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Parse CAN messges

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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16
AZURE_RTOS/App/app_azure_rtos.c
View File

@ -67,6 +67,7 @@ TX_THREAD app_thread;
TX_THREAD ui_thread;
TX_THREAD vehicle_thread;
TX_QUEUE gui_button_queue;
TX_QUEUE vehicle_update_queue;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@ -181,10 +182,23 @@ VOID tx_application_define(VOID *first_unused_memory) {
Error_Handler();
}
void *vehicle_update_queue_start = mem;
ULONG vehicle_update_msg_size = sizeof(VehicleUpdate) / sizeof(ULONG);
if (sizeof(VehicleUpdate) % sizeof(ULONG) != 0) {
vehicle_update_msg_size++;
}
mem += VEHICLE_UPDATE_QUEUE_SIZE * vehicle_update_msg_size;
if (tx_queue_create(&vehicle_update_queue, "Vehicle Update Queue",
vehicle_update_msg_size, vehicle_update_queue_start,
VEHICLE_UPDATE_QUEUE_SIZE * vehicle_update_msg_size) !=
TX_SUCCESS) {
Error_Handler();
}
void *vehicle_thread_stack = mem;
mem += THREAD_STACK_SIZE;
ULONG hfdcan_addr = (ULONG)&hfdcan1;
if (tx_thread_create(&vehicle_thread, "Vehicle Thread", vehicle_thread_entry,
&hfdcan1, vehicle_thread_stack, THREAD_STACK_SIZE,
hfdcan_addr, vehicle_thread_stack, THREAD_STACK_SIZE,
THREAD_PRIO_VEHICLE, THREAD_PRIO_VEHICLE, 0,
TX_AUTO_START) != TX_SUCCESS) {
Error_Handler();

1
AZURE_RTOS/App/app_azure_rtos.h
View File

@ -47,6 +47,7 @@ extern "C" {
#define THREAD_PRIO_UI 6
#define THREAD_PRIO_VEHICLE 7
#define UI_QUEUE_SIZE 10
#define VEHICLE_UPDATE_QUEUE_SIZE 100
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/

1
Core/Inc/main.h
View File

@ -43,6 +43,7 @@ extern "C" {
/* USER CODE BEGIN EC */
extern volatile int ltdc_cb_triggered;
extern TX_QUEUE gui_button_queue;
extern TX_QUEUE vehicle_update_queue;
extern FDCAN_HandleTypeDef hfdcan1;
/* USER CODE END EC */

107
Core/Inc/vehicle.h
View File

@ -1,21 +1,120 @@
#ifndef __INC_VEHICLE_H
#define __INC_VEHICLE_H
#include "stw_defines.h"
#include "tx_port.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef enum {
TS_INACTIVE = 0,
TS_ACTIVE = 1,
TS_PRECHARGE = 2,
TS_DISCHARGE = 3,
TS_ERROR = 4,
TS_CHARGING_CHECK = 5,
TS_CHARGING = 6
} TSState;
typedef enum {
AS_OFF = 0,
AS_MANUAL = 1,
AS_READY = 2,
AS_DRIVING = 3,
AS_FINISHED = 4,
AS_EMERGENCY = 5
} ASState;
typedef enum {
R2D_NONE = 0,
R2D_TSMS = 1,
R2D_TSACTIVE = 2,
R2D_RESETTING_NODES = 3,
R2D_RESETTING_COMMS = 4,
R2D_WAITING_INIT = 5,
R2D_INIT_STAGE1 = 6,
R2D_INIT_STAGE2 = 7,
R2D_INIT_SUCCESS = 0xF
} R2DProgress;
typedef enum {
INICHK_START = 0,
INICHK_WD_CHECK = 1,
INICHK_WD_OK = 2,
INICHK_ASB_CHECK_1 = 3,
INICHK_ASB_CHECK_2 = 4,
INICHK_WAIT_TS = 5,
INICHK_EBS_CHECK_A = 6,
INICHK_EBS_CHECK_B = 7,
INICHK_DONE = 8,
INICHK_ERROR = 9
} IniChkState;
typedef struct {
int fl;
int fr;
int rl;
int rr;
float fl;
float fr;
float rl;
float rr;
} TireTemps;
typedef struct {
TSState ts_state;
ASState as_state;
Mission active_mission;
R2DProgress r2d_progress;
struct {
int invl_ready : 1;
int invr_ready : 1;
int sdc_bfl : 1;
int sdc_brl : 1;
int sdc_acc : 1;
int sdc_hvb : 1;
int err_sdc : 1;
int err_ams : 1;
int err_pdu : 1;
int err_ini_chk : 1;
int err_con_mon : 1;
int err_scs : 1;
int err_sbspd : 1;
int err_appsp : 1;
int err_as : 1;
int err_ros : 1;
int err_res : 1;
int err_invl : 1;
int err_invr : 1;
} errors;
IniChkState ini_chk_state;
unsigned lap_count;
TireTemps tire_temps;
float min_cell_volt;
float max_cell_temp;
int soc;
float ts_current;
float ts_voltage_bat;
float ts_voltage_veh;
} VehicleState;
extern VehicleState vehicle_state;
typedef enum {
VEH_UPD_AMS,
VEH_UPD_MISSION,
VEH_UPD_STATUS,
VEH_UPD_TS_CURRENT,
VEH_UPD_TS_VOLTAGE_VEH,
VEH_UPD_TS_VOLTAGE_BAT
} VehicleUpdate;
void vehicle_thread_entry(ULONG hfdcan_addr);
void vehicle_select_mission(Mission mission);
#ifdef __cplusplus
}
#endif

78
Core/Src/vehicle.c
View File

@ -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 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) {
if (id == 0x123) {
HAL_GPIO_TogglePin(STATUS2_GPIO_Port, STATUS2_Pin);
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);
}

14
TouchGFX/gui/include/gui/ami_screen/AMIPresenter.hpp
View File

@ -8,25 +8,27 @@ using namespace touchgfx;
class AMIView;
class AMIPresenter : public touchgfx::Presenter, public ModelListener
{
class AMIPresenter : public touchgfx::Presenter, public ModelListener {
public:
AMIPresenter(AMIView &v);
/**
* The activate function is called automatically when this screen is "switched in"
* (ie. made active). Initialization logic can be placed here.
* The activate function is called automatically when this screen is "switched
* in" (ie. made active). Initialization logic can be placed here.
*/
virtual void activate();
/**
* The deactivate function is called automatically when this screen is "switched out"
* (ie. made inactive). Teardown functionality can be placed here.
* The deactivate function is called automatically when this screen is
* "switched out" (ie. made inactive). Teardown functionality can be placed
* here.
*/
virtual void deactivate();
virtual ~AMIPresenter(){};
void missionUpdated() override;
private:
AMIPresenter();

2
TouchGFX/gui/include/gui/driverview_screen/DriverViewPresenter.hpp
View File

@ -27,8 +27,6 @@ public:
virtual ~DriverViewPresenter(){};
void tireTempsUpdated() override;
private:
DriverViewPresenter();

2
TouchGFX/gui/include/gui/missionselect_screen/MissionSelectPresenter.hpp
View File

@ -28,7 +28,7 @@ public:
virtual ~MissionSelectPresenter(){};
void confirmMission(Mission mission);
void missionUpdated() override;
private:
MissionSelectPresenter();

7
TouchGFX/gui/include/gui/model/Model.hpp
View File

@ -13,16 +13,13 @@ public:
void tick();
void setMission(Mission mission) { this->mission = mission; }
Mission getMission() { return mission; }
TireTemps getTireTemps() { return tireTemps; }
Mission getSelectedMission() { return selectedMission; }
protected:
ModelListener *modelListener;
private:
Mission mission;
TireTemps tireTemps;
Mission selectedMission;
};
#endif // MODEL_HPP

7
TouchGFX/gui/include/gui/model/ModelListener.hpp
View File

@ -13,7 +13,12 @@ public:
void bind(Model *m) { model = m; }
virtual void tireTempsUpdated(){};
virtual void amsUpdated(){};
virtual void missionUpdated(){};
virtual void statusUpdated(){};
virtual void tsCurrentUpdated(){};
virtual void tsVoltageVehicleUpdated(){};
virtual void tsVoltageBatteryUpdated(){};
protected:
Model *model;

7
TouchGFX/gui/src/ami_screen/AMIPresenter.cpp
View File

@ -2,9 +2,14 @@
#include <gui/ami_screen/AMIView.hpp>
#include "main.h"
#include "vehicle.h"
AMIPresenter::AMIPresenter(AMIView &v) : view(v) {}
void AMIPresenter::activate() { view.setMission(model->getMission()); }
void AMIPresenter::activate() { missionUpdated(); }
void AMIPresenter::deactivate() {}
void AMIPresenter::missionUpdated() {
view.setMission(vehicle_state.active_mission);
}

1
TouchGFX/gui/src/ami_screen/AMIView.cpp
View File

@ -37,4 +37,5 @@ void AMIView::setMission(Mission mission) {
currentMission.setColor(touchgfx::Color::getColorFromRGB(0xFF, 0, 0));
break;
}
currentMission.invalidate();
}

5
TouchGFX/gui/src/driverview_screen/DriverViewPresenter.cpp
View File

@ -1,13 +1,10 @@
#include <gui/driverview_screen/DriverViewPresenter.hpp>
#include <gui/driverview_screen/DriverViewView.hpp>
#include "vehicle.h"
DriverViewPresenter::DriverViewPresenter(DriverViewView &v) : view(v) {}
void DriverViewPresenter::activate() {}
void DriverViewPresenter::deactivate() {}
void DriverViewPresenter::tireTempsUpdated() {
view.setTireTemps(model->getTireTemps());
}

14
TouchGFX/gui/src/missionselect_screen/MissionSelectPresenter.cpp
View File

@ -1,3 +1,7 @@
#include "gui/common/FrontendApplication.hpp"
#include "stw_defines.h"
#include "touchgfx/Application.hpp"
#include "vehicle.h"
#include <gui/missionselect_screen/MissionSelectPresenter.hpp>
#include <gui/missionselect_screen/MissionSelectView.hpp>
@ -8,6 +12,12 @@ void MissionSelectPresenter::activate() {}
void MissionSelectPresenter::deactivate() {}
void MissionSelectPresenter::confirmMission(Mission mission) {
model->setMission(mission);
void MissionSelectPresenter::missionUpdated() {
FrontendApplication *app =
static_cast<FrontendApplication *>(FrontendApplication::getInstance());
if (vehicle_state.active_mission == MISSION_MANUAL) {
app->gotoDriverViewScreenNoTransition();
} else {
app->gotoAMIScreenNoTransition();
}
}

8
TouchGFX/gui/src/missionselect_screen/MissionSelectView.cpp
View File

@ -1,6 +1,7 @@
#include "gui/missionselect_screen/MissionSelectPresenter.hpp"
#include "stw_defines.h"
#include "texts/TextKeysAndLanguages.hpp"
#include "vehicle.h"
#include <gui/missionselect_screen/MissionSelectView.hpp>
MissionSelectView::MissionSelectView()
@ -50,12 +51,7 @@ void MissionSelectView::confirmMission() {
// Can't confirm if we haven't selected a mission yet
return;
}
presenter->confirmMission(selectedMission);
if (selectedMission == MISSION_MANUAL) {
application().gotoDriverViewScreenNoTransition();
} else {
application().gotoAMIScreenNoTransition();
}
vehicle_select_mission(selectedMission);
}
void MissionSelectView::setSelectedMission(Mission mission) {

49
TouchGFX/gui/src/model/Model.cpp
View File

@ -5,38 +5,35 @@
#include "tx_api.h"
#include "ui.h"
#include "vehicle.h"
#include <gui/model/Model.hpp>
#include <gui/model/ModelListener.hpp>
Model::Model() : modelListener(0) {}
void Model::tick() {
static int incs = 0;
if ((HAL_GetTick() / 10) % 5 == 0) {
tireTemps.fl++;
if (tireTemps.fl > 90) {
tireTemps.fl = 0;
}
if (incs % 2 == 0) {
tireTemps.fr++;
if (tireTemps.fr > 90) {
tireTemps.fr = 0;
VehicleUpdate msg;
while (tx_queue_receive(&vehicle_update_queue, &msg, TX_NO_WAIT) ==
TX_SUCCESS) {
switch (msg) {
case VEH_UPD_AMS:
modelListener->amsUpdated();
break;
case VEH_UPD_MISSION:
modelListener->missionUpdated();
break;
case VEH_UPD_STATUS:
modelListener->statusUpdated();
break;
case VEH_UPD_TS_CURRENT:
modelListener->tsCurrentUpdated();
break;
case VEH_UPD_TS_VOLTAGE_VEH:
modelListener->tsVoltageVehicleUpdated();
break;
case VEH_UPD_TS_VOLTAGE_BAT:
modelListener->tsVoltageBatteryUpdated();
break;
}
}
if (incs % 3 == 0) {
tireTemps.rl++;
if (tireTemps.rl > 90) {
tireTemps.rl = 0;
}
}
if (incs % 4 == 0) {
tireTemps.rr++;
if (tireTemps.rr > 90) {
tireTemps.rr = 0;
}
}
incs++;
modelListener->tireTempsUpdated();
}
}