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Read speed from CAN bus

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This commit is contained in:
Jasper Blanckenburg
2023-05-05 16:40:56 +02:00
parent a097d2b3aa
commit 49cc898b8c
4 changed files with 10 additions and 2 deletions
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2
Core/Inc/vehicle.h
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@ -132,6 +132,8 @@ typedef struct {
float ts_current;
float ts_voltage_bat;
float ts_voltage_veh;
float speed;
} VehicleState;
extern VehicleState vehicle_state;

6
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_ABX_DRIVER 0x101
#define CAN_ID_CS_INTERNAL 0x108
#define CAN_ID_MISSION_SELECTED 0x400
#define CAN_ID_STW_BUTTONS 0x401
@ -25,6 +26,7 @@
#define CAN_ID_SHUNT_VOLTAGE2 0x523
#define CAN_AMS_STATUS_VOLTAGE_FACTOR 1e-4
#define CAN_AMS_STATUS_TEMP_FACTOR 0.0625
#define CAN_ABX_DRIVER_SPEED_FACTOR (0.2 * 3.6)
#define CAN_CS_INTERNAL_TEMP_FACTOR 0.01
VehicleState vehicle_state = {0};
@ -34,6 +36,7 @@ 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_ABX_DRIVER, 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);
@ -87,6 +90,9 @@ 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_ABX_DRIVER:
vehicle_state.speed = data[5] * CAN_ABX_DRIVER_SPEED_FACTOR;
break;
case CAN_ID_CS_INTERNAL:
vehicle_state.temps.inv_l =
(data[0] | (data[1] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;