FaSTTUBe/steering-wheel
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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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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);
}