FaSTTUBe/steering-wheel
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Display inverter & motor temperatures

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This commit is contained in:
Jasper Blanckenburg
2023-05-05 14:50:10 +02:00
parent 24be6312c8
commit a097d2b3aa
26 changed files with 431 additions and 212 deletions
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14
Core/Src/vehicle.c
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@ -14,6 +14,7 @@
#define CAN_ID_AMS_SLAVE_PANIC 0x9
#define CAN_ID_AMS_STATUS 0xA
#define CAN_ID_AMS_ERROR 0xC
#define CAN_ID_CS_INTERNAL 0x108
#define CAN_ID_MISSION_SELECTED 0x400
#define CAN_ID_STW_BUTTONS 0x401
#define CAN_ID_STW_PARAM_SET 0x402
@ -24,6 +25,7 @@
#define CAN_ID_SHUNT_VOLTAGE2 0x523
#define CAN_AMS_STATUS_VOLTAGE_FACTOR 1e-4
#define CAN_AMS_STATUS_TEMP_FACTOR 0.0625
#define CAN_CS_INTERNAL_TEMP_FACTOR 0.01
VehicleState vehicle_state = {0};
@ -32,6 +34,7 @@ void vehicle_thread_entry(ULONG hfdcan_addr) {
ftcan_add_filter(CAN_ID_AMS_SLAVE_PANIC, 0x7FF);
ftcan_add_filter(CAN_ID_AMS_STATUS, 0x7FF);
ftcan_add_filter(CAN_ID_AMS_ERROR, 0x7FF);
ftcan_add_filter(CAN_ID_CS_INTERNAL, 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);
@ -84,6 +87,17 @@ void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
vehicle_state.last_ams_error.kind = data[0];
vehicle_state.last_ams_error.arg = data[1];
break;
case CAN_ID_CS_INTERNAL:
vehicle_state.temps.inv_l =
(data[0] | (data[1] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
vehicle_state.temps.inv_r =
(data[2] | (data[3] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
vehicle_state.temps.mot_l =
(data[4] | (data[5] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
// TODO: uncomment when we have a right motor
// vehicle_state.temps.mot_r =
// (data[6] | (data[7] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
break;
case CAN_ID_AS_MISSION_FB:
vehicle_state.active_mission = data[0] & 0b111;
break;