Parse CAN messges

Core/Inc/main.h

@@ -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 */
 

Core/Inc/vehicle.h

@@ -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