Can #65
Can #65
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Core/Inc/compute.h
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| @@ -14,6 +14,8 @@ | |||
| #define MC_BAUD 1000000U | |||
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Nit: idk if I'd call the CAN bus speed a "baud", I feel like that's reserved for serial
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this was from last year but i can change lol
Core/Src/can_handler.c
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| } | ||
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| new_msg.len = rx_header.DLC; | ||
| new_msg.id = rx_header.StdId; |
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gonna run trhough autoformmater once all changes made
| CAN_RxHeaderTypeDef rx_header; | ||
| can_msg_t new_msg; | ||
| /* Read in CAN message */ | ||
| if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, new_msg.data) != HAL_OK) { |
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Again this should work but only if you are sending both CAN bus queues to the same FIFO buffer
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Also do we not have a wrapper function for this?
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Jk I guess we don't have a wrapper for this
Core/Src/can_handler.c
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| uint8_t get_can_msg(can_msg_t* msg) | ||
| { | ||
| /* no messages to read */ | ||
| if (ringbuffer_is_empty(&can_receive_queue)) return -1; |
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The return type is unsigned, this will result in a high value rather than negative. Prob wanna change to int8_t
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Also you could just return the can_msg and if it is empty you return null or somethin
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idk i was gonna handle this by doing (if !get message then do this), seems a little neater than if (can msg != NULL) and then have to make sure i reset the local message to NULL each loop. But yeah i do need to do int8 or just return 1
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| new_msg.len = rx_header.DLC; | ||
| new_msg.id = rx_header.StdId; | ||
| if (hcan == &hcan1) { |
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This prob should be tested but looks good if it works as intended
creates a can interface based on new driver and implements this interface across our app. We do not yet haver CAN ids worked out, but to give an example, i mocked the receive handling for the charger message telling us if connected.
Todo still:
update inbound can hanlder with all inbound mesdsages & correct IDs
update outbound can messages with correct IDs
address Charge Safety relay. I believe this is going to be on charger and will require an outbound can message to charger (either to set or get this pin) but i dont yet know if needed