOLTAGE3:
vehicle_state.ts_voltage_bat = ftcan_unmarshal_signed(&data, 6) * 1e-3;
msg = VEH_UPD_TS_VOLTAGE_BAT;
break;
}
tx_queue_send(&vehicle_update_queue, &msg, TX_NO_WAIT);
}