Can

Core/Inc/can_handler.h

@@ -0,0 +1,34 @@
+#ifndef CAN_HANDLER_H
+#define CAN_HANDLER_H
+
+#include "can.h"
+#include "stm32f4xx_hal.h"
+#include <stdint.h>
+
+
+#define NUM_INBOUND_CAN1_IDS 1
+#define NUM_INBOUND_CAN2_IDS 1
+
+ringbuffer_t* can1_rx_queue;
+ringbuffer_t* can2_rx_queue;
+
+static const uint16_t can1_id_list[NUM_INBOUND_CAN1_IDS] = {
+	//CANID_X,
+	0x0000
+};
+
+static const uint16_t can2_id_list[NUM_INBOUND_CAN2_IDS] = {
+	//CANID_X,
+	0x0000
+};
+
+
+void can_receive_callback(CAN_HandleTypeDef *hcan);
+
+/* for 1st CAN bus */
+int8_t get_can1_msg(can_msg_t* msg);
+
+/* for 2nd CAN bus */
+int8_t get_can2_msg(can_msg_t* msg);
+
+#endif // CAN_HANDLER_H

Core/Inc/compute.h

@@ -3,6 +3,7 @@
 
 #include "datastructs.h"
 #include "stateMachine.h"
+#include "ringbuffer.h"
 
 #define CURRENT_SENSOR_PIN_L A1
 #define CURRENT_SENSOR_PIN_H A0

Core/Src/can_handler.c

@@ -0,0 +1,62 @@
+#include "can_handler.h"
+#include "analyzer.h"
+#include "ringbuffer.h"
+
+void can_receive_callback(CAN_HandleTypeDef* hcan)
+{
+	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) {
+
+		// TODO add non crtical fault capability - could create one for failed can receieve
+		return;
+	}
+
+	new_msg.len = rx_header.DLC;
+	new_msg.id	= rx_header.StdId;
+	if (hcan == &hcan1) {
+		ringbuffer_enqueue(can1_rx_queue, new_msg);
+	} else {
+		ringbuffer_enqueue(can2_rx_queue, new_msg);
+	}
+}
+
+int8_t get_can1_msg(can_msg_t* msg)
+{
+	/* no messages to read */
+	if (ringbuffer_is_empty(&can1_rx_queue))
+		return -1;
+
+	ringbuffer_dequeue(&can1_rx_queue, msg);
+
+	// TODO list :
+	// 1.
+	switch (msg->id) {
+	case NULL:
+		break;
+	}
+	return 0;
+}
+
+int8_t get_can2_msg(can_msg_t* msg)
+{
+	/* no messages to read */
+	if (ringbuffer_is_empty(&can2_rx_queue))
+		return -1;
+
+	ringbuffer_dequeue(&can2_rx_queue, msg);
+
+	// TODO list :
+	// 1. Charger connection flag -  have Charger set up with following logic, add correct CAN ID
+	switch (msg->id) {
+	case NULL:
+		if (msg->data[0] == 0x01) {
+			bmsdata->is_charger_connected = true;
+		} else {
+			bmsdata->is_charger_connected = false;
+		}
+		break;
+	}
+	return 0;
+}