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Brake temps & pressures, total distance

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This commit is contained in:
Jasper Blanckenburg
2023-05-19 15:36:23 +02:00
parent 243577fdcc
commit c159d9bda9
27 changed files with 461 additions and 71 deletions
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10
Core/Inc/vehicle.h
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@ -78,6 +78,11 @@ typedef struct {
float tire_rl;
float tire_rr;
float brake_fl;
float brake_fr;
float brake_rl;
float brake_rr;
float inv_l;
float inv_r;
float mot_l;
@ -134,6 +139,11 @@ typedef struct {
float ts_voltage_veh;
float speed;
float brake_press_f;
float brake_press_r;
float distance_total;
} VehicleState;
extern VehicleState vehicle_state;

18
Core/Src/vehicle.c
View File

@ -15,7 +15,9 @@
#define CAN_ID_AMS_STATUS 0xA
#define CAN_ID_AMS_ERROR 0xC
#define CAN_ID_ABX_DRIVER 0x101
#define CAN_ID_ABX_BRAKE_T 0x105
#define CAN_ID_CS_INTERNAL 0x108
#define CAN_ID_ABX_MISC 0x109
#define CAN_ID_MISSION_SELECTED 0x400
#define CAN_ID_STW_BUTTONS 0x401
#define CAN_ID_STW_PARAM_SET 0x402
@ -28,16 +30,20 @@
#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
#define CAN_ABX_MISC_DISTANCE_TOTAL_FACTOR 0.01
VehicleState vehicle_state = {0};
void vehicle_thread_entry(ULONG hfdcan_addr) {
memset(&vehicle_state, 0, sizeof(vehicle_state));
ftcan_init((void *)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_ABX_BRAKE_T, 0x7FF);
ftcan_add_filter(CAN_ID_CS_INTERNAL, 0x7FF);
ftcan_add_filter(CAN_ID_ABX_MISC, 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);
@ -91,8 +97,16 @@ void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
vehicle_state.last_ams_error.arg = data[1];
break;
case CAN_ID_ABX_DRIVER:
vehicle_state.brake_press_f = (data[1] | ((data[2] & 0x0F) << 4)) * 0.1;
vehicle_state.brake_press_r = ((data[2] >> 4) | (data[3] << 4)) * 0.1;
vehicle_state.speed = data[5] * CAN_ABX_DRIVER_SPEED_FACTOR;
break;
case CAN_ID_ABX_BRAKE_T:
vehicle_state.temps.brake_fl = (data[0] | (data[1] << 8)) * 0.01f;
vehicle_state.temps.brake_fr = (data[2] | (data[3] << 8)) * 0.01f;
vehicle_state.temps.brake_rl = (data[4] | (data[5] << 8)) * 0.01f;
vehicle_state.temps.brake_rr = (data[6] | (data[7] << 8)) * 0.01f;
break;
case CAN_ID_CS_INTERNAL:
vehicle_state.temps.inv_l =
(data[0] | (data[1] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
@ -104,6 +118,10 @@ void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
// vehicle_state.temps.mot_r =
// (data[6] | (data[7] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
break;
case CAN_ID_ABX_MISC:
vehicle_state.distance_total =
(data[3] | (data[4] << 8)) * CAN_ABX_MISC_DISTANCE_TOTAL_FACTOR;
break;
case CAN_ID_AS_MISSION_FB:
vehicle_state.active_mission = data[0] & 0b111;
break;