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Read shunt messages correctly

This commit is contained in:
Jasper Blanckenburg 2023-04-25 14:03:53 +02:00
parent d1b4ad625c
commit 2e1ec5f467
1 changed files with 17 additions and 8 deletions
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25
Core/Src/vehicle.c
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@ -18,8 +18,8 @@
#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_ID_SHUNT_VOLTAGE3 0x524
#define CAN_AMS_STATUS_VOLTAGE_FACTOR 1e-4
#define CAN_AMS_STATUS_TEMP_FACTOR 0.0625
@ -31,8 +31,8 @@ void vehicle_thread_entry(ULONG hfdcan_addr) {
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);
ftcan_add_filter(CAN_ID_SHUNT_VOLTAGE3, 0x7FF);
while (1) {
tx_thread_sleep(10);
@ -97,15 +97,24 @@ void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
vehicle_state.errors.err_invl = (data[5] >> 3) & 1;
vehicle_state.errors.err_invr = (data[5] >> 4) & 1;
break;
case CAN_ID_SHUNT_CURRENT:
vehicle_state.ts_current = ftcan_unmarshal_signed(&data, 6) * 1e-3;
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_VOLTAGE2:
vehicle_state.ts_voltage_veh = ftcan_unmarshal_signed(&data, 6) * 1e-3;
}
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_VOLTAGE3:
vehicle_state.ts_voltage_bat = ftcan_unmarshal_signed(&data, 6) * 1e-3;
}
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);
}