#include "vehicle.h" #include "main.h" #include "ui.h" #include "can-halal.h" #include "stm32h7xx.h" #include "stm32h7xx_hal.h" #include "stm32h7xx_hal_fdcan.h" #include "stm32h7xx_hal_gpio.h" #include "tx_api.h" #define CAN_ID_AMS_STATUS 0xA #define CAN_ID_MISSION_SELECTED 0x400 #define CAN_ID_STW_BUTTONS 0x401 #define CAN_ID_STW_PARAM_SET 0x402 #define CAN_ID_AS_MISSION_FB 0x410 #define CAN_ID_STW_STATUS 0x412 #define CAN_ID_SHUNT_CURRENT 0x521 #define CAN_ID_SHUNT_VOLTAGE1 0x522 #define CAN_ID_SHUNT_VOLTAGE2 0x523 #define CAN_AMS_STATUS_VOLTAGE_FACTOR 1e-4 #define CAN_AMS_STATUS_TEMP_FACTOR 0.0625 VehicleState vehicle_state = {0}; void vehicle_thread_entry(ULONG hfdcan_addr) { ftcan_init((void *)hfdcan_addr); 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_VOLTAGE1, 0x7FF); ftcan_add_filter(CAN_ID_SHUNT_VOLTAGE2, 0x7FF); while (1) { tx_thread_sleep(10); } } void vehicle_select_mission(Mission mission) { uint8_t mission_int = mission; ftcan_transmit(CAN_ID_MISSION_SELECTED, &mission_int, 1); } void vehicle_broadcast_param(ParamType param, int32_t value) { uint8_t data[5]; uint8_t *ptr = data; ptr = ftcan_marshal_unsigned(ptr, param, 1); ptr = ftcan_marshal_signed(ptr, value, 4); ftcan_transmit(CAN_ID_STW_PARAM_SET, data, 5); } void vehicle_broadcast_buttons(GPIO_PinState *button_states) { uint8_t data = (button_states[0] << 2) | (button_states[1] << 0) | (button_states[2] << 1) | (button_states[3] << 3); ftcan_transmit(CAN_ID_STW_BUTTONS, &data, 1); } void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) { switch (id) { case CAN_ID_AMS_STATUS: vehicle_state.ts_state = data[0] & 0x7F; vehicle_state.soc = data[1]; const uint8_t *ptr = &data[2]; vehicle_state.min_cell_volt = ftcan_unmarshal_unsigned(&ptr, 2) * CAN_AMS_STATUS_VOLTAGE_FACTOR; vehicle_state.max_cell_temp = ftcan_unmarshal_signed(&ptr, 2) * CAN_AMS_STATUS_TEMP_FACTOR; break; case CAN_ID_AS_MISSION_FB: vehicle_state.active_mission = data[0] & 0b111; 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; break; case CAN_ID_SHUNT_CURRENT: { // The first two bytes of shunt result messages are metadata const uint8_t *result_ptr = &data[2]; vehicle_state.ts_current = ftcan_unmarshal_signed(&result_ptr, 4) * 1e-3; break; } case CAN_ID_SHUNT_VOLTAGE1: { const uint8_t *result_ptr = &data[2]; vehicle_state.ts_voltage_bat = ftcan_unmarshal_signed(&result_ptr, 4) * 1e-3; break; } case CAN_ID_SHUNT_VOLTAGE2: { const uint8_t *result_ptr = &data[2]; vehicle_state.ts_voltage_veh = ftcan_unmarshal_signed(&result_ptr, 4) * 1e-3; break; } } tx_event_flags_set(&gui_update_events, GUI_UPDATE_VEHICLE_STATE, TX_OR); }